Created
January 14, 2016 11:38
-
-
Save YuOhara/9b24d10b229fcd719323 to your computer and use it in GitHub Desktop.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Script started on 2016年01月14日 20時23分16秒 | |
| ]0;leus@leus-HP-Z620-Workstation: ~leus@leus-HP-Z620-Workstation:~$ rtmlaunch hrpsys samplerobot.launch | |
| [34m[rtmlaunch] Start omniNames at port 15005 [0m | |
| Thu Jan 14 20:23:29 2016: | |
| Starting omniNames for the first time. | |
| Wrote initial log file. | |
| Read log file successfully. | |
| Root context is IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000e0000003133332e31312e3231362e3431009d3a0b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000003185975601006ff4 | |
| Checkpointing Phase 1: Prepare. | |
| Checkpointing Phase 2: Commit. | |
| Checkpointing completed. | |
| WARNING: Package name "VSProjects" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. | |
| ... logging to /home/leus/.ros/log/a8dabfaa-baac-11e5-ab39-a0481cabf72e/roslaunch-leus-HP-Z620-Workstation-28654.log | |
| Checking log directory for disk usage. This may take awhile. | |
| Press Ctrl-C to interrupt | |
| [31mWARNING: disk usage in log directory [/home/leus/.ros/log] is over 1GB. | |
| It's recommended that you use the 'rosclean' command.[0m | |
| ]2;/home/leus/ros/indigo_parent/devel/share/hrpsys/launch/samplerobot.launch | |
| [1mstarted roslaunch server http://leus-HP-Z620-Workstation:42804/[0m | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /rosdistro: indigo | |
| * /rosversion: 1.11.16 | |
| NODES | |
| / | |
| hrpsys (hrpsys/hrpsys-simulator) | |
| modelloader (openhrp3/openhrp-model-loader) | |
| start_omninames (hrpsys/start_omninames.sh) | |
| [1mROS_MASTER_URI=http://localhost:11311[0m | |
| ]2;/home/leus/ros/indigo_parent/devel/share/hrpsys/launch/samplerobot.launch http://localhost:11311 | |
| core service [/rosout] found | |
| [1mprocess[start_omninames-1]: started with pid [28677][0m | |
| omniORB: Failed to bind to address :: port 15005. Address in use? | |
| omniORB: Error: Unable to create an endpoint of this description: giop:tcp::15005 | |
| Failed to initialise the ORB / POA: INITIALIZE_TransportError | |
| Is omniNames already running? | |
| [1mprocess[modelloader-2]: started with pid [28680][0m | |
| ready | |
| [1mprocess[hrpsys-3]: started with pid [28685][0m | |
| [1m[start_omninames-1] process has finished cleanly | |
| log file: /home/leus/.ros/log/a8dabfaa-baac-11e5-ab39-a0481cabf72e/start_omninames-1*.log[0m | |
| HGcontroller0: onInitialize() | |
| createBody(longfloor(Robot)0,file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl) | |
| loading file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/longfloor.wrl | |
| Humanoid node | |
| Joint node WAIST | |
| Segment node BODY | |
| The model was successfully loaded ! | |
| [Bush customizer] Could not open [] | |
| Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleBushCustomizer.so" for | |
| Loading body customizer "/home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint | |
| BodyRTC::setup(), numJoints = 0 | |
| createBody(SampleRobot(Robot)0,file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl) | |
| loading file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| Humanoid node | |
| Joint node WAIST | |
| Segment node WAIST_LINK0 | |
| Joint node WAIST_P | |
| Segment node WAIST_LINK1 | |
| Joint node WAIST_R | |
| Segment node WAIST_LINK2 | |
| Joint node CHEST | |
| AccelerationSensorgsensor | |
| Gyrogyrometer | |
| Segment node WAIST_LINK3 | |
| VisionSensorVISION_SENSOR1 | |
| VisionSensorVISION_SENSOR2 | |
| Joint node LARM_SHOULDER_P | |
| Segment node LARM_LINK1 | |
| Joint node LARM_SHOULDER_R | |
| Segment node LARM_LINK2 | |
| Joint node LARM_SHOULDER_Y | |
| Segment node LARM_LINK3 | |
| Joint node LARM_ELBOW | |
| Segment node LARM_LINK4 | |
| Joint node LARM_WRIST_Y | |
| Segment node LARM_LINK5 | |
| Joint node LARM_WRIST_P | |
| Segment node LARM_LINK6 | |
| ForceSensorlhsensor | |
| Joint node LARM_WRIST_R | |
| Segment node LARM_LINK7 | |
| Joint node RARM_SHOULDER_P | |
| Segment node RARM_LINK1 | |
| Joint node RARM_SHOULDER_R | |
| Segment node RARM_LINK2 | |
| Joint node RARM_SHOULDER_Y | |
| Segment node RARM_LINK3 | |
| Joint node RARM_ELBOW | |
| Segment node RARM_LINK4 | |
| Joint node RARM_WRIST_Y | |
| Segment node RARM_LINK5 | |
| Joint node RARM_WRIST_P | |
| Segment node RARM_LINK6 | |
| ForceSensorrhsensor | |
| Joint node RARM_WRIST_R | |
| Segment node RARM_LINK7 | |
| Joint node LLEG_HIP_R | |
| Segment node LLEG_LINK1 | |
| Joint node LLEG_HIP_P | |
| Segment node LLEG_LINK2 | |
| Joint node LLEG_HIP_Y | |
| Segment node LLEG_LINK3 | |
| Joint node LLEG_KNEE | |
| Segment node LLEG_LINK4 | |
| Joint node LLEG_ANKLE_P | |
| Segment node LLEG_LINK5 | |
| Joint node LLEG_ANKLE_R | |
| Segment node LLEG_LINK6 | |
| ForceSensorlfsensor | |
| Joint node RLEG_HIP_R | |
| Segment node RLEG_LINK1 | |
| Joint node RLEG_HIP_P | |
| Segment node RLEG_LINK2 | |
| Joint node RLEG_HIP_Y | |
| Segment node RLEG_LINK3 | |
| Joint node RLEG_KNEE | |
| Segment node RLEG_LINK4 | |
| Joint node RLEG_ANKLE_P | |
| Segment node RLEG_LINK5 | |
| Joint node RLEG_ANKLE_R | |
| Segment node RLEG_LINK6 | |
| ForceSensorrfsensor | |
| The model was successfully loaded ! | |
| BodyRTC::setup(), numJoints = 29 | |
| loading HGcontroller.so | |
| HGcontroller0:0.002 | |
| SampleRobot(Robot)0:0.002 | |
| longfloor(Robot)0:0.002 | |
| making a connection between HGcontroller0.qOut and SampleRobot(Robot)0.qRef | |
| making a connection between HGcontroller0.dqOut and SampleRobot(Robot)0.dqRef | |
| making a connection between HGcontroller0.ddqOut and SampleRobot(Robot)0.ddqRef | |
| making a connection between HGcontroller0.qOut and longfloor(Robot)0.qRef | |
| making a connection between HGcontroller0.dqOut and longfloor(Robot)0.dqRef | |
| making a connection between HGcontroller0.ddqOut and longfloor(Robot)0.ddqRef | |
| number of receivers:3 | |
| timestep = 0.002, total time = 0 | |
| HGcontroller0: onActivated(0) | |
| BodyRTC::onActivated(0) | |
| BodyRTC::onActivated(0) | |
| loading file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/project/../model/sample1.wrl | |
| Humanoid node | |
| Joint node WAIST | |
| Segment node WAIST_LINK0 | |
| Joint node WAIST_P | |
| Segment node WAIST_LINK1 | |
| Joint node WAIST_R | |
| Segment node WAIST_LINK2 | |
| Joint node CHEST | |
| AccelerationSensorgsensor | |
| Gyrogyrometer | |
| Segment node WAIST_LINK3 | |
| VisionSensorVISION_SENSOR1 | |
| VisionSensorVISION_SENSOR2 | |
| Joint node LARM_SHOULDER_P | |
| Segment node LARM_LINK1 | |
| Joint node LARM_SHOULDER_R | |
| Segment node LARM_LINK2 | |
| Joint node LARM_SHOULDER_Y | |
| Segment node LARM_LINK3 | |
| Joint node LARM_ELBOW | |
| Segment node LARM_LINK4 | |
| Joint node LARM_WRIST_Y | |
| Segment node LARM_LINK5 | |
| Joint node LARM_WRIST_P | |
| Segment node LARM_LINK6 | |
| ForceSensorlhsensor | |
| Joint node LARM_WRIST_R | |
| Segment node LARM_LINK7 | |
| Joint node RARM_SHOULDER_P | |
| Segment node RARM_LINK1 | |
| Joint node RARM_SHOULDER_R | |
| Segment node RARM_LINK2 | |
| Joint node RARM_SHOULDER_Y | |
| Segment node RARM_LINK3 | |
| Joint node RARM_ELBOW | |
| Segment node RARM_LINK4 | |
| Joint node RARM_WRIST_Y | |
| Segment node RARM_LINK5 | |
| Joint node RARM_WRIST_P | |
| Segment node RARM_LINK6 | |
| ForceSensorrhsensor | |
| Joint node RARM_WRIST_R | |
| Segment node RARM_LINK7 | |
| Joint node LLEG_HIP_R | |
| Segment node LLEG_LINK1 | |
| Joint node LLEG_HIP_P | |
| Segment node LLEG_LINK2 | |
| Joint node LLEG_HIP_Y | |
| Segment node LLEG_LINK3 | |
| Joint node LLEG_KNEE | |
| Segment node LLEG_LINK4 | |
| Joint node LLEG_ANKLE_P | |
| Segment node LLEG_LINK5 | |
| Joint node LLEG_ANKLE_R | |
| Segment node LLEG_LINK6 | |
| ForceSensorlfsensor | |
| Joint node RLEG_HIP_R | |
| Segment node RLEG_LINK1 | |
| Joint node RLEG_HIP_P | |
| Segment node RLEG_LINK2 | |
| Joint node RLEG_HIP_Y | |
| Segment node RLEG_LINK3 | |
| Joint node RLEG_KNEE | |
| Segment node RLEG_LINK4 | |
| Joint node RLEG_ANKLE_P | |
| Segment node RLEG_LINK5 | |
| Joint node RLEG_ANKLE_R | |
| Segment node RLEG_LINK6 | |
| ForceSensorrfsensor | |
| The model was successfully loaded ! | |
| SequencePlayer::onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [sh] onInitialize() | |
| StateHolder: dt = 0.002 | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [fk] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [tf] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [kf] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [kf] Q_angle=0.001, Q_rate=0.003, R_angle=1000 | |
| [vs] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [rmfo] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [es] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [ic] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [ic] force sensor ports | |
| [ic] name = lfsensor | |
| [ic] name = rfsensor | |
| [ic] name = lhsensor | |
| [ic] name = rhsensor | |
| [ic] End Effector [lleg]LLEG_ANKLE_R WAIST | |
| [ic] target = LLEG_ANKLE_R, base = WAIST | |
| [ic] localPos = [0, 0, -0.07][m] | |
| [ic] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [ic] End Effector [rleg]RLEG_ANKLE_R WAIST | |
| [ic] target = RLEG_ANKLE_R, base = WAIST | |
| [ic] localPos = [0, 0, -0.07][m] | |
| [ic] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [ic] End Effector [larm]LARM_WRIST_P CHEST | |
| [ic] target = LARM_WRIST_P, base = CHEST | |
| [ic] localPos = [0, 0, -0.12][m] | |
| [ic] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [ic] End Effector [rarm]RARM_WRIST_P CHEST | |
| [ic] target = RARM_WRIST_P, base = CHEST | |
| [ic] localPos = [0, 0, -0.12][m] | |
| [ic] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [ic] Add impedance params | |
| [ic] sensor = lfsensor, sensor-link = LLEG_ANKLE_R, ee_name = lleg, ee-link = LLEG_ANKLE_R | |
| [ic] sensor = rfsensor, sensor-link = RLEG_ANKLE_R, ee_name = rleg, ee-link = RLEG_ANKLE_R | |
| [ic] sensor = lhsensor, sensor-link = LARM_WRIST_P, ee_name = larm, ee-link = LARM_WRIST_P | |
| [ic] sensor = rhsensor, sensor-link = RARM_WRIST_P, ee_name = rarm, ee-link = RARM_WRIST_P | |
| [abc] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [abc] End Effector [lleg] | |
| [abc] target = LLEG_ANKLE_R, base = WAIST | |
| [abc] offset_pos = [0, 0, -0.07][m] | |
| [abc] has_toe_joint = false | |
| [abc] End Effector [rleg] | |
| [abc] target = RLEG_ANKLE_R, base = WAIST | |
| [abc] offset_pos = [0, 0, -0.07][m] | |
| [abc] has_toe_joint = false | |
| [abc] End Effector [larm] | |
| [abc] target = LARM_WRIST_P, base = CHEST | |
| [abc] offset_pos = [0, 0, -0.12][m] | |
| [abc] has_toe_joint = false | |
| [abc] End Effector [rarm] | |
| [abc] target = RARM_WRIST_P, base = CHEST | |
| [abc] offset_pos = [0, 0, -0.12][m] | |
| [abc] has_toe_joint = false | |
| [abc] abc_leg_offset = [0, 0.09, 0][m] | |
| [abc] abc_stride_parameter : 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] force sensor ports (4) | |
| [abc] name = ref_lfsensor | |
| [abc] name = ref_rfsensor | |
| [abc] name = ref_lhsensor | |
| [abc] name = ref_rhsensor | |
| [abc] name = lfsensor | |
| [abc] name = rfsensor | |
| [abc] name = lhsensor | |
| [abc] name = rhsensor | |
| [abc] limbCOPOffset ports (4) | |
| [abc] name = limbCOPOffset_lfsensor | |
| [abc] name = limbCOPOffset_rfsensor | |
| [abc] name = limbCOPOffset_lhsensor | |
| [abc] name = limbCOPOffset_rhsensor | |
| [st] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [st] force sensor ports (4) | |
| [st] name = lfsensor | |
| [st] name = rfsensor | |
| [st] name = lhsensor | |
| [st] name = rhsensor | |
| [st] limbCOPOffset ports (4) | |
| [st] name = limbCOPOffset_lfsensor | |
| [st] name = limbCOPOffset_rfsensor | |
| [st] name = limbCOPOffset_lhsensor | |
| [st] name = limbCOPOffset_rhsensor | |
| [st] End Effector [lleg] | |
| [st] target = LLEG_ANKLE_R, base = WAIST, sensor_name = lfsensor | |
| [st] offset_pos = [0, 0, -0.07][m] | |
| [st] End Effector [rleg] | |
| [st] target = RLEG_ANKLE_R, base = WAIST, sensor_name = rfsensor | |
| [st] offset_pos = [0, 0, -0.07][m] | |
| [st] End Effector [larm] | |
| [st] target = LARM_WRIST_P, base = CHEST, sensor_name = lhsensor | |
| [st] offset_pos = [0, 0, -0.12][m] | |
| [st] End Effector [rarm] | |
| [st] target = RARM_WRIST_P, base = CHEST, sensor_name = rhsensor | |
| [st] offset_pos = [0, 0, -0.12][m] | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [co] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [co] prop[collision_pair] ->RARM_WRIST_P:WAIST LARM_WRIST_P:WAIST RARM_WRIST_P:RLEG_HIP_R LARM_WRIST_P:LLEG_HIP_R RARM_WRIST_R:RLEG_HIP_R LARM_WRIST_R:LLEG_HIP_R LLEG_ANKLE_R:RLEG_ANKLE_R | |
| [co] check collisions between RARM_WRIST_P and WAIST | |
| [co] check collisions between LARM_WRIST_P and WAIST | |
| [co] check collisions between RARM_WRIST_P and RLEG_HIP_R | |
| [co] check collisions between LARM_WRIST_P and LLEG_HIP_R | |
| [co] check collisions between RARM_WRIST_R and RLEG_HIP_R | |
| [co] check collisions between LARM_WRIST_R and LLEG_HIP_R | |
| [co] check collisions between LLEG_ANKLE_R and RLEG_ANKLE_R | |
| [co] prop[use_limb_collision] -> true | |
| [co] Enable use_limb_collision | |
| [tc] onInitialize() | |
| file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [tc]torque_controller_params is not correct number, 0. Use default controller. | |
| [tc]use TwoDofController | |
| [tc]size of torque_controller_min_max_dq 0 is not correct number 58. Use default values. | |
| [te] : onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [te] : ambient temperature: 25 | |
| [te] [WARN]: size of motorHeatParams is 0, not equal to 2 * 29 | |
| [te] [WARN]: size of error2tau is 0, not equal to 29 | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [tl] : onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [tl] [WARN]: size of motor_temperature_limit is 0, not equal to 29 | |
| [tl] : ambient temperature: 25 | |
| [tl] [WARN]: size of motor_heat_param is 0, not equal to 2 * 29 | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [hes] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| ;; | |
| ;; Could not open /dev/console for writing. | |
| ;; | |
| open: Permission denied | |
| [el] onInitialize() | |
| cache found for file:///home/leus/ros/indigo_parent/devel/share/OpenHRP-3.1/sample/model/sample1.wrl | |
| [el] dof = 29 | |
| [el] Do not load joint limit table | |
| [log] onInitialize() | |
| BodyRTC::onActivated(0) | |
| SequencePlayer::onActivated(1000) | |
| [fk] onActivated(1000) | |
| [tf] onActivated(1000) | |
| [kf] onActivated(1000) | |
| [vs] onActivated(1000) | |
| [rmfo] onActivated(1000) | |
| [es] onActivated(1000) | |
| [ic] onActivated(1000) | |
| [abc] onActivated(1000) | |
| [st] onActivated(1000) | |
| [co] onActivated(1000) | |
| [tc] onActivated(1000) | |
| [te] : onActivated(1000) | |
| [tl] : onActivated(1000) | |
| [hes] onActivated(1000) | |
| [el] onActivated(1000) | |
| [log] Log max length is set to 4000 | |
| [log] Log cleared | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc] stop auto balancer mode | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc,JointPathEx] ERROR nan/inf is found | |
| [abc] Finished cleanup | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [abc] Too large IK error (vel_p) = [2.83192e-05 8.56884e-06 -9.64571e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [2.82177e-05 -7.66934e-06 -9.58124e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000140368 6.70503e-06 -0.000113684][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000142792 7.02411e-06 0.000116816][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00346271 0.000558177 -0.0043118][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00343905 -0.00053259 -0.00428031][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000206661 4.64413e-05 -0.000660393][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000200797 4.6415e-05 0.000653716][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.0329065 0.00444135 -0.0100083][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.0328577 -0.00437867 -0.0099893][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [6.48872e-05 5.46706e-05 -0.000672547][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [-6.48566e-05 5.37888e-05 0.000657578][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.0409593 0.0054909 0.00357813][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.0409092 -0.00540489 0.00357858][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000121036 5.68711e-05 -0.000667221][rad], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000118528 5.59956e-05 0.000653974][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.0404448 0.00544172 0.00645186][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.0403944 -0.00535611 0.00644841][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [6.053e-05 5.83808e-05 -0.000719506][rad], count = 400 | |
| [abc] Too large IK error (vel_r) = [-5.77574e-05 5.77679e-05 0.000708955][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.0409555 0.00537825 0.0019836][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [0.0409043 -0.0052992 0.00198543][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000189129 3.82137e-05 -0.000546587][rad], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000187423 3.74469e-05 0.000531763][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [0.0285665 0.00415656 -0.011581][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [0.0285185 -0.0040981 -0.0115573][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-0.000141052 -1.08797e-05 -0.000109839][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000141545 -1.05771e-05 0.000108954][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000452664 0.000459485 0.00061839][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000482472 -0.000433099 0.000666485][m], count = 700 | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0130249 0.00016052 -1.48773e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0130256 0.000165379 0][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0130249 0.000170237 -1.49011e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0130256 0.000165379 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] setAutoBalancerParam | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0.1 0 0 0.1 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [rleg] | |
| [abc] leg_names [lleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [-0.0869744 0.000165379 0][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.0869744 0.000165379 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] setAutoBalancerParam | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [rleg] | |
| [abc] leg_names [lleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0130256 0.000165379 5.55112e-17][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0130256 0.000165379 5.55112e-17][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] setAutoBalancerParam | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = -0.05 0.05 0 -0.05 0.05 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [rleg] | |
| [abc] leg_names [lleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [log] Log max length is set to 1500 | |
| [log] Log cleared | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0692658 -0.049835 0][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0692658 -0.049835 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [log] Save log to /tmp/test-samplerobot-abc-startstop-0.* | |
| [log] Log cleared | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0499984 -0.0500018 5.55112e-17][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0499984 -0.0500018 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [log] Save log to /tmp/test-samplerobot-abc-startstop-1.* | |
| [log] Log cleared | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0500075 -0.0499997 0][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0500075 -0.0499997 -5.55112e-17][m], count = 0 | |
| [abc] Finished cleanup | |
| [log] Save log to /tmp/test-samplerobot-abc-startstop-2.* | |
| [log] Log cleared | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0919661 -0.0498219 -1.11022e-16][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0919661 -0.0498219 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [log] Save log to /tmp/test-samplerobot-abc-startstop-3.* | |
| [log] Log cleared | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0773901 -0.05 0][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0773901 -0.05 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [log] Save log to /tmp/test-samplerobot-abc-startstop-4.* | |
| [abc] setAutoBalancerParam | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [rleg] | |
| [abc] leg_names [lleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0130256 0.000165379 0][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0130256 0.000165379 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] setAutoBalancerParam | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [larm] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rarm] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.00624927 -1.44423e-05 8.67553e-07][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00625075 0 0][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00624927 1.44423e-05 8.67553e-07][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00625075 0 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] setAutoBalancerParam | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| start ref coords | |
| pos = | |
| [-1.31832e-17, 6.93889e-18, -1.73472e-16] | |
| rot = | |
| [ 1, -9.29032e-10, 2.66378e-13] | |
| [ 9.29032e-10, 1, 1.70432e-10] | |
| [-2.66509e-13, -1.70432e-10, 1] | |
| goal ref midcoords | |
| pos = | |
| [-1.31832e-17, 6.93889e-18, -1.73472e-16] | |
| rot = | |
| [ 1, -9.29032e-10, 2.66444e-13] | |
| [ 9.29032e-10, 1, 1.70432e-10] | |
| [-2.66444e-13, -1.70432e-10, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [-1.75443e-05, 0.09, -2.20235e-05] | |
| rot = [ 1, -4.0622e-20, 5.55112e-17] [1.35525e-20, 1, 1.0842e-19] [-1.11022e-16, -1.0842e-19, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [8.36128e-11, -0.09, 1.53387e-11] | |
| rot = [ 1, -9.29032e-10, 2.66378e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66509e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [-1.75443e-05, 0.09, -2.20235e-05] | |
| rot = [ 1, -4.0622e-20, 5.55112e-17] [1.35525e-20, 1, 1.0842e-19] [-1.11022e-16, -1.0842e-19, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| start ref coords | |
| pos = | |
| [-8.77208e-06, -2.17379e-09, -1.10117e-05] | |
| rot = | |
| [ 1, -9.29032e-10, 2.66444e-13] | |
| [ 9.29032e-10, 1, 1.70432e-10] | |
| [-2.66444e-13, -1.70432e-10, 1] | |
| goal ref midcoords | |
| pos = | |
| [0.0999912, 0.1, -1.10117e-05] | |
| rot = | |
| [ 0.939693, -0.34202, 2.66444e-13] | |
| [ 0.34202, 0.939693, 1.70432e-10] | |
| [-5.85416e-11, -1.60063e-10, 1] | |
| [0] footstep | |
| name = [rleg] | |
| pos = [8.36128e-11, -0.09, 1.53387e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [0.0843717, 0.138633, -2.36501e-11] | |
| rot = [ 0.984808, -0.173648, 2.66444e-13] [ 0.173648, 0.984808, 1.70432e-10] [-2.98576e-11, -1.67797e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [0.12756, -0.0111802, 1.87128e-12] | |
| rot = [ 0.965926, -0.258819, 2.66444e-13] [ 0.258819, 0.965926, 1.70432e-10] [-4.43684e-11, -1.64556e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [0.0692094, 0.184572, -3.14757e-11] | |
| rot = [ 0.939693, -0.34202, 2.66444e-13] [ 0.34202, 0.939693, 1.70432e-10] [-5.85416e-11, -1.60063e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [0.130773, 0.0154277, -2.66442e-12] | |
| rot = [ 0.939693, -0.34202, 2.66444e-13] [ 0.34202, 0.939693, 1.70432e-10] [-5.85416e-11, -1.60063e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [lleg] | |
| pos = [0.0692094, 0.184572, -3.14757e-11] | |
| rot = [ 0.939693, -0.34202, 2.66444e-13] [ 0.34202, 0.939693, 1.70432e-10] [-5.85416e-11, -1.60063e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| start ref coords | |
| pos = | |
| [0.0999912, 0.1, -1.70701e-11] | |
| rot = | |
| [ 0.939693, -0.34202, 2.66444e-13] | |
| [ 0.34202, 0.939693, 1.70432e-10] | |
| [-5.85416e-11, -1.60063e-10, 1] | |
| goal ref midcoords | |
| pos = | |
| [0.040224, -0.0281713, 4.79036e-12] | |
| rot = | |
| [ 0.984808, -0.173648, 2.66444e-13] | |
| [ 0.173648, 0.984808, 1.70432e-10] | |
| [-2.98576e-11, -1.67797e-10, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [0.0692094, 0.184572, -3.14757e-11] | |
| rot = [ 0.939693, -0.34202, 2.66444e-13] [ 0.34202, 0.939693, 1.70432e-10] [-5.85416e-11, -1.60063e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [0.0857359, -0.0527183, 8.96184e-12] | |
| rot = [ 0.984808, -0.173648, 2.66444e-13] [ 0.173648, 0.984808, 1.70432e-10] [-2.98576e-11, -1.67797e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [0.0188787, 0.092884, -1.58357e-11] | |
| rot = [ 0.984808, -0.173648, 2.66444e-13] [ 0.173648, 0.984808, 1.70432e-10] [-2.98576e-11, -1.67797e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [0.0558523, -0.116804, 1.9892e-11] | |
| rot = [ 0.984808, -0.173648, 2.66444e-13] [ 0.173648, 0.984808, 1.70432e-10] [-2.98576e-11, -1.67797e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [0.0245956, 0.0604614, -1.03113e-11] | |
| rot = [ 0.984808, -0.173648, 2.66444e-13] [ 0.173648, 0.984808, 1.70432e-10] [-2.98576e-11, -1.67797e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [0.0558523, -0.116804, 1.9892e-11] | |
| rot = [ 0.984808, -0.173648, 2.66444e-13] [ 0.173648, 0.984808, 1.70432e-10] [-2.98576e-11, -1.67797e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [log] Log max length is set to 10000 | |
| [log] Log cleared | |
| [log] Save log to /tmp/test-abc-log.* | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [-0.000333998, -0.176094, 3.0012e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [-0.000333999, 0.00390592, -6.65812e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [-0.000333998, -0.176094, 3.0012e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [-0.000333998, -0.176094, 3.0012e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [0.149666, 0.00390593, -7.05779e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [0.299666, -0.176094, 2.9932e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [0.299666, 0.00390593, -7.45745e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [0.299666, -0.176094, 2.9932e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [2.19629e-05 3.25653e-05 -9.25157e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [3.04131e-05 1.97329e-05 -9.49144e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000143181 8.51001e-06 -0.000104144][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00242253 0.00118601 -0.00363088][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000145338 -1.06205e-05 -0.00010881][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00447067 -0.000209502 -0.00524132][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000331245 5.91602e-05 -0.000849965][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.032521 0.00708135 -0.0127763][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-7.86284e-05 -1.83813e-05 -0.000219563][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.0340245 -0.00323887 -0.00949796][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [5.73289e-05 7.07687e-05 -0.000883085][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.0422325 0.00730954 0.00220927][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-1.39881e-05 1.32503e-05 0.000180917][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0399788 -0.00441293 0.00385009][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [9.3935e-05 4.32858e-05 -0.000522748][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.0405734 0.0047198 0.00653899][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.0001896 8.77739e-05 0.0010351][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.0405429 -0.00604356 0.00642181][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-2.18324e-05 -1.77128e-05 0.000177565][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0402124 0.00409825 0.00336785][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-9.80861e-05 8.12645e-05 0.000990491][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.0423725 -0.00840262 0.00140685][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000173795 -5.67507e-05 0.000726272][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.0326898 0.0031949 -0.0103013][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000268902 6.16956e-05 0.000863499][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.0304835 -0.00769049 -0.013298][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000181174 -1.56776e-05 0.000170686][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00213982 0.000440365 -0.00275672][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000145036 -5.32525e-06 -9.94088e-05][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000690976 -0.000190017 -0.00113103][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [0.000158675 7.09244e-05 7.53544e-05][rad], count = 0 | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 0.9[s] | |
| [abc] default_step_height = 0.15[m] | |
| [abc] default_double_support_ratio_before = 0.2, default_double_support_ratio_before = 0.2, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.2, default_double_support_static_ratio_swing_after = 0.2 | |
| [abc] default_orbit_type = RECTANGLE | |
| [abc] swing_trajectory_delay_time_offset = 0.2[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0[mm], heel_pos_offset_x = 0[mm] | |
| [abc] toe_zmp_offset_x = 0[mm], heel_zmp_offset_x = 0[mm] | |
| [abc] toe_angle = 0[deg] | |
| [abc] heel_angle = 0[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| start ref coords | |
| pos = | |
| [0.299666, -0.0860941, 1.45931e-11] | |
| rot = | |
| [ 1, -9.29032e-10, 2.66444e-13] | |
| [ 9.29032e-10, 1, 1.70432e-10] | |
| [-2.66444e-13, -1.70432e-10, 1] | |
| goal ref midcoords | |
| pos = | |
| [0.499666, -0.0860941, 1.45398e-11] | |
| rot = | |
| [ 1, -9.29032e-10, 2.66444e-13] | |
| [ 9.29032e-10, 1, 1.70432e-10] | |
| [-2.66444e-13, -1.70432e-10, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [0.299666, 0.00390593, -7.45751e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 0.9[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [0.449666, -0.176094, 2.9892e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.15[m], step_time = 0.9[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [0.499666, 0.00390593, -7.99039e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.15[m], step_time = 0.9[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [0.499666, -0.176094, 2.98787e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.15[m], step_time = 0.9[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [0.499666, 0.00390593, -7.99039e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 0.9[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.05[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = CYCLOID | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0[mm], heel_pos_offset_x = 0[mm] | |
| [abc] toe_zmp_offset_x = 0[mm], heel_zmp_offset_x = 0[mm] | |
| [abc] toe_angle = 0[deg] | |
| [abc] heel_angle = 0[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [0.499666, -0.176094, 2.98787e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [0.649666, 0.00390593, -8.39005e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [0.499666, -0.176094, 2.98787e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [0.499666, -0.176094, 2.98787e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [0.499666, 0.00390593, -7.99039e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [0.499666, -0.176094, 2.98787e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.05[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = CYCLOID | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0.182[mm], heel_pos_offset_x = -0.072[mm] | |
| [abc] toe_zmp_offset_x = 0.182[mm], heel_zmp_offset_x = -0.072[mm] | |
| [abc] toe_angle = 20[deg] | |
| [abc] heel_angle = 10[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| start ref coords | |
| pos = | |
| [0.499666, -0.0860941, 1.45398e-11] | |
| rot = | |
| [ 1, -9.29032e-10, 2.66444e-13] | |
| [ 9.29032e-10, 1, 1.70432e-10] | |
| [-2.66444e-13, -1.70432e-10, 1] | |
| goal ref midcoords | |
| pos = | |
| [0.799666, -0.0860941, 1.44599e-11] | |
| rot = | |
| [ 1, -9.29032e-10, 2.66444e-13] | |
| [ 9.29032e-10, 1, 1.70432e-10] | |
| [-2.66444e-13, -1.70432e-10, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [0.499666, 0.00390593, -7.99041e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [0.649666, -0.176094, 2.98388e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 20[deg], heel_angle = 10[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [0.799666, 0.00390593, -8.78974e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 20[deg], heel_angle = 10[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [0.799666, -0.176094, 2.97988e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 20[deg], heel_angle = 10[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [0.799666, 0.00390593, -8.78974e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.05[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = CYCLOID | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0.182[mm], heel_pos_offset_x = -0.072[mm] | |
| [abc] toe_zmp_offset_x = 0.182[mm], heel_zmp_offset_x = -0.072[mm] | |
| [abc] toe_angle = 0[deg] | |
| [abc] heel_angle = 0[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [0.799666, -0.176094, 2.97988e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [0.899666, 0.00390593, -9.05619e-13] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [0.799666, -0.176094, 2.97988e-11] | |
| rot = [ 1, -9.29032e-10, 2.66444e-13] [ 9.29032e-10, 1, 1.70432e-10] [-2.66444e-13, -1.70432e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0130249 0.00016052 -1.48773e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0630431 0.000165384 2.20235e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0130249 0.000170237 -1.49011e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.036992 0.000165375 -2.20235e-05][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [0.799667, -0.176094, -5.58065e-07] | |
| rot = [ 1, -8.09e-10, 6.02274e-07] [ 8.09e-10, 1, 1.36794e-10] [-6.02274e-07, -1.36794e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [0.899667, 0.00390593, -6.18317e-07] | |
| rot = [ 1, -8.09e-10, 6.02274e-07] [ 8.09e-10, 1, 1.36794e-10] [-6.02274e-07, -1.36794e-10, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [0.799667, -0.176094, -5.58065e-07] | |
| rot = [ 1, -8.09e-10, 6.02274e-07] [ 8.09e-10, 1, 1.36794e-10] [-6.02274e-07, -1.36794e-10, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] stop auto balancer mode | |
| [abc] Finished cleanup | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0130249 0.00016052 -1.48773e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0630421 0.000165383 2.25815e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0130249 0.000170237 -1.49011e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.0369909 0.000165375 -2.25815e-05][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| start ref coords | |
| pos = | |
| [0.849667, -0.0860941, -5.88191e-07] | |
| rot = | |
| [ 1, -1.73803e-09, 2.66509e-13] | |
| [ 1.73803e-09, 1, 1.70432e-10] | |
| [ -2.6662e-13, -1.70432e-10, 1] | |
| goal ref midcoords | |
| pos = | |
| [0.849667, -0.0860941, -5.88191e-07] | |
| rot = | |
| [-1.73803e-09, -1, 2.66564e-13] | |
| [ 1, -1.73803e-09, 1.70432e-10] | |
| [-1.70432e-10, 2.66565e-13, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [0.849649, 0.00390592, -2.26117e-05] | |
| rot = [ 1, -8.09e-10, 7.50032e-17] [ 8.09e-10, 1, 1.0842e-19] [-1.11022e-16, -1.6263e-19, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [0.857493, -0.175752, -2.26117e-05] | |
| rot = [ 0.996195, -0.0871557, 9.30128e-17] [ 0.0871557, 0.996195, 1.35525e-19] [-9.26706e-17, 7.97159e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [0.826373, 0.00084001, -2.26117e-05] | |
| rot = [ 0.965926, -0.258819, 9.30128e-17] [ 0.258819, 0.965926, 1.35525e-19] [-8.98785e-17, 2.39426e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [0.880449, -0.170666, -2.26117e-05] | |
| rot = [ 0.939693, -0.34202, 9.30128e-17] [ 0.34202, 0.939693, 1.35525e-19] [-8.74498e-17, 3.16849e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [0.804667, -0.00815179, -2.26117e-05] | |
| rot = [ 0.866025, -0.5, 9.30128e-17] [ 0.5, 0.866025, 1.35525e-19] [-8.06192e-17, 4.6389e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [0.901289, -0.159818, -2.26117e-05] | |
| rot = [ 0.819152, -0.573576, 9.30128e-17] [ 0.573576, 0.819152, 1.35525e-19] [-7.62693e-17, 5.32389e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [lleg] | |
| pos = [0.786027, -0.0224545, -2.26117e-05] | |
| rot = [ 0.707107, -0.707107, 9.30128e-17] [ 0.707107, 0.707107, 1.35525e-19] [-6.58658e-17, 6.56741e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [7] footstep | |
| name = [rleg] | |
| pos = [0.918611, -0.143945, -2.26117e-05] | |
| rot = [ 0.642788, -0.766044, 9.30128e-17] [ 0.766044, 0.642788, 1.35525e-19] [-5.98913e-17, 7.11648e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [8] footstep | |
| name = [lleg] | |
| pos = [0.771725, -0.0410941, -2.26117e-05] | |
| rot = [ 0.5, -0.866025, 9.30128e-17] [ 0.866025, 0.5, 1.35525e-19] [-4.66237e-17, 8.04837e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [9] footstep | |
| name = [rleg] | |
| pos = [0.931235, -0.12413, -2.26117e-05] | |
| rot = [ 0.422618, -0.906308, 9.30128e-17] [ 0.906308, 0.422618, 1.35525e-19] [-3.94317e-17, 8.42409e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [10] footstep | |
| name = [lleg] | |
| pos = [0.762734, -0.0628004, -2.26117e-05] | |
| rot = [ 0.258819, -0.965926, 9.30128e-17] [ 0.965926, 0.258819, 1.35525e-19] [-2.42044e-17, 8.98084e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [11] footstep | |
| name = [rleg] | |
| pos = [0.9383, -0.101722, -2.26117e-05] | |
| rot = [ 0.173648, -0.984808, 9.30128e-17] [ 0.984808, 0.173648, 1.35525e-19] [-1.6285e-17, 9.15762e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [12] footstep | |
| name = [lleg] | |
| pos = [0.759667, -0.0860941, -2.26117e-05] | |
| rot = [-8.09001e-10, -1, 9.30128e-17] [ 1, -8.09001e-10, 1.35525e-19] [-1.35525e-19, 9.30128e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [13] footstep | |
| name = [rleg] | |
| pos = [0.939667, -0.0860941, -2.26117e-05] | |
| rot = [-8.09001e-10, -1, 9.30128e-17] [ 1, -8.09001e-10, 1.35525e-19] [-1.35525e-19, 9.30128e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [14] footstep | |
| name = [lleg] | |
| pos = [0.759667, -0.0860941, -2.26117e-05] | |
| rot = [-8.09001e-10, -1, 9.30128e-17] [ 1, -8.09001e-10, 1.35525e-19] [-1.35525e-19, 9.30128e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] emergencyStop | |
| start ref coords | |
| pos = | |
| [0.842558, -0.0894091, -2.26117e-05] | |
| rot = | |
| [ 0.906308, -0.422618, 9.30128e-17] | |
| [ 0.422618, 0.906308, 1.35525e-19] | |
| [-8.43555e-17, 3.91861e-17, 1] | |
| goal ref midcoords | |
| pos = | |
| [0.842558, -0.0894091, -2.26117e-05] | |
| rot = | |
| [ 0.906308, -0.422618, 9.30128e-17] | |
| [ 0.422618, 0.906308, 1.35525e-19] | |
| [-8.43555e-17, 3.91861e-17, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [0.804667, -0.00815179, -2.26117e-05] | |
| rot = [ 0.866025, -0.5, 9.30128e-17] [ 0.5, 0.866025, 1.35525e-19] [-8.06192e-17, 4.6389e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [0.880594, -0.170977, -2.26117e-05] | |
| rot = [ 0.906308, -0.422618, 9.30128e-17] [ 0.422618, 0.906308, 1.35525e-19] [-8.43555e-17, 3.91861e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [0.804522, -0.0078414, -2.26117e-05] | |
| rot = [ 0.906308, -0.422618, 9.30128e-17] [ 0.422618, 0.906308, 1.35525e-19] [-8.43555e-17, 3.91861e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [0.880594, -0.170977, -2.26117e-05] | |
| rot = [ 0.906308, -0.422618, 9.30128e-17] [ 0.422618, 0.906308, 1.35525e-19] [-8.43555e-17, 3.91861e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| start ref coords | |
| pos = | |
| [0.842558, -0.0894091, -2.26117e-05] | |
| rot = | |
| [ 0.906308, -0.422618, 9.30128e-17] | |
| [ 0.422618, 0.906308, 1.35525e-19] | |
| [-8.43555e-17, 3.91861e-17, 1] | |
| goal ref midcoords | |
| pos = | |
| [1.07219, 0.128007, -2.26117e-05] | |
| rot = | |
| [ 0.766044, -0.642788, 9.30128e-17] | |
| [ 0.642788, 0.766044, 1.35525e-19] | |
| [-7.1339e-17, 5.96836e-17, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [0.804522, -0.0078414, -2.26117e-05] | |
| rot = [ 0.906308, -0.422618, 9.30128e-17] [ 0.422618, 0.906308, 1.35525e-19] [-8.43555e-17, 3.91861e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [1.01294, -0.081301, -2.26117e-05] | |
| rot = [ 0.866025, -0.5, 9.30128e-17] [ 0.5, 0.866025, 1.35525e-19] [-8.06192e-17, 4.6389e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [1.01499, 0.183887, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [1.13339, 0.0550688, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [1.01434, 0.196951, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [1.13004, 0.0590632, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [lleg] | |
| pos = [1.01434, 0.196951, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [0.804667, -0.00815179, -2.26117e-05] | |
| rot = [ 0.866025, -0.5, 9.30128e-17] [ 0.5, 0.866025, 1.35525e-19] [-8.06192e-17, 4.6389e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [0.880594, -0.170977, -2.26117e-05] | |
| rot = [ 0.906308, -0.422618, 9.30128e-17] [ 0.422618, 0.906308, 1.35525e-19] [-8.43555e-17, 3.91861e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [0.804522, -0.0078414, -2.26117e-05] | |
| rot = [ 0.906308, -0.422618, 9.30128e-17] [ 0.422618, 0.906308, 1.35525e-19] [-8.43555e-17, 3.91861e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [0.880594, -0.170977, -2.26117e-05] | |
| rot = [ 0.906308, -0.422618, 9.30128e-17] [ 0.422618, 0.906308, 1.35525e-19] [-8.43555e-17, 3.91861e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] getRemainingFootstepSequence | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.05[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = CYCLOID | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0.182[mm], heel_pos_offset_x = -0.072[mm] | |
| [abc] toe_zmp_offset_x = 0.182[mm], heel_zmp_offset_x = -0.072[mm] | |
| [abc] toe_angle = 50[deg] | |
| [abc] heel_angle = 50[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [1.13004, 0.0590632, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [1.09094, 0.26123, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 2[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [1.28325, 0.187621, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [1.16755, 0.325509, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 2[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [1.28325, 0.187621, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [1.28325, 0.187621, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [1.24415, 0.389787, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.1[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [1.43646, 0.316178, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [1.32076, 0.454066, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.1[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [1.43646, 0.316178, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [1.43646, 0.316178, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [1.39736, 0.518345, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [1.58967, 0.444736, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 20[deg], heel_angle = 5[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [1.47396, 0.582624, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 10[deg], heel_angle = 10[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [1.58967, 0.444736, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.05[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = CYCLOID | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0.182[mm], heel_pos_offset_x = -0.072[mm] | |
| [abc] toe_zmp_offset_x = 0.182[mm], heel_zmp_offset_x = -0.072[mm] | |
| [abc] toe_angle = 0[deg] | |
| [abc] heel_angle = 0[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [1.58967, 0.444736, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [1.55057, 0.646902, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [1.74287, 0.573293, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [1.70378, 0.77546, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [1.89608, 0.701851, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [lleg] | |
| pos = [1.78038, 0.839739, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [rleg] | |
| pos = [1.89608, 0.701851, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] getRemainingFootstepSequence | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set overwrite footsteps | |
| [0] footstep | |
| name = [lleg] | |
| pos = [1.55057, 0.646902, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [1.66627, 0.509014, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [1.62717, 0.711181, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [1.74287, 0.573293, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [1.62717, 0.711181, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] Invalid overwrite index = 0 | |
| [abc] getRemainingFootstepSequence | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set overwrite footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [1.73055, 0.43241, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [1.61485, 0.570298, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [1.73055, 0.43241, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [1.61485, 0.570298, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [1.73055, 0.43241, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] Invalid overwrite index = 0 | |
| [abc] getRemainingFootstepSequence | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set overwrite footsteps | |
| [0] footstep | |
| name = [lleg] | |
| pos = [1.69145, 0.634577, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [1.80715, 0.496689, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [1.76806, 0.698856, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [1.88376, 0.560968, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [1.76806, 0.698856, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [1.88376, 0.560968, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [1.84466, 0.763134, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [2.03697, 0.689525, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [1.99787, 0.891692, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [2.19018, 0.818083, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [lleg] | |
| pos = [2.07447, 0.955971, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [rleg] | |
| pos = [2.19018, 0.818083, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] getRemainingFootstepSequence | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set overwrite footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [2.03697, 0.689525, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [1.92127, 0.827413, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [2.11357, 0.753804, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [1.99787, 0.891692, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [2.11357, 0.753804, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] Invalid overwrite index = 0 | |
| [abc] getRemainingFootstepSequence | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set overwrite footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [2.10125, 0.612921, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [1.98554, 0.750809, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [2.10125, 0.612921, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [1.98554, 0.750809, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [2.10125, 0.612921, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] Invalid overwrite index = 0 | |
| [abc] getRemainingFootstepSequence | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set overwrite footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [2.17785, 0.677199, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [2.06215, 0.815087, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [2.25445, 0.741478, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [2.13875, 0.879366, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [2.25445, 0.741478, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| start ref coords | |
| pos = | |
| [2.1966, 0.810422, -2.26117e-05] | |
| rot = | |
| [ 0.766044, -0.642788, 9.30128e-17] | |
| [ 0.642788, 0.766044, 1.35525e-19] | |
| [-7.1339e-17, 5.96836e-17, 1] | |
| goal ref midcoords | |
| pos = | |
| [2.1966, 0.810422, -2.26117e-05] | |
| rot = | |
| [ 0.970612, -0.240649, 9.30128e-17] | |
| [ 0.240649, 0.970612, 1.35525e-19] | |
| [-9.03119e-17, 2.22519e-17, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [2.13875, 0.879366, -2.26117e-05] | |
| rot = [ 0.766044, -0.642788, 9.30128e-17] [ 0.642788, 0.766044, 1.35525e-19] [-7.1339e-17, 5.96836e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [2.2416, 0.73248, -2.26117e-05] | |
| rot = [ 0.866025, -0.5, 9.30128e-17] [ 0.5, 0.866025, 1.35525e-19] [-8.06192e-17, 4.6389e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [2.15857, 0.89199, -2.26117e-05] | |
| rot = [ 0.906308, -0.422618, 9.30128e-17] [ 0.422618, 0.906308, 1.35525e-19] [-8.43555e-17, 3.91861e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [2.2199, 0.723489, -2.26117e-05] | |
| rot = [ 0.965926, -0.258819, 9.30128e-17] [ 0.258819, 0.965926, 1.35525e-19] [-8.98785e-17, 2.39426e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [2.17413, 0.89757, -2.26117e-05] | |
| rot = [ 0.968312, -0.249745, 9.30128e-17] [ 0.249745, 0.968312, 1.35525e-19] [-9.00992e-17, 2.30982e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [2.21826, 0.723067, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [lleg] | |
| pos = [2.17495, 0.897777, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [7] footstep | |
| name = [rleg] | |
| pos = [2.21826, 0.723067, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| start ref coords | |
| pos = | |
| [2.1966, 0.810422, -2.26117e-05] | |
| rot = | |
| [ 0.970612, -0.240649, 9.30128e-17] | |
| [ 0.240649, 0.970612, 1.35525e-19] | |
| [-9.03119e-17, 2.22519e-17, 1] | |
| goal ref midcoords | |
| pos = | |
| [2.30804, 0.360949, -2.26117e-05] | |
| rot = | |
| [ 0.970612, -0.240649, 9.30128e-17] | |
| [ 0.240649, 0.970612, 1.35525e-19] | |
| [-9.03119e-17, 2.22519e-17, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [2.17495, 0.897777, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [2.23029, 0.674536, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [2.19299, 0.824981, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [2.24834, 0.601741, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [2.21104, 0.752185, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [2.26639, 0.528945, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [lleg] | |
| pos = [2.22909, 0.67939, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [7] footstep | |
| name = [rleg] | |
| pos = [2.28444, 0.456149, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [8] footstep | |
| name = [lleg] | |
| pos = [2.24714, 0.606594, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [9] footstep | |
| name = [rleg] | |
| pos = [2.30249, 0.383353, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [10] footstep | |
| name = [lleg] | |
| pos = [2.26519, 0.533798, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [11] footstep | |
| name = [rleg] | |
| pos = [2.32054, 0.310557, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [12] footstep | |
| name = [lleg] | |
| pos = [2.2818, 0.466786, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [13] footstep | |
| name = [rleg] | |
| pos = [2.3297, 0.273594, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [14] footstep | |
| name = [lleg] | |
| pos = [2.28639, 0.448304, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [15] footstep | |
| name = [rleg] | |
| pos = [2.3297, 0.273594, -2.26117e-05] | |
| rot = [ 0.970612, -0.240649, 9.30128e-17] [ 0.240649, 0.970612, 1.35525e-19] [-9.03119e-17, 2.22519e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0126035 0.00329023 -1.48773e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.01262 0.00329933 2.20235e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0126012 0.00329966 -1.49011e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.012586 0.00329088 -2.20235e-05][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [abc] setAutoBalancerParam | |
| [abc] use_force_mode cannot be changed to [1] during MODE_ABC, MODE_SYNC_TO_IDLE or MODE_SYNC_TO_ABC. | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] cannot change end-effectors except during MODE_IDLE | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0.01 0 0 0.01 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] Too large IK error (vel_p) = [4.69212e-07 5.08196e-05 -8.70818e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [2.42632e-05 -4.44314e-05 -8.729e-05][m], count = 0 | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.30919, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.30609 | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.30919, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.30609 | |
| [abc] Too large IK error (vel_p) = [-2.61064e-05 -4.15767e-05 9.94375e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-4.24905e-05 2.45706e-05 9.93825e-05][m], count = 0 | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.37941, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.37941, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=40.6168, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-40.6168, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [abc] Too large IK error (vel_r) = [-4.97372e-05 0.000164629 3.62956e-05][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [-3.29061e-05 0.000168676 -3.62878e-05][rad], count = 0 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.48922, qCurrent=1.309 , Error=0.180222 > 0.18 (limit), servo_state = ON, q=1.48922 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.48922, qCurrent=-1.309 , Error=-0.180222 > 0.18 (limit), servo_state = ON, q=-1.48922 | |
| [abc] Too large IK error (vel_p) = [-0.000987408 -0.000456053 0.00199167][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.00108622 -5.79827e-05 0.00199206][m], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=122.539, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.55408, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.55408, qCurrent=1.309 , Error=0.245078 > 0.18 (limit), servo_state = ON, q=1.55408 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-122.539, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.55408, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.55408, qCurrent=-1.309 , Error=-0.245078 > 0.18 (limit), servo_state = ON, q=-1.55408 | |
| [abc] Too large IK error (vel_r) = [-0.000234579 0.000520936 -5.7548e-08][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [-3.591e-05 0.000570309 5.71797e-08][rad], count = 100 | |
| [abc] setAutoBalancerParam | |
| [abc] use_force_mode cannot be changed to [1] during MODE_ABC, MODE_SYNC_TO_IDLE or MODE_SYNC_TO_ABC. | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] cannot change end-effectors except during MODE_IDLE | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0.01 0 0 0.01 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| start ref coords | |
| pos = | |
| [2.30804, 0.360949, -2.26117e-05] | |
| rot = | |
| [ 0.970612, -0.240649, -4.07557e-11] | |
| [ 0.240649, 0.970612, 1.65488e-10] | |
| [-2.66565e-13, -1.70432e-10, 1] | |
| goal ref midcoords | |
| pos = | |
| [2.59923, 0.433144, -2.26117e-05] | |
| rot = | |
| [ 0.970612, -0.240649, -4.07556e-11] | |
| [ 0.240649, 0.970612, 1.65488e-10] | |
| [-2.66452e-13, -1.70432e-10, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [2.28637, 0.4483, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 3.04525e-17] [ 0.240649, 0.970612, 8.78204e-18] [-1.66533e-16, -5.96311e-19, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [2.47528, 0.309687, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [2.57755, 0.520495, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [2.62087, 0.345785, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [2.57755, 0.520495, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [-0.00120265 -0.000518216 0.00226105][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000233138 0.00050988 -2.65073e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.00130567 -0.000103539 0.00226155][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-3.20166e-05 0.000559864 2.6516e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00120056 -0.00051748 0.00225712][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000232659 0.000509008 -2.6135e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.00129619 -0.000101934 0.00224422][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-3.13641e-05 0.000555607 2.64548e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00121098 -0.000520549 0.00227698][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000234005 0.000513772 -2.58598e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.00128596 -9.98522e-05 0.00222517][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-3.03592e-05 0.000550961 2.6736e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00123411 -0.000527865 0.00232149][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000237257 0.000524346 -2.5378e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.00126904 -9.58361e-05 0.00219356][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-2.84161e-05 0.000543273 2.73051e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00128429 -0.000544132 0.00241882][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000244519 0.000547388 -2.43585e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.00123747 -8.79017e-05 0.00213481][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-2.45655e-05 0.000528986 2.85074e-06][rad], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00139743 -0.000579482 0.00263945][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000260496 0.000599791 -2.21463e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.00117353 -7.2497e-05 0.00201675][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-1.70332e-05 0.000500221 3.11012e-06][rad], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00152219 -0.000607614 0.00288382][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-0.000274357 0.000659449 -2.04374e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.00106246 -5.16918e-05 0.00181423][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-8.05417e-06 0.000450516 3.16682e-06][rad], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00117538 -0.000432272 0.00216342][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000192917 0.00050005 -1.71863e-06][rad], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000757242 -5.66618e-05 0.00127843][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-1.24568e-05 0.000317441 2.62813e-06][rad], count = 700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000883442 -0.000283215 0.0015596][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-0.00012451 0.00036569 -1.36295e-06][rad], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000637306 -7.99118e-05 0.00106376][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-2.37918e-05 0.000262915 2.02109e-06][rad], count = 800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00113271 -0.000365789 0.00201332][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-0.000164219 0.000470545 -2.452e-06][rad], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.000953833 -0.000126124 0.00160681][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-3.96446e-05 0.000396278 2.78758e-06][rad], count = 900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00137528 -0.000580396 0.00259298][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-0.000264706 0.000584859 -3.83115e-06][rad], count = 1000 | |
| [abc] Too large IK error (vel_p) = [-0.00148471 -0.000115865 0.00257571][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-3.61348e-05 0.000636915 3.10813e-06][rad], count = 1000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00170798 -0.000895748 0.00341226][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-0.000407036 0.000741 -3.79164e-06][rad], count = 1100 | |
| [abc] Too large IK error (vel_p) = [-0.00253349 -0.000143369 0.00466232][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-5.28589e-05 0.0011526 2.51226e-06][rad], count = 1100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00113754 -0.000588131 0.0022102][m], count = 1200 | |
| [abc] Too large IK error (vel_r) = [-0.000263351 0.000481107 -3.18116e-06][rad], count = 1200 | |
| [abc] Too large IK error (vel_p) = [-0.00205157 -0.000167315 0.00371924][m], count = 1200 | |
| [abc] Too large IK error (vel_r) = [-6.46027e-05 0.00091862 2.15731e-06][rad], count = 1200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000556989 -0.000228185 0.00100531][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-0.000102471 0.000227135 -2.17114e-06][rad], count = 1300 | |
| [abc] Too large IK error (vel_p) = [-0.000929123 -0.00013675 0.00159665][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-5.07727e-05 0.00039204 1.56299e-06][rad], count = 1300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000853087 -0.000310704 0.00151105][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-0.000138964 0.000347913 -2.48659e-06][rad], count = 1400 | |
| [abc] Too large IK error (vel_p) = [-0.00108987 -0.000194324 0.00186403][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-7.05976e-05 0.000456191 2.17416e-06][rad], count = 1400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00133015 -0.000564426 0.00249251][m], count = 1500 | |
| [abc] Too large IK error (vel_r) = [-0.000253539 0.000562844 -3.11651e-06][rad], count = 1500 | |
| [abc] Too large IK error (vel_p) = [-0.00143244 -0.000132909 0.00249105][m], count = 1500 | |
| [abc] Too large IK error (vel_r) = [-4.052e-05 0.00061537 3.84516e-06][rad], count = 1500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00223869 -0.00101373 0.00449591][m], count = 1600 | |
| [abc] Too large IK error (vel_r) = [-0.000470094 0.00100845 -2.49598e-06][rad], count = 1600 | |
| [abc] Too large IK error (vel_p) = [-0.00184009 -1.18813e-05 0.00324227][m], count = 1600 | |
| [abc] Too large IK error (vel_r) = [1.12133e-05 0.000803325 3.82536e-06][rad], count = 1600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00225138 -0.000978108 0.00451671][m], count = 1700 | |
| [abc] Too large IK error (vel_r) = [-0.000455693 0.00102085 -2.21868e-06][rad], count = 1700 | |
| [abc] Too large IK error (vel_p) = [-0.00155241 1.04244e-05 0.00270094][m], count = 1700 | |
| [abc] Too large IK error (vel_r) = [1.90538e-05 0.000669656 3.45463e-06][rad], count = 1700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00162276 -0.00065024 0.00310363][m], count = 1800 | |
| [abc] Too large IK error (vel_r) = [-0.000295239 0.000709635 -2.03937e-06][rad], count = 1800 | |
| [abc] Too large IK error (vel_p) = [-0.00103412 -3.28977e-05 0.00176299][m], count = 1800 | |
| [abc] Too large IK error (vel_r) = [-1.08071e-06 0.000437835 3.00921e-06][rad], count = 1800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00143865 -0.000556899 0.00270042][m], count = 1900 | |
| [abc] Too large IK error (vel_r) = [-0.000251793 0.000619747 -2.23719e-06][rad], count = 1900 | |
| [abc] Too large IK error (vel_p) = [-0.00101363 -5.70601e-05 0.00172328][m], count = 1900 | |
| [abc] Too large IK error (vel_r) = [-1.09635e-05 0.000427809 2.94204e-06][rad], count = 1900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00134817 -0.000545078 0.00253424][m], count = 2000 | |
| [abc] Too large IK error (vel_r) = [-0.000246598 0.000577601 -2.53888e-06][rad], count = 2000 | |
| [abc] Too large IK error (vel_p) = [-0.00113195 -7.06148e-05 0.00193652][m], count = 2000 | |
| [abc] Too large IK error (vel_r) = [-1.75699e-05 0.000480211 2.71295e-06][rad], count = 2000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0012646 -0.000529504 0.00237689][m], count = 2100 | |
| [abc] Too large IK error (vel_r) = [-0.000238752 0.000538677 -2.58689e-06][rad], count = 2100 | |
| [abc] Too large IK error (vel_p) = [-0.0012174 -8.6546e-05 0.00209567][m], count = 2100 | |
| [abc] Too large IK error (vel_r) = [-2.45893e-05 0.00051923 2.66805e-06][rad], count = 2100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00122796 -0.000522438 0.00230823][m], count = 2200 | |
| [abc] Too large IK error (vel_r) = [-0.000235222 0.000521699 -2.60934e-06][rad], count = 2200 | |
| [abc] Too large IK error (vel_p) = [-0.00126042 -9.48303e-05 0.00217649][m], count = 2200 | |
| [abc] Too large IK error (vel_r) = [-2.82576e-05 0.000539024 2.64761e-06][rad], count = 2200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00121133 -0.000519176 0.00227712][m], count = 2300 | |
| [abc] Too large IK error (vel_r) = [-0.000233598 0.000514009 -2.61985e-06][rad], count = 2300 | |
| [abc] Too large IK error (vel_p) = [-0.00128124 -9.89018e-05 0.00221576][m], count = 2300 | |
| [abc] Too large IK error (vel_r) = [-3.00651e-05 0.000548636 2.63815e-06][rad], count = 2300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00120367 -0.000517662 0.00226281][m], count = 2400 | |
| [abc] Too large IK error (vel_r) = [-0.000232847 0.000510472 -2.62476e-06][rad], count = 2400 | |
| [abc] Too large IK error (vel_p) = [-0.00129112 -0.000100848 0.00223443][m], count = 2400 | |
| [abc] Too large IK error (vel_r) = [-3.093e-05 0.000553203 2.63376e-06][rad], count = 2400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00120012 -0.000516958 0.00225618][m], count = 2500 | |
| [abc] Too large IK error (vel_r) = [-0.000232497 0.000508833 -2.62705e-06][rad], count = 2500 | |
| [abc] Too large IK error (vel_p) = [-0.00129576 -0.000101766 0.00224321][m], count = 2500 | |
| [abc] Too large IK error (vel_r) = [-3.13383e-05 0.000555352 2.63172e-06][rad], count = 2500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119847 -0.00051663 0.0022531][m], count = 2600 | |
| [abc] Too large IK error (vel_r) = [-0.000232335 0.000508071 -2.62812e-06][rad], count = 2600 | |
| [abc] Too large IK error (vel_p) = [-0.00129793 -0.000102196 0.00224732][m], count = 2600 | |
| [abc] Too large IK error (vel_r) = [-3.15297e-05 0.000556358 2.63077e-06][rad], count = 2600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0011977 -0.000516477 0.00225166][m], count = 2700 | |
| [abc] Too large IK error (vel_r) = [-0.000232259 0.000507716 -2.62861e-06][rad], count = 2700 | |
| [abc] Too large IK error (vel_p) = [-0.00129895 -0.000102397 0.00224924][m], count = 2700 | |
| [abc] Too large IK error (vel_r) = [-3.16192e-05 0.000556828 2.63033e-06][rad], count = 2700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119735 -0.000516405 0.00225099][m], count = 2800 | |
| [abc] Too large IK error (vel_r) = [-0.000232223 0.000507551 -2.62885e-06][rad], count = 2800 | |
| [abc] Too large IK error (vel_p) = [-0.00129942 -0.000102491 0.00225014][m], count = 2800 | |
| [abc] Too large IK error (vel_r) = [-3.16609e-05 0.000557047 2.63012e-06][rad], count = 2800 | |
| start ref coords | |
| pos = | |
| [2.59921, 0.43314, -4.46351e-05] | |
| rot = | |
| [ 0.970612, -0.240649, 9.79204e-17] | |
| [ 0.240649, 0.970612, 1.6717e-17] | |
| [-9.90656e-17, 7.33867e-18, 1] | |
| goal ref midcoords | |
| pos = | |
| [2.55108, 0.627262, -4.46351e-05] | |
| rot = | |
| [ 0.970612, -0.240649, 9.79204e-17] | |
| [ 0.240649, 0.970612, 1.6717e-17] | |
| [-9.90656e-17, 7.33867e-18, 1] | |
| [0] footstep | |
| name = [rleg] | |
| pos = [2.62087, 0.345785, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [2.56552, 0.569025, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [2.60282, 0.41858, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [2.54747, 0.641821, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [2.58477, 0.491376, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [lleg] | |
| pos = [2.52942, 0.714617, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [rleg] | |
| pos = [2.57274, 0.539907, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [7] footstep | |
| name = [lleg] | |
| pos = [2.52942, 0.714617, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [-0.00119699 -0.000516309 0.00225033][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000232183 0.00050739 -2.63032e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.00130007 -0.000102593 0.00225132][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-3.17071e-05 0.000557338 2.62935e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119351 -0.000515206 0.00224372][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000231726 0.00050581 -2.6446e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.00130349 -0.000103217 0.00225764][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-3.20328e-05 0.000558875 2.6144e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00118339 -0.000512221 0.00222446][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000230423 0.000501189 -2.67234e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.00131401 -0.000105364 0.00227727][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-3.30663e-05 0.000563659 2.58668e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0011642 -0.000506556 0.00218799][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000227946 0.000492436 -2.7239e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.00133455 -0.00010964 0.00231572][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-3.5113e-05 0.000573027 2.53533e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00112672 -0.000495253 0.0021169][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000223058 0.000475396 -2.83286e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.00137717 -0.000118616 0.00239575][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-3.94242e-05 0.000592512 2.42732e-06][rad], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00105242 -0.000472182 0.00197657][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.00021322 0.000441808 -3.06844e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.00147284 -0.00013964 0.00257705][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-4.95075e-05 0.000636575 2.19631e-06][rad], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000942047 -0.000434518 0.00176689][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-0.000196226 0.000392539 -3.13892e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.00157452 -0.00017246 0.00277795][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-6.47128e-05 0.000685014 2.02604e-06][rad], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000843157 -0.00038481 0.00156919][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000174192 0.000348904 -3.10548e-06][rad], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.00153432 -0.000192019 0.00270654][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-7.35194e-05 0.000666285 1.89603e-06][rad], count = 700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000854469 -0.000391665 0.0015894][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-0.000177063 0.000353024 -3.15427e-06][rad], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.00158115 -0.000206481 0.00279636][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-7.93192e-05 0.000687967 2.03659e-06][rad], count = 800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000973929 -0.000452298 0.00182544][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-0.000202518 0.000405404 -2.88818e-06][rad], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.00158882 -0.00018156 0.00280873][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-6.69919e-05 0.000692538 2.47912e-06][rad], count = 900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119828 -0.000525788 0.00225285][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-0.000233933 0.000507062 -2.16926e-06][rad], count = 1000 | |
| [abc] Too large IK error (vel_p) = [-0.00130114 -0.000109931 0.00226118][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-3.32755e-05 0.000559862 3.09295e-06][rad], count = 1000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00146052 -0.000583719 0.00275456][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-0.000262289 0.000629795 -1.91822e-06][rad], count = 1100 | |
| [abc] Too large IK error (vel_p) = [-0.00104735 -5.92923e-05 0.0017896][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-1.09198e-05 0.000444377 3.2544e-06][rad], count = 1100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00144141 -0.000544805 0.00269753][m], count = 1200 | |
| [abc] Too large IK error (vel_r) = [-0.000245665 0.000621344 -1.98511e-06][rad], count = 1200 | |
| [abc] Too large IK error (vel_p) = [-0.000929811 -5.28467e-05 0.00157632][m], count = 1200 | |
| [abc] Too large IK error (vel_r) = [-8.96759e-06 0.000391591 3.01389e-06][rad], count = 1200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00138624 -0.000529565 0.00258804][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-0.000239262 0.000594846 -2.27389e-06][rad], count = 1300 | |
| [abc] Too large IK error (vel_p) = [-0.000994779 -6.26922e-05 0.00168938][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-1.34087e-05 0.000419316 2.89899e-06][rad], count = 1300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00136887 -0.000552744 0.00257407][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-0.000250136 0.000586757 -2.56261e-06][rad], count = 1400 | |
| [abc] Too large IK error (vel_p) = [-0.00114527 -7.15968e-05 0.00195996][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-1.76668e-05 0.000486016 2.79507e-06][rad], count = 1400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119902 -0.000511937 0.00225486][m], count = 1500 | |
| [abc] Too large IK error (vel_r) = [-0.000231797 0.00050892 -2.92363e-06][rad], count = 1500 | |
| [abc] Too large IK error (vel_p) = [-0.00130179 -9.76464e-05 0.00224958][m], count = 1500 | |
| [abc] Too large IK error (vel_r) = [-3.0618e-05 0.000556848 2.33598e-06][rad], count = 1500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00102384 -0.000458726 0.00192049][m], count = 1600 | |
| [abc] Too large IK error (vel_r) = [-0.000207144 0.000429374 -3.02612e-06][rad], count = 1600 | |
| [abc] Too large IK error (vel_p) = [-0.00145202 -0.000139931 0.00253942][m], count = 1600 | |
| [abc] Too large IK error (vel_r) = [-4.98466e-05 0.000627215 2.13742e-06][rad], count = 1600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000884561 -0.000396576 0.00164573][m], count = 1700 | |
| [abc] Too large IK error (vel_r) = [-0.000179465 0.000367354 -3.05531e-06][rad], count = 1700 | |
| [abc] Too large IK error (vel_p) = [-0.00145819 -0.00017017 0.0025578][m], count = 1700 | |
| [abc] Too large IK error (vel_r) = [-6.36263e-05 0.000630404 1.93841e-06][rad], count = 1700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000867854 -0.000394364 0.00161366][m], count = 1800 | |
| [abc] Too large IK error (vel_r) = [-0.000178418 0.000359036 -3.15857e-06][rad], count = 1800 | |
| [abc] Too large IK error (vel_p) = [-0.00154831 -0.000197014 0.00273133][m], count = 1800 | |
| [abc] Too large IK error (vel_r) = [-7.51108e-05 0.000672275 2.02331e-06][rad], count = 1800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000974634 -0.000451827 0.00182645][m], count = 1900 | |
| [abc] Too large IK error (vel_r) = [-0.000202404 0.000405742 -2.90303e-06][rad], count = 1900 | |
| [abc] Too large IK error (vel_p) = [-0.00158465 -0.000180683 0.00280027][m], count = 1900 | |
| [abc] Too large IK error (vel_r) = [-6.66365e-05 0.000690467 2.46558e-06][rad], count = 1900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0011941 -0.00052457 0.00224488][m], count = 2000 | |
| [abc] Too large IK error (vel_r) = [-0.000233394 0.000505149 -2.17931e-06][rad], count = 2000 | |
| [abc] Too large IK error (vel_p) = [-0.00130551 -0.000110841 0.00226937][m], count = 2000 | |
| [abc] Too large IK error (vel_r) = [-3.37082e-05 0.000561858 3.08284e-06][rad], count = 2000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00145971 -0.000584096 0.00275324][m], count = 2100 | |
| [abc] Too large IK error (vel_r) = [-0.000262434 0.000629384 -1.91967e-06][rad], count = 2100 | |
| [abc] Too large IK error (vel_p) = [-0.00105072 -5.96443e-05 0.00179571][m], count = 2100 | |
| [abc] Too large IK error (vel_r) = [-1.10536e-05 0.000445885 3.2585e-06][rad], count = 2100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0014436 -0.000545808 0.0027021][m], count = 2200 | |
| [abc] Too large IK error (vel_r) = [-0.000246115 0.000622379 -1.9807e-06][rad], count = 2200 | |
| [abc] Too large IK error (vel_p) = [-0.00092992 -5.26589e-05 0.00157656][m], count = 2200 | |
| [abc] Too large IK error (vel_r) = [-8.87519e-06 0.000391657 3.01862e-06][rad], count = 2200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00138687 -0.000529322 0.00258901][m], count = 2300 | |
| [abc] Too large IK error (vel_r) = [-0.000239144 0.000595149 -2.26737e-06][rad], count = 2300 | |
| [abc] Too large IK error (vel_p) = [-0.000992055 -6.24519e-05 0.00168454][m], count = 2300 | |
| [abc] Too large IK error (vel_r) = [-1.33049e-05 0.000418125 2.89967e-06][rad], count = 2300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00137025 -0.000552628 0.00257635][m], count = 2400 | |
| [abc] Too large IK error (vel_r) = [-0.000250081 0.000587389 -2.55722e-06][rad], count = 2400 | |
| [abc] Too large IK error (vel_p) = [-0.00114223 -7.13716e-05 0.00195442][m], count = 2400 | |
| [abc] Too large IK error (vel_r) = [-1.75468e-05 0.000484652 2.80083e-06][rad], count = 2400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00120318 -0.000513093 0.00226281][m], count = 2500 | |
| [abc] Too large IK error (vel_r) = [-0.000232323 0.000510834 -2.91629e-06][rad], count = 2500 | |
| [abc] Too large IK error (vel_p) = [-0.00129764 -9.6744e-05 0.00224178][m], count = 2500 | |
| [abc] Too large IK error (vel_r) = [-3.02006e-05 0.000554945 2.3433e-06][rad], count = 2500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00102731 -0.000460103 0.00192725][m], count = 2600 | |
| [abc] Too large IK error (vel_r) = [-0.000207772 0.000430924 -3.02722e-06][rad], count = 2600 | |
| [abc] Too large IK error (vel_p) = [-0.00145139 -0.000139294 0.00253802][m], count = 2600 | |
| [abc] Too large IK error (vel_r) = [-4.95514e-05 0.000626894 2.14182e-06][rad], count = 2600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000886303 -0.00039737 0.00164918][m], count = 2700 | |
| [abc] Too large IK error (vel_r) = [-0.000179811 0.000368135 -3.05312e-06][rad], count = 2700 | |
| [abc] Too large IK error (vel_p) = [-0.00145747 -0.000169537 0.00255636][m], count = 2700 | |
| [abc] Too large IK error (vel_r) = [-6.33455e-05 0.000630075 1.94067e-06][rad], count = 2700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000866935 -0.00039373 0.00161178][m], count = 2800 | |
| [abc] Too large IK error (vel_r) = [-0.000178149 0.000358652 -3.15756e-06][rad], count = 2800 | |
| [abc] Too large IK error (vel_p) = [-0.00154585 -0.000196697 0.00272661][m], count = 2800 | |
| [abc] Too large IK error (vel_r) = [-7.49837e-05 0.000671114 2.01813e-06][rad], count = 2800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000972113 -0.000450622 0.00182145][m], count = 2900 | |
| [abc] Too large IK error (vel_r) = [-0.000201901 0.000404616 -2.91172e-06][rad], count = 2900 | |
| [abc] Too large IK error (vel_p) = [-0.00158582 -0.000181457 0.00280255][m], count = 2900 | |
| [abc] Too large IK error (vel_r) = [-6.7003e-05 0.000690992 2.45739e-06][rad], count = 2900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00118991 -0.000523435 0.00223691][m], count = 3000 | |
| [abc] Too large IK error (vel_r) = [-0.000232866 0.000503227 -2.18446e-06][rad], count = 3000 | |
| [abc] Too large IK error (vel_p) = [-0.00130988 -0.000111837 0.00227763][m], count = 3000 | |
| [abc] Too large IK error (vel_r) = [-3.41617e-05 0.000563872 3.07759e-06][rad], count = 3000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00146433 -0.000585962 0.00276245][m], count = 3100 | |
| [abc] Too large IK error (vel_r) = [-0.000263226 0.000631508 -1.90293e-06][rad], count = 3100 | |
| [abc] Too large IK error (vel_p) = [-0.0010507 -5.95271e-05 0.0017958][m], count = 3100 | |
| [abc] Too large IK error (vel_r) = [-1.09211e-05 0.000445919 3.28152e-06][rad], count = 3100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00147699 -0.000554688 0.00276686][m], count = 3200 | |
| [abc] Too large IK error (vel_r) = [-0.000250062 0.000637975 -1.894e-06][rad], count = 3200 | |
| [abc] Too large IK error (vel_p) = [-0.000914645 -5.01529e-05 0.00154986][m], count = 3200 | |
| [abc] Too large IK error (vel_r) = [-7.49954e-06 0.000385134 3.11062e-06][rad], count = 3200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00146363 -0.000547132 0.0027361][m], count = 3300 | |
| [abc] Too large IK error (vel_r) = [-0.00024723 0.000630956 -2.10126e-06][rad], count = 3300 | |
| [abc] Too large IK error (vel_p) = [-0.000947351 -5.47347e-05 0.001605][m], count = 3300 | |
| [abc] Too large IK error (vel_r) = [-9.45998e-06 0.000398651 3.06637e-06][rad], count = 3300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00149343 -0.000582279 0.00281373][m], count = 3400 | |
| [abc] Too large IK error (vel_r) = [-0.000263848 0.000645073 -2.32868e-06][rad], count = 3400 | |
| [abc] Too large IK error (vel_p) = [-0.00105915 -5.61233e-05 0.00180342][m], count = 3400 | |
| [abc] Too large IK error (vel_r) = [-1.02252e-05 0.000447662 3.03633e-06][rad], count = 3400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00137417 -0.000559793 0.0025906][m], count = 3500 | |
| [abc] Too large IK error (vel_r) = [-0.000253383 0.000589865 -2.54251e-06][rad], count = 3500 | |
| [abc] Too large IK error (vel_p) = [-0.00115029 -6.78785e-05 0.00196961][m], count = 3500 | |
| [abc] Too large IK error (vel_r) = [-1.64345e-05 0.000488446 2.71953e-06][rad], count = 3500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00127557 -0.000536023 0.00240067][m], count = 3600 | |
| [abc] Too large IK error (vel_r) = [-0.000241726 0.000543794 -2.58912e-06][rad], count = 3600 | |
| [abc] Too large IK error (vel_p) = [-0.00122711 -8.53645e-05 0.00211337][m], count = 3600 | |
| [abc] Too large IK error (vel_r) = [-2.41041e-05 0.000523638 2.67052e-06][rad], count = 3600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00123285 -0.000525406 0.00231881][m], count = 3700 | |
| [abc] Too large IK error (vel_r) = [-0.000236568 0.000523963 -2.61035e-06][rad], count = 3700 | |
| [abc] Too large IK error (vel_p) = [-0.00126521 -9.43082e-05 0.00218526][m], count = 3700 | |
| [abc] Too large IK error (vel_r) = [-2.80443e-05 0.00054121 2.6488e-06][rad], count = 3700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00121356 -0.000520543 0.00228195][m], count = 3800 | |
| [abc] Too large IK error (vel_r) = [-0.000234218 0.000515039 -2.62032e-06][rad], count = 3800 | |
| [abc] Too large IK error (vel_p) = [-0.00128353 -9.86655e-05 0.00221997][m], count = 3800 | |
| [abc] Too large IK error (vel_r) = [-2.99688e-05 0.000549685 2.63872e-06][rad], count = 3800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0012047 -0.000518296 0.00226504][m], count = 3900 | |
| [abc] Too large IK error (vel_r) = [-0.000233133 0.000510946 -2.62498e-06][rad], count = 3900 | |
| [abc] Too large IK error (vel_p) = [-0.0012922 -0.000100739 0.00223642][m], count = 3900 | |
| [abc] Too large IK error (vel_r) = [-3.08859e-05 0.000553699 2.63403e-06][rad], count = 3900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0012006 -0.000517252 0.00225721][m], count = 4000 | |
| [abc] Too large IK error (vel_r) = [-0.00023263 0.000509053 -2.62715e-06][rad], count = 4000 | |
| [abc] Too large IK error (vel_p) = [-0.00129627 -0.000101716 0.00224414][m], count = 4000 | |
| [abc] Too large IK error (vel_r) = [-3.13179e-05 0.000555585 2.63185e-06][rad], count = 4000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119869 -0.000516767 0.00225357][m], count = 4100 | |
| [abc] Too large IK error (vel_r) = [-0.000232396 0.000508173 -2.62817e-06][rad], count = 4100 | |
| [abc] Too large IK error (vel_p) = [-0.00129817 -0.000102173 0.00224776][m], count = 4100 | |
| [abc] Too large IK error (vel_r) = [-3.15203e-05 0.000556467 2.63083e-06][rad], count = 4100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119781 -0.00051654 0.00225188][m], count = 4200 | |
| [abc] Too large IK error (vel_r) = [-0.000232288 0.000507763 -2.62864e-06][rad], count = 4200 | |
| [abc] Too large IK error (vel_p) = [-0.00129906 -0.000102387 0.00224944][m], count = 4200 | |
| [abc] Too large IK error (vel_r) = [-3.16149e-05 0.000556879 2.63035e-06][rad], count = 4200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119739 -0.000516435 0.00225109][m], count = 4300 | |
| [abc] Too large IK error (vel_r) = [-0.000232237 0.000507573 -2.62886e-06][rad], count = 4300 | |
| [abc] Too large IK error (vel_p) = [-0.00129947 -0.000102486 0.00225023][m], count = 4300 | |
| [abc] Too large IK error (vel_r) = [-3.1659e-05 0.000557071 2.63013e-06][rad], count = 4300 | |
| start ref coords | |
| pos = | |
| [2.55108, 0.627262, -4.46351e-05] | |
| rot = | |
| [ 0.970612, -0.240649, 9.79204e-17] | |
| [ 0.240649, 0.970612, 1.6717e-17] | |
| [-9.90656e-17, 7.33867e-18, 1] | |
| goal ref midcoords | |
| pos = | |
| [2.55108, 0.627262, -4.46351e-05] | |
| rot = | |
| [ 0.72025, -0.693714, 9.79204e-17] | |
| [ 0.693714, 0.72025, 1.6717e-17] | |
| [-8.2124e-17, 5.58883e-17, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [2.52942, 0.714617, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [2.58027, 0.542127, -4.46351e-05] | |
| rot = [ 0.945945, -0.324327, 9.79204e-17] [ 0.324327, 0.945945, 1.6717e-17] [-9.8049e-17, 1.59449e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [2.50755, 0.706035, -4.46351e-05] | |
| rot = [ 0.875255, -0.483662, 9.79204e-17] [ 0.483662, 0.875255, 1.6717e-17] [-9.37907e-17, 3.27287e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [2.60131, 0.552583, -4.46351e-05] | |
| rot = [ 0.82977, -0.558105, 9.79204e-17] [ 0.558105, 0.82977, 1.6717e-17] [-9.05813e-17, 4.07785e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [2.48865, 0.692085, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [2.61351, 0.56244, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [lleg] | |
| pos = [2.48865, 0.692085, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [-0.00119692 -0.000516159 0.00225022][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000232161 0.000507374 -2.63905e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.00130002 -0.000102462 0.00225111][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-3.16853e-05 0.000557283 2.61995e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00120056 -0.000517482 0.00225712][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.00023266 0.000509009 -2.61351e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.00129619 -0.000101934 0.00224423][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-3.13641e-05 0.000555608 2.64549e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00121088 -0.0005205 0.00227677][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000233983 0.000513727 -2.58573e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.00128584 -9.98466e-05 0.00222496][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-3.03579e-05 0.000550912 2.67335e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00123143 -0.000526465 0.00231598][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000236614 0.000523142 -2.53361e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.00126613 -9.58484e-05 0.0021883][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-2.84355e-05 0.00054197 2.72615e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00127447 -0.000538861 0.00239831][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000242096 0.000542918 -2.42409e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.00122741 -8.81915e-05 0.00211665][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-2.47274e-05 0.000524486 2.83764e-06][rad], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00137153 -0.00056587 0.00258488][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000254181 0.000587824 -2.18998e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.00115043 -7.36295e-05 0.00197537][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-1.76117e-05 0.000489961 3.07838e-06][rad], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00148324 -0.000590816 0.0028019][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-0.00026631 0.000640844 -2.02463e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.00103618 -5.74395e-05 0.00176744][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-1.04805e-05 0.000438871 3.1536e-06][rad], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0014216 -0.000563369 0.00267494][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000253474 0.000612165 -1.98728e-06][rad], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000940136 -6.7555e-05 0.00159653][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-1.51522e-05 0.0003964 3.01839e-06][rad], count = 700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00139795 -0.000578934 0.00264237][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-0.000260461 0.00060049 -2.17615e-06][rad], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000974658 -8.90847e-05 0.00165796][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-2.42031e-05 0.000411097 2.99273e-06][rad], count = 800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00138503 -0.000619045 0.00265162][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-0.000279123 0.000594741 -2.52283e-06][rad], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.00111044 -0.000111121 0.00190245][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-3.42715e-05 0.00047091 2.83251e-06][rad], count = 900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00117375 -0.000561122 0.0022507][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-0.000252906 0.000497638 -2.97633e-06][rad], count = 1000 | |
| [abc] Too large IK error (vel_p) = [-0.0012914 -0.000152961 0.00223951][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-5.44814e-05 0.000552496 2.27485e-06][rad], count = 1000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000968786 -0.000496513 0.00186054][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-0.000222684 0.000404725 -3.06493e-06][rad], count = 1100 | |
| [abc] Too large IK error (vel_p) = [-0.0014585 -0.000221612 0.00257063][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-8.54627e-05 0.000631109 2.06908e-06][rad], count = 1100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000840544 -0.00046588 0.00162982][m], count = 1200 | |
| [abc] Too large IK error (vel_r) = [-0.000207776 0.000347505 -2.99604e-06][rad], count = 1200 | |
| [abc] Too large IK error (vel_p) = [-0.00143182 -0.000295273 0.00254674][m], count = 1200 | |
| [abc] Too large IK error (vel_r) = [-0.000117527 0.00061985 1.99184e-06][rad], count = 1200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000845414 -0.00052616 0.00168835][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-0.000232945 0.000348663 -3.04864e-06][rad], count = 1300 | |
| [abc] Too large IK error (vel_p) = [-0.00147233 -0.000381914 0.00265647][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-0.000154635 0.000639596 2.18107e-06][rad], count = 1300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000936098 -0.000635797 0.0019305][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-0.000279688 0.000388981 -2.84303e-06][rad], count = 1400 | |
| [abc] Too large IK error (vel_p) = [-0.00148675 -0.000414267 0.00270181][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-0.000167883 0.000648006 2.5383e-06][rad], count = 1400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00109838 -0.000732115 0.00227545][m], count = 1500 | |
| [abc] Too large IK error (vel_r) = [-0.000321871 0.000463208 -2.28496e-06][rad], count = 1500 | |
| [abc] Too large IK error (vel_p) = [-0.00127634 -0.000334477 0.0022849][m], count = 1500 | |
| [abc] Too large IK error (vel_r) = [-0.000130442 0.000551461 2.99542e-06][rad], count = 1500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00128672 -0.000823497 0.0026689][m], count = 1600 | |
| [abc] Too large IK error (vel_r) = [-0.000365025 0.000551237 -2.05886e-06][rad], count = 1600 | |
| [abc] Too large IK error (vel_p) = [-0.00107654 -0.000264828 0.0018966][m], count = 1600 | |
| [abc] Too large IK error (vel_r) = [-9.89558e-05 0.000460375 3.14692e-06][rad], count = 1600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00125364 -0.00082778 0.002624][m], count = 1700 | |
| [abc] Too large IK error (vel_r) = [-0.000366552 0.000536783 -1.99782e-06][rad], count = 1700 | |
| [abc] Too large IK error (vel_p) = [-0.000929378 -0.000262174 0.00163834][m], count = 1700 | |
| [abc] Too large IK error (vel_r) = [-9.76993e-05 0.000395116 3.00182e-06][rad], count = 1700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00119835 -0.00086862 0.00258005][m], count = 1800 | |
| [abc] Too large IK error (vel_r) = [-0.000383831 0.00051107 -2.17193e-06][rad], count = 1800 | |
| [abc] Too large IK error (vel_p) = [-0.000928715 -0.000314983 0.00166183][m], count = 1800 | |
| [abc] Too large IK error (vel_r) = [-0.000120004 0.000394915 2.95746e-06][rad], count = 1800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00116828 -0.000938228 0.00261574][m], count = 1900 | |
| [abc] Too large IK error (vel_r) = [-0.000415195 0.000497656 -2.51697e-06][rad], count = 1900 | |
| [abc] Too large IK error (vel_p) = [-0.00104414 -0.000390898 0.00190068][m], count = 1900 | |
| [abc] Too large IK error (vel_r) = [-0.000153321 0.000446096 2.83597e-06][rad], count = 1900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00098797 -0.000844548 0.00224831][m], count = 2000 | |
| [abc] Too large IK error (vel_r) = [-0.000372495 0.000414953 -2.96894e-06][rad], count = 2000 | |
| [abc] Too large IK error (vel_p) = [-0.00120384 -0.000480746 0.00223188][m], count = 2000 | |
| [abc] Too large IK error (vel_r) = [-0.000195027 0.000517781 2.28134e-06][rad], count = 2000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000808789 -0.000730927 0.00186326][m], count = 2100 | |
| [abc] Too large IK error (vel_r) = [-0.000320131 0.000333958 -3.0678e-06][rad], count = 2100 | |
| [abc] Too large IK error (vel_p) = [-0.0013515 -0.000590805 0.00257005][m], count = 2100 | |
| [abc] Too large IK error (vel_r) = [-0.000245548 0.000587475 2.07115e-06][rad], count = 2100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000691867 -0.000666931 0.00162979][m], count = 2200 | |
| [abc] Too large IK error (vel_r) = [-0.000290388 0.000282135 -2.99563e-06][rad], count = 2200 | |
| [abc] Too large IK error (vel_p) = [-0.00130718 -0.000654469 0.00254662][m], count = 2200 | |
| [abc] Too large IK error (vel_r) = [-0.000273384 0.000568551 1.99039e-06][rad], count = 2200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000679534 -0.000724467 0.00168396][m], count = 2300 | |
| [abc] Too large IK error (vel_r) = [-0.000314143 0.000276105 -3.04691e-06][rad], count = 2300 | |
| [abc] Too large IK error (vel_p) = [-0.00132179 -0.00074794 0.00265208][m], count = 2300 | |
| [abc] Too large IK error (vel_r) = [-0.000314005 0.000577031 2.17537e-06][rad], count = 2300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000738016 -0.000853553 0.00192466][m], count = 2400 | |
| [abc] Too large IK error (vel_r) = [-0.000369579 0.000302593 -2.84668e-06][rad], count = 2400 | |
| [abc] Too large IK error (vel_p) = [-0.00132817 -0.000784556 0.00270022][m], count = 2400 | |
| [abc] Too large IK error (vel_r) = [-0.000329699 0.000582122 2.53334e-06][rad], count = 2400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000868511 -0.000988185 0.0022673][m], count = 2500 | |
| [abc] Too large IK error (vel_r) = [-0.000429285 0.000362779 -2.28182e-06][rad], count = 2500 | |
| [abc] Too large IK error (vel_p) = [-0.00114534 -0.000653549 0.0022836][m], count = 2500 | |
| [abc] Too large IK error (vel_r) = [-0.000268791 0.000498507 2.99294e-06][rad], count = 2500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00103264 -0.0011242 0.00266656][m], count = 2600 | |
| [abc] Too large IK error (vel_r) = [-0.000493336 0.000439259 -2.04019e-06][rad], count = 2600 | |
| [abc] Too large IK error (vel_p) = [-0.000966691 -0.000528867 0.00188459][m], count = 2600 | |
| [abc] Too large IK error (vel_r) = [-0.000212276 0.000417009 3.15763e-06][rad], count = 2600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00102466 -0.00111896 0.00265185][m], count = 2700 | |
| [abc] Too large IK error (vel_r) = [-0.00049108 0.000436225 -1.94701e-06][rad], count = 2700 | |
| [abc] Too large IK error (vel_p) = [-0.000825874 -0.000475096 0.00161567][m], count = 2700 | |
| [abc] Too large IK error (vel_r) = [-0.000188434 0.000354464 3.05103e-06][rad], count = 2700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00100241 -0.00115221 0.0026685][m], count = 2800 | |
| [abc] Too large IK error (vel_r) = [-0.00050549 0.000425849 -2.07189e-06][rad], count = 2800 | |
| [abc] Too large IK error (vel_p) = [-0.000810921 -0.000503606 0.00161578][m], count = 2800 | |
| [abc] Too large IK error (vel_r) = [-0.000200135 0.000347969 3.06486e-06][rad], count = 2800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00100585 -0.0012393 0.00280032][m], count = 2900 | |
| [abc] Too large IK error (vel_r) = [-0.000545696 0.00042817 -2.31414e-06][rad], count = 2900 | |
| [abc] Too large IK error (vel_p) = [-0.000887124 -0.000571047 0.00179344][m], count = 2900 | |
| [abc] Too large IK error (vel_r) = [-0.000229542 0.000381594 3.04968e-06][rad], count = 2900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000910009 -0.00117057 0.00258844][m], count = 3000 | |
| [abc] Too large IK error (vel_r) = [-0.000513772 0.000384052 -2.54212e-06][rad], count = 3000 | |
| [abc] Too large IK error (vel_p) = [-0.000959635 -0.000632422 0.0019641][m], count = 3000 | |
| [abc] Too large IK error (vel_r) = [-0.000257768 0.000413612 2.71954e-06][rad], count = 3000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000836592 -0.00110141 0.00239971][m], count = 3100 | |
| [abc] Too large IK error (vel_r) = [-0.000480973 0.000350035 -2.58853e-06][rad], count = 3100 | |
| [abc] Too large IK error (vel_p) = [-0.00101865 -0.000686656 0.0021104][m], count = 3100 | |
| [abc] Too large IK error (vel_r) = [-0.000282313 0.000440806 2.67064e-06][rad], count = 3100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000804946 -0.00107118 0.00231839][m], count = 3200 | |
| [abc] Too large IK error (vel_r) = [-0.000466738 0.000335466 -2.61008e-06][rad], count = 3200 | |
| [abc] Too large IK error (vel_p) = [-0.00104788 -0.000713869 0.00218381][m], count = 3200 | |
| [abc] Too large IK error (vel_r) = [-0.000294702 0.000454373 2.64886e-06][rad], count = 3200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00079069 -0.00105746 0.00228176][m], count = 3300 | |
| [abc] Too large IK error (vel_r) = [-0.000460305 0.000328922 -2.62019e-06][rad], count = 3300 | |
| [abc] Too large IK error (vel_p) = [-0.00106192 -0.000727017 0.00221927][m], count = 3300 | |
| [abc] Too large IK error (vel_r) = [-0.000300705 0.00046091 2.63874e-06][rad], count = 3300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000784148 -0.00105115 0.00226495][m], count = 3400 | |
| [abc] Too large IK error (vel_r) = [-0.000457348 0.000325923 -2.62491e-06][rad], count = 3400 | |
| [abc] Too large IK error (vel_p) = [-0.00106856 -0.000733249 0.00223609][m], count = 3400 | |
| [abc] Too large IK error (vel_r) = [-0.000303554 0.000464006 2.63404e-06][rad], count = 3400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000781121 -0.00104823 0.00225717][m], count = 3500 | |
| [abc] Too large IK error (vel_r) = [-0.000455979 0.000324536 -2.62712e-06][rad], count = 3500 | |
| [abc] Too large IK error (vel_p) = [-0.00107167 -0.000736178 0.00224399][m], count = 3500 | |
| [abc] Too large IK error (vel_r) = [-0.000304894 0.000465459 2.63185e-06][rad], count = 3500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000779715 -0.00104687 0.00225356][m], count = 3600 | |
| [abc] Too large IK error (vel_r) = [-0.000455343 0.000323892 -2.62815e-06][rad], count = 3600 | |
| [abc] Too large IK error (vel_p) = [-0.00107313 -0.000737548 0.00224768][m], count = 3600 | |
| [abc] Too large IK error (vel_r) = [-0.000305521 0.000466139 2.63083e-06][rad], count = 3600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00077906 -0.00104624 0.00225188][m], count = 3700 | |
| [abc] Too large IK error (vel_r) = [-0.000455047 0.000323592 -2.62863e-06][rad], count = 3700 | |
| [abc] Too large IK error (vel_p) = [-0.00107381 -0.000738188 0.00224941][m], count = 3700 | |
| [abc] Too large IK error (vel_r) = [-0.000305814 0.000466456 2.63036e-06][rad], count = 3700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000778755 -0.00104594 0.00225109][m], count = 3800 | |
| [abc] Too large IK error (vel_r) = [-0.000454909 0.000323453 -2.62885e-06][rad], count = 3800 | |
| [abc] Too large IK error (vel_p) = [-0.00107413 -0.000738487 0.00225021][m], count = 3800 | |
| [abc] Too large IK error (vel_r) = [-0.000305951 0.000466604 2.63014e-06][rad], count = 3800 | |
| [abc] setAutoBalancerParam | |
| [abc] use_force_mode cannot be changed to [1] during MODE_ABC, MODE_SYNC_TO_IDLE or MODE_SYNC_TO_ABC. | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 1 | |
| [abc] cannot change end-effectors except during MODE_IDLE | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0.01 0 0 0.01 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| start ref coords | |
| pos = | |
| [2.55108, 0.627262, -4.46351e-05] | |
| rot = | |
| [ 0.72025, -0.693714, 9.79204e-17] | |
| [ 0.693714, 0.72025, 1.6717e-17] | |
| [-8.2124e-17, 5.58883e-17, 1] | |
| goal ref midcoords | |
| pos = | |
| [2.76716, 0.835376, -4.46351e-05] | |
| rot = | |
| [ 0.72025, -0.693714, 9.79204e-17] | |
| [ 0.693714, 0.72025, 1.6717e-17] | |
| [-8.2124e-17, 5.58883e-17, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [2.48865, 0.692085, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [2.72155, 0.666497, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [2.70472, 0.900199, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [2.82959, 0.770554, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [2.70472, 0.900199, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [-0.000778492 -0.00104547 0.00225023][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000454747 0.00032332 -2.63917e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.00107463 -0.000738752 0.00225113][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000306085 0.000466783 2.61991e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000794577 -0.0010633 0.00229365][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000462529 0.000330797 -2.53039e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.00105603 -0.000723418 0.00220765][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000298958 0.000458665 2.72771e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000841022 -0.00111027 0.00241492][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000483839 0.000352322 -2.35529e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.0010062 -0.00068086 0.00208859][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000279427 0.000436364 2.89521e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000935961 -0.00120069 0.00265772][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000525413 0.00039668 -2.01726e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000911525 -0.000603638 0.00186865][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000244292 0.000394462 3.20396e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00113578 -0.00136501 0.00314215][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000602556 0.000491574 -1.27068e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.00072644 -0.000467144 0.00146308][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000183278 0.000314626 3.80043e-06][rad], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00152999 -0.00156213 0.00394477][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000697001 0.000681354 3.91976e-07][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000413082 -0.000270018 0.00083438][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-9.79919e-05 0.000185073 4.83013e-06][rad], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00186078 -0.00142635 0.00415398][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-0.000619079 0.000816881 1.72184e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.000262695 -0.000175612 0.000529239][m], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000402839 -0.000294684 0.000859318][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000114382 0.000181024 3.25375e-06][rad], count = 700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [5.97281e-05 1.48778e-05 -8.65147e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [7.77167e-05 5.92197e-06 -7.6667e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [8.99793e-05 -0.000153841 2.68517e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [0.000762526 0.000435245 -0.00136889][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [7.95314e-05 1.91957e-05 -0.000101958][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000127363 -0.000202364 2.05992e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-2.81415e-05 -4.91292e-05 0.00010036][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-5.50668e-05 -4.12485e-05 0.000105249][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000102266 0.000143889 1.95382e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [-9.8785e-05 0.000148151 -1.09529e-07][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000584567 -0.000487759 0.00137355][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000677856 -0.000540256 0.0016261][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000257341 0.00028301 1.04808e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.00028714 0.000314422 -4.05854e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000500703 -0.000578016 0.00158263][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000588396 -0.000645295 0.00189246][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000316085 0.000243264 -9.77395e-07][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000380874 0.000305279 -4.29833e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000293494 -0.000416158 0.00103195][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000332632 -0.000414367 0.00110355][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000184649 0.000129954 -3.50195e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [1.82401e-05 5.44687e-05 -9.10954e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [1.46468e-05 6.62403e-05 -7.52869e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000143302 -9.96816e-05 -2.39755e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [0.00023896 0.000373183 -0.000705915][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-4.66731e-05 -2.74508e-05 9.8347e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-4.12729e-05 -5.06243e-05 0.000101067][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000140158 0.000110947 -1.68332e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000141299 0.000105347 3.29522e-07][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000510142 -0.000549872 0.00136098][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000561112 -0.000639929 0.00159446][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000262262 0.000272417 -5.6917e-07][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000294799 0.000299807 4.11866e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000567832 -0.000440613 0.00147326][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000638901 -0.00053164 0.00177735][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000198789 0.000292248 1.23026e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000265123 0.000367878 4.34305e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00041042 -0.000260634 0.000967621][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000480848 -0.000346578 0.00122952][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000146247 0.000234536 3.86018e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000108455 -7.67443e-05 0.000238097][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000227224 -0.000174625 0.000549885][m], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000137369 -9.15995e-05 0.000276949][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-9.44537e-05 0.000148165 2.71486e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000325571 -0.000238191 0.000729198][m], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-9.17894e-05 0.000149673 5.78494e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000462385 -0.000300725 0.000980009][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-0.000172841 0.000238933 1.99601e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000488436 -0.00038027 0.00116708][m], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000167581 0.000225934 -9.79567e-07][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000465304 -0.000356578 0.00112078][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000202261 0.000236058 1.38356e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000455689 -0.000411402 0.0012047][m], count = 700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000189368 0.000225761 -9.76571e-07][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000455408 -0.000380398 0.00116055][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-0.000211584 0.000228304 1.22125e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.00043747 -0.000423842 0.00120411][m], count = 800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000201111 0.000226242 -1.03967e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000452105 -0.000393012 0.00117976][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-0.000215025 0.00022377 1.1595e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000428755 -0.000429286 0.00120036][m], count = 900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000206433 0.000226004 -1.07614e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000450497 -0.000398948 0.00118795][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-0.000216388 0.000221438 1.13303e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000424597 -0.000431693 0.00119772][m], count = 1000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000208842 0.00022576 -1.0944e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000449714 -0.000401711 0.00119155][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-0.00021697 0.000220305 1.12115e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.000422637 -0.000432785 0.00119629][m], count = 1100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000209947 0.000225614 -1.10318e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.00044934 -0.000402996 0.00119318][m], count = 1200 | |
| [abc] Too large IK error (vel_r) = [-0.00021723 0.000219766 1.11571e-06][rad], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000421719 -0.000433288 0.00119558][m], count = 1200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000210458 0.00022554 -1.10732e-06][rad], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000449164 -0.000403595 0.00119392][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-0.000217348 0.000219513 1.11319e-06][rad], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.00042129 -0.000433521 0.00119525][m], count = 1300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000210696 0.000225503 -1.10927e-06][rad], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000449082 -0.000403874 0.00119427][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-0.000217403 0.000219395 1.11203e-06][rad], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.00042109 -0.000433629 0.00119509][m], count = 1400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| start ref coords | |
| pos = | |
| [2.76716, 0.835376, -4.46351e-05] | |
| rot = | |
| [ 0.72025, -0.693714, 9.79204e-17] | |
| [ 0.693714, 0.72025, 1.6717e-17] | |
| [-8.2124e-17, 5.58883e-17, 1] | |
| goal ref midcoords | |
| pos = | |
| [2.9059, 0.691326, -4.46351e-05] | |
| rot = | |
| [ 0.72025, -0.693714, 9.79204e-17] | |
| [ 0.693714, 0.72025, 1.6717e-17] | |
| [-8.2124e-17, 5.58883e-17, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [2.70472, 0.900199, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [2.86428, 0.734541, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [2.75675, 0.84618, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [2.9163, 0.680522, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [2.80878, 0.792161, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [2.96833, 0.626504, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [lleg] | |
| pos = [2.84346, 0.756149, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [[abc] Too large IK error (vel_r) = [-8.2124e-17-0.000211067 0.000225642 -1.11556e-06][rad], count = 900 | |
| , 5.58883e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [7] footstep | |
| name = [rleg] | |
| pos = [2.96833, 0.626504, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [-0.000420756 -0.000433546 0.00119448][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000217368 0.000219205 1.10918e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000449345 -0.000404408 0.00119542][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000211054 0.000225628 -1.11342e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000422876 -0.00043429 0.0011989][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000217582 0.000220627 1.19124e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000448213 -0.00040205 0.00119019][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.0002095 0.000225205 -1.03055e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000427541 -0.000433774 0.00120569][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000217089 0.000223637 1.33047e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000446885 -0.000395987 0.00117873][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000205661 0.000224627 -8.88528e-07][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000434265 -0.000430302 0.00121138][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000214721 0.000228041 1.58476e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000442067 -0.000382502 0.0011503][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.00019721 0.000222144 -6.20942e-07][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000438306 -0.00041476 0.00119469][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000204849 0.000231295 2.10525e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000420823 -0.000347601 0.00106392][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000175662 0.000210717 -4.15397e-08][rad], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000397325 -0.000345187 0.00102937][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000163563 0.000209946 3.14841e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000318613 -0.000242103 0.000755276][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000113622 0.000156769 1.24872e-06][rad], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000238811 -0.000195595 0.000583795][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [-7.89746e-05 -6.60613e-05 0.000179624][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [5.55161e-05 1.09251e-05 -8.74953e-05][m], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-5.52352e-05 -7.9069e-05 0.000189738][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [0.000304539 0.000139324 -0.000534508][m], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000150056 -0.000131064 0.000362662][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [-4.07603e-05 -3.79176e-05 8.52902e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-9.08606e-05 0.00014986 3.08524e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [-8.77344e-05 0.000154657 8.00491e-07][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000526057 -0.000370967 0.00116571][m], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.000612725 -0.000394379 0.0013017][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000203804 0.000273728 1.50057e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000213692 0.00027805 -2.85192e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000434452 -0.00041715 0.00118913][m], count = 1000 | |
| [abc] Too large IK error (vel_p) = [-0.000452069 -0.000419637 0.00122866][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000151732 0.000125851 -2.0299e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000187694 0.000157079 -4.19246e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-6.82022e-05 -6.82295e-05 0.000172966][m], count = 1100 | |
| [abc] Too large IK error (vel_p) = [-0.000167716 -0.000177997 0.000467748][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [1.21324e-05 5.30778e-05 -8.43449e-05][m], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000166339 -0.000193065 0.000461899][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-3.85571e-05 -3.73299e-05 8.48603e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000144489 9.95391e-05 -2.76102e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000146414 9.66736e-05 -6.23127e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000331436 -0.000419019 0.000966061][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000288955 -0.000420707 0.000879464][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000228563 0.000175837 -2.27275e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000221611 0.000172437 9.91592e-07][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000432181 -0.000483418 0.00125231][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.0003906 -0.000494551 0.00119061][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000232584 0.000224872 -4.00777e-07][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000234115 0.000235121 2.77301e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000404593 -0.000358001 0.00106213][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000436713 -0.000434116 0.0012235][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000126789 0.000166382 1.24687e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000147185 0.000192138 3.25409e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000211315 -0.000158064 0.000484683][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000313705 -0.000263558 0.000787167][m], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000159323 -0.000141581 0.000398796][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [5.40073e-05 1.10162e-05 -8.55089e-05][m], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-3.91225e-05 -3.85829e-05 8.63052e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000273989 -0.000204159 0.000610899][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-9.29287e-05 0.000149635 3.0161e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [-9.00314e-05 0.000152971 6.46617e-07][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00055402 -0.0003496 0.00115454][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.00054484 -0.000409893 0.00127772][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000202896 0.000270588 1.4506e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000219506 0.000276081 -3.00021e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000493406 -0.000436732 0.00130977][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000314812 -0.00033638 0.00089974][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-0.00015059 0.000124572 -2.03699e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000176374 0.000143846 -4.14856e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000189076 -0.000203473 0.000533044][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [1.24004e-05 5.35989e-05 -8.53203e-05][m], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000149782 -0.000166791 0.000410617][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-4.02644e-05 -4.02539e-05 9.03684e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000144422 9.94577e-05 -2.76211e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000146586 9.67563e-05 -6.21942e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000312428 -0.000397744 0.000908624][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000290591 -0.000422814 0.000884663][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000228582 0.000175815 -2.27371e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000221638 0.000172433 9.92098e-07][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000423515 -0.000484219 0.00123236][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.000391563 -0.000494903 0.00119322][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000232607 0.000224873 -4.01118e-07][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000234132 0.000235121 2.77303e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.00042097 -0.00038539 0.0011261][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000436218 -0.000432545 0.0012206][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000126807 0.000166398 1.24676e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000147198 0.000192148 3.25409e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000241864 -0.000182083 0.000562226][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000311993 -0.000261958 0.000782302][m], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000158407 -0.000140954 0.000396714][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [5.40347e-05 1.10333e-05 -8.55639e-05][m], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-4.078e-05 -3.94654e-05 8.93865e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000278619 -0.000206891 0.000620128][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-9.23446e-05 0.00014866 3.01607e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [-8.90201e-05 0.00015141 6.72066e-07][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000555078 -0.000350635 0.00115784][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000545837 -0.000412123 0.00128372][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000202502 0.000270553 1.46902e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.00021912 0.000276127 -2.99256e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000491422 -0.000436101 0.00130634][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000305819 -0.000328456 0.000875179][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-0.000149672 0.000123692 -2.07652e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000174045 0.000141572 -4.23678e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000168325 -0.000174312 0.000467756][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [1.26733e-05 5.6884e-05 -8.9801e-05][m], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-5.74724e-05 -1.34211e-05 0.000113613][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.000162404 0.00032012 -0.000573333][m], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-4.16683e-05 -4.25612e-05 9.22467e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000199235 -0.000246373 0.000561186][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000145721 9.70356e-05 -3.10215e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000148395 9.2779e-05 -1.00089e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.00029857 -0.000447144 0.000924079][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000344176 -0.000442698 0.00102202][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [-0.000223034 0.000162923 -2.529e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000207539 0.000151517 6.40829e-07][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000363462 -0.000469715 0.00111289][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000417648 -0.00046777 0.00121321][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000235128 0.000207153 -1.51003e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.0002204 0.000190197 9.47673e-07][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000389721 -0.00044614 0.0011531][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000435107 -0.00043369 0.00121364][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-0.000224092 0.000219045 -1.26408e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000219857 0.000206081 1.01406e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000406239 -0.000439629 0.00117735][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000443006 -0.000418182 0.00120654][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-0.000217512 0.000223048 -1.17718e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000218917 0.000213348 1.06245e-06][rad], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0004141 -0.000436562 0.00118733][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000446324 -0.000410739 0.00120083][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-0.00021408 0.000224469 -1.14081e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000218215 0.000216577 1.08768e-06][rad], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000417748 -0.000435069 0.00119154][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.000447782 -0.000407217 0.00119763][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-0.000212404 0.000225032 -1.12467e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_r) = [-0.000217825 0.000218038 1.09998e-06][rad], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000419441 -0.000434356 0.00119339][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000448442 -0.000405565 0.00119603][m], count = 1200 | |
| [abc] Too large IK error (vel_r) = [-0.000211607 0.000225272 -1.11731e-06][rad], count = 700 | |
| [abc] Too large IK error (vel_r) = [-0.000217629 0.00021871 1.10584e-06][rad], count = 700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000420229 -0.00043402 0.00119423][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000448746 -0.000404793 0.00119525][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-0.000211232 0.000225379 -1.11392e-06][rad], count = 800 | |
| [abc] Too large IK error (vel_r) = [-0.000217534 0.000219021 1.10859e-06][rad], count = 800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000420595 -0.000433862 0.00119461][m], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.000448887 -0.000404433 0.00119489][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-0.000211056 0.000225429 -1.11234e-06][rad], count = 900 | |
| [abc] Too large IK error (vel_r) = [-0.00021749 0.000219165 1.10988e-06][rad], count = 900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| start ref coords | |
| pos = | |
| [2.9059, 0.691326, -4.46351e-05] | |
| rot = | |
| [ 0.72025, -0.693714, 9.79204e-17] | |
| [ 0.693714, 0.72025, 1.6717e-17] | |
| [-8.2124e-17, 5.58883e-17, 1] | |
| goal ref midcoords | |
| pos = | |
| [2.9059, 0.691326, -4.46351e-05] | |
| rot = | |
| [ 0.970612, -0.240649, 9.79204e-17] | |
| [ 0.240649, 0.970612, 1.6717e-17] | |
| [-9.90656e-17, 7.33867e-18, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [2.84346, 0.756149, -4.46351e-05] | |
| rot = [ 0.72025, -0.693714, 9.79204e-17] [ 0.693714, 0.72025, 1.6717e-17] [-8.2124e-17, 5.58883e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [2.95613, 0.616647, -4.46351e-05] | |
| rot = [ 0.82977, -0.558105, 9.79204e-17] [ 0.558105, 0.82977, 1.6717e-17] [-9.05813e-17, 4.07785e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [2.86237, 0.770099, -4.46351e-05] | |
| rot = [ 0.875255, -0.483662, 9.79204e-17] [ 0.483662, 0.875255, 1.6717e-17] [-9.37907e-17, 3.27287e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [2.93509, 0.606191, -4.46351e-05] | |
| rot = [ 0.945945, -0.324327, 9.79204e-17] [ 0.324327, 0.945945, 1.6717e-17] [-9.8049e-17, 1.59449e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [2.88045, 0.777653, -4.46351e-05] | |
| rot = [ 0.959192, -0.282757, 9.79204e-17] [ 0.282757, 0.959192, 1.6717e-17] [-9.86512e-17, 1.16529e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [2.92756, 0.603971, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, [abc] Too large IK error (vel_p) = [ 1.6717e-17] [-9.90656e-17, -0.000421141 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [lleg] | |
| pos = [2.88424, 0.778681, -0.000434055 -4.46351e-05] | |
| rot =0.00119572][m], count = 1000 | |
| [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [7] footstep | |
| name = [rleg] | |
| pos = [2.92756, 0.603971, -4.46351e-05] | |
| rot = [ 0.970612, -0.240649, 9.79204e-17] [ 0.240649, 0.970612, 1.6717e-17] [-9.90656e-17, 7.33867e-18, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [-0.000421154 -0.000434006 0.00119566][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000217577 0.000219423 1.11518e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000448723 -0.000403894 0.00119386][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000210777 0.000225341 -1.10682e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000422876 -0.00043429 0.0011989][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000217582 0.000220627 1.19124e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000448213 -0.000402049 0.00119019][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-0.000209499 0.000225205 -1.03055e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000427538 -0.00043377 0.00120568][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000217086 0.000223636 1.3309e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.00044687 -0.000395973 0.00117869][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000205652 0.000224621 -8.88028e-07][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000434184 -0.000430123 0.00121098][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000214607 0.000228005 1.58956e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000441777 -0.000382162 0.00114933][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [-0.000196999 0.000221993 -6.14877e-07][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000437741 -0.000413823 0.00119233][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000204277 0.000230979 2.11792e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000419543 -0.000346205 0.0010598][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.000174813 0.000210016 -2.39932e-08][rad], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000393753 -0.00034153 0.00101851][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000161483 0.000207992 3.17422e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000313001 -0.000237536 0.000740497][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000111051 0.000153875 1.2895e-06][rad], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000243551 -0.000196004 0.000589472][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [-8.67031e-05 -6.93573e-05 0.00019345][m], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000170972 -0.000137504 0.00040433][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [-4.20982e-05 -3.73467e-05 8.93666e-05][m], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-8.51011e-05 0.000153236 2.92708e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.00034488 -0.000221701 0.000731731][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [-8.04035e-05 0.00015647 7.23981e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000419091 -0.000220195 0.000808045][m], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000150556 0.000256563 2.2882e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000535908 -0.000341723 0.00119214][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [-0.000157602 0.0002595 -1.51552e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000566979 -0.000338284 0.00124741][m], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000199276 0.000248634 -3.32552e-07][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000466596 -0.000380926 0.00119242][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [-0.000209943 0.000243245 -3.50158e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000454505 -0.000371109 0.00116781][m], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000196199 -0.000199865 0.000519205][m], count = 1100 | |
| [abc] Too large IK error (vel_r) = [-0.000138122 0.000129057 -3.35221e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000260992 -0.000238963 0.000672616][m], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-7.1307e-05 -6.2481e-05 0.00016156][m], count = 1200 | |
| [abc] Too large IK error (vel_p) = [-0.000229296 -0.000199899 0.000555627][m], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000123866 0.000124095 -2.78228e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000195877 -0.000195438 0.000466664][m], count = 1300 | |
| [abc] Too large IK error (vel_r) = [-0.000124117 0.000124498 -6.13518e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000389673 -0.000329958 0.00092783][m], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000188026 0.000220208 -2.23318e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000434013 -0.000389949 0.00105378][m], count = 1400 | |
| [abc] Too large IK error (vel_r) = [-0.000190425 0.000239674 1.62931e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000534084 -0.000383219 0.00127154][m], count = 700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000165411 0.000266912 2.70412e-07][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000541182 -0.00037624 0.00130075][m], count = 1500 | |
| [abc] Too large IK error (vel_r) = [-0.00014705 0.000268018 3.48843e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000403709 -0.000209396 0.000882296][m], count = 800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000384366 -0.000200116 0.000838591][m], count = 1600 | |
| [abc] Too large IK error (vel_p) = [-0.000144699 -6.4109e-05 0.000281259][m], count = 900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000259471 -0.000117877 0.000527492][m], count = 1700 | |
| [abc] Too large IK error (vel_p) = [-0.000112783 -4.27372e-05 0.000201902][m], count = 1000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-4.76475e-05 0.00016877 2.89452e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000394164 -0.000136232 0.000752323][m], count = 1800 | |
| [abc] Too large IK error (vel_r) = [-4.0349e-05 0.00017055 7.01301e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.00043016 -0.000104921 0.000763537][m], count = 1100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-7.78577e-05 0.000278532 2.35849e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000599352 -0.00019389 0.00118627][m], count = 1900 | |
| [abc] Too large IK error (vel_r) = [-8.81647e-05 0.000292798 -1.54933e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000628284 -0.00017955 0.00123667][m], count = 1200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.00012659 0.00029991 -1.00543e-07][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000550916 -0.000247433 0.00119608][m], count = 2000 | |
| [abc] Too large IK error (vel_r) = [-0.000139822 0.000284033 -3.52166e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000537093 -0.000241071 0.00117211][m], count = 1300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000243002 -0.000143664 0.00052378][m], count = 2100 | |
| [abc] Too large IK error (vel_r) = [-9.80686e-05 0.000155798 -3.33787e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000313989 -0.000164594 0.000674158][m], count = 1400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-8.2427e-05 -4.0809e-05 0.000156681][m], count = 2200 | |
| [abc] Too large IK error (vel_p) = [-0.000268611 -0.000134792 0.000549233][m], count = 1500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-8.95388e-05 0.000150218 -2.79363e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000230209 -0.000137205 0.000451387][m], count = 2300 | |
| [abc] Too large IK error (vel_r) = [-9.03417e-05 0.0001506 -6.20781e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000453067 -0.000224449 0.000917856][m], count = 1600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.000130111 0.000258808 -2.23935e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.00051114 -0.000274636 0.00104555][m], count = 2400 | |
| [abc] Too large IK error (vel_r) = [-0.000128165 0.000278378 1.63502e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000609772 -0.000247009 0.00127103][m], count = 1700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-9.74802e-05 0.00029921 2.71233e-07][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000617499 -0.000240048 0.00130663][m], count = 2500 | |
| [abc] Too large IK error (vel_r) = [-7.93805e-05 0.000296122 3.50145e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000449414 -0.000110672 0.000899482][m], count = 1800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000427853 -0.000107164 0.000855019][m], count = 2600 | |
| [abc] Too large IK error (vel_r) = [-2.55543e-05 0.000173127 3.26945e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000162034 -3.05623e-05 0.000293717][m], count = 1900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000279915 -6.05607e-05 0.000530923][m], count = 2700 | |
| [abc] Too large IK error (vel_p) = [-0.000112783 -1.92496e-05 0.000191577][m], count = 2000 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-1.56645e-05 0.000174005 2.85144e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000401384 -6.2141e-05 0.000732315][m], count = 2800 | |
| [abc] Too large IK error (vel_r) = [-1.10167e-05 0.000175808 6.4855e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000430733 -3.07276e-05 0.000742794][m], count = 2100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-3.32625e-05 0.000286849 2.29488e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000616098 -9.63957e-05 0.0011704][m], count = 2900 | |
| [abc] Too large IK error (vel_r) = [-4.35469e-05 0.000303553 -1.62068e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000644423 -8.03537e-05 0.00122489][m], count = 2200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-7.98697e-05 0.000309007 -2.08782e-07][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000578611 -0.000158925 0.00118535][m], count = 3000 | |
| [abc] Too large IK error (vel_r) = [-9.43992e-05 0.000293308 -3.56898e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000561545 -0.000154528 0.0011569][m], count = 2300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000240197 -9.63389e-05 0.000478224][m], count = 3100 | |
| [abc] Too large IK error (vel_p) = [-0.00030496 -0.000106299 0.000613322][m], count = 2400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.0002055 -6.55586e-05 0.000398725][m], count = 2500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-5.4708e-05 -1.35214e-05 8.92627e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000356034 -0.000142115 0.000685923][m], count = 2600 | |
| [abc] Too large IK error (vel_r) = [-7.67957e-05 0.00015731 -3.06309e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-7.99607e-05 0.000155827 -8.31378e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000390621 -0.00019377 0.000741566][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000541719 -0.000213438 0.00107869][m], count = 2700 | |
| [abc] Too large IK error (vel_r) = [-0.000110927 0.000253007 -2.45235e-06][rad], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-0.00010524 0.000253312 9.17094e-07][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000544571 -0.000233135 0.00109457][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000594538 -0.000183141 0.00121479][m], count = 2800 | |
| [abc] Too large IK error (vel_r) = [-9.89942e-05 0.000297342 -1.48964e-06][rad], count = 200 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-9.32275e-05 0.000278993 9.61084e-07][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000557781 -0.000195381 0.00114607][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000593407 -0.000152176 0.00121182][m], count = 2900 | |
| [abc] Too large IK error (vel_r) = [-8.40148e-05 0.000301763 -1.25762e-06][rad], count = 300 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-8.60079e-05 0.000290261 1.02824e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.00057012 -0.000179407 0.00117427][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000592467 -0.000137924 0.00120472][m], count = 3000 | |
| [abc] Too large IK error (vel_r) = [-7.65902e-05 0.000301878 -1.17458e-06][rad], count = 400 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-8.2226e-05 0.000294993 1.07014e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000576209 -0.000171878 0.00118606][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000591725 -0.000131275 0.00119975][m], count = 3100 | |
| [abc] Too large IK error (vel_r) = [-7.30428e-05 0.000301405 -1.13967e-06][rad], count = 500 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-8.03581e-05 0.000297001 1.09148e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000578997 -0.000168309 0.00119099][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.000591309 -0.000128177 0.00119708][m], count = 3200 | |
| [abc] Too large IK error (vel_r) = [-7.13745e-05 0.000301068 -1.12415e-06][rad], count = 600 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-7.94644e-05 0.000297888 1.1018e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.000580278 -0.000166631 0.00119314][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000591101 -0.000126733 0.00119576][m], count = 3300 | |
| [abc] Too large IK error (vel_r) = [-7.05941e-05 0.000300886 -1.11707e-06][rad], count = 700 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-7.90427e-05 0.000298291 1.10669e-06][rad], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.00058087 -0.000165846 0.00119411][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000591001 -0.000126059 0.00119513][m], count = 3400 | |
| [abc] Too large IK error (vel_r) = [-7.02298e-05 0.000300796 -1.11381e-06][rad], count = 800 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-7.88451e-05 0.000298476 1.10899e-06][rad], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000581145 -0.000165479 0.00119456][m], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.000590954 -0.000125746 0.00119483][m], count = 3500 | |
| [abc] Too large IK error (vel_r) = [-7.00598e-05 0.000300753 -1.11229e-06][rad], count = 900 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_r) = [-7.87527e-05 0.000298562 1.11007e-06][rad], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.000581273 -0.000165308 0.00119477][m], count = 1000 | |
| [abc] setAutoBalancerParam | |
| [abc] use_force_mode cannot be changed to [1] during MODE_ABC, MODE_SYNC_TO_IDLE or MODE_SYNC_TO_ABC. | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] cannot change end-effectors except during MODE_IDLE | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] stop auto balancer mode | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000695553 -0.000175997 5.41276e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000676979 -0.000167614 2.1763e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000697324 -0.000168885 5.42713e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000712157 -0.000176337 -2.1763e-05][m], count = 0 | |
| [abc] Finished cleanup | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=122.539, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.55408, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.55408, qCurrent=1.309 , Error=0.245078 > 0.18 (limit), servo_state = ON, q=1.55408 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-122.539, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.55408, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.55408, qCurrent=-1.309 , Error=-0.245078 > 0.18 (limit), servo_state = ON, q=-1.55408 | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.37941, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.37941, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.05[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = RECTANGLE | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0.182[mm], heel_pos_offset_x = -0.072[mm] | |
| [abc] toe_zmp_offset_x = 0.182[mm], heel_zmp_offset_x = -0.072[mm] | |
| [abc] toe_angle = 0[deg] | |
| [abc] heel_angle = 0[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 0 | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.05[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = CYCLOID | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0.182[mm], heel_pos_offset_x = -0.072[mm] | |
| [abc] toe_zmp_offset_x = 0.182[mm], heel_zmp_offset_x = -0.072[mm] | |
| [abc] toe_angle = 0[deg] | |
| [abc] heel_angle = 0[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| start ref coords | |
| pos = | |
| [3.08196, 0.812248, -6.66586e-05] | |
| rot = | |
| [ 0.970612, -0.240649, -6.01113e-17] | |
| [ 0.240649, 0.970612, -1.4163e-17] | |
| [ 6.17531e-17, -7.18908e-19, 1] | |
| goal ref midcoords | |
| pos = | |
| [3.30014, 0.763316, -6.66586e-05] | |
| rot = | |
| [ 0.987893, -0.155139, -6.01113e-17] | |
| [ 0.155139, 0.987893, -1.4163e-17] | |
| [ 6.15807e-17, 4.66596e-18, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [3.0603, 0.899603, -6.66586e-05] | |
| rot = [ 0.970612, -0.240649, -6.01113e-17] [ 0.240649, 0.970612, -1.4163e-17] [ 6.17531e-17, -7.18908e-19, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [3.25354, 0.710904, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [3.28265, 0.874677, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [3.31411, 0.674406, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [3.28618, 0.852227, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [3.31411, 0.674406, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| start ref coords | |
| pos = | |
| [3.30014, 0.763316, -6.66586e-05] | |
| rot = | |
| [ 0.987893, -0.155139, -6.01113e-17] | |
| [ 0.155139, 0.987893, -1.4163e-17] | |
| [ 6.15807e-17, 4.66596e-18, 1] | |
| goal ref midcoords | |
| pos = | |
| [3.34907, 0.981504, -6.66586e-05] | |
| rot = | |
| [ 0.875255, -0.483662, -6.01113e-17] | |
| [ 0.483662, 0.875255, -1.4163e-17] | |
| [ 5.94628e-17, -1.66773e-17, 1] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [3.28618, 0.852227, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [3.39912, 0.713409, -6.66586e-05] | |
| rot = [ 0.970612, -0.240649, -6.01113e-17] [ 0.240649, 0.970612, -1.4163e-17] [ 6.17531e-17, -7.18908e-19, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [3.3444, 0.935399, -6.66586e-05] | |
| rot = [ 0.914078, -0.405538, -6.01113e-17] [ 0.405538, 0.914078, -1.4163e-17] [ 6.069e-17, -1.14313e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [3.43181, 0.804701, -6.66586e-05] | |
| rot = [ 0.895519, -0.445023, -6.01113e-17] [ 0.445023, 0.895519, -1.4163e-17] [ 6.01337e-17, -1.40677e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [3.33009, 1.01089, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [3.40716, 0.876389, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [6] footstep | |
| name = [lleg] | |
| pos = [3.30554, 1.06028, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [7] footstep | |
| name = [rleg] | |
| pos = [3.3926, 0.902731, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [8] footstep | |
| name = [lleg] | |
| pos = [3.30554, 1.06028, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [0] footstep | |
| name = [lleg] | |
| pos = [3.0603, 0.899603, -6.66586e-05] | |
| rot = [ 0.970612, -0.240649, -6.01113e-17] [ 0.240649, 0.970612, -1.4163e-17] [ 6.17531e-17, -7.18908e-19, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rleg] | |
| pos = [3.25354, 0.710904, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [lleg] | |
| pos = [3.28265, 0.874677, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [rleg] | |
| pos = [3.31411, 0.674406, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [lleg] | |
| pos = [3.28618, 0.852227, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [rleg] | |
| pos = [3.31411, 0.674406, -6.66586e-05] | |
| rot = [ 0.987893, -0.155139, -6.01113e-17] [ 0.155139, 0.987893, -1.4163e-17] [ 6.15807e-17, 4.66596e-18, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [3.3926, 0.902731, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [3.39307, 1.10864, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [3.56765, 0.999463, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [3.56812, 1.20538, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [3.65518, 1.04783, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [lleg] | |
| pos = [3.56812, 1.20538, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| start ref coords | |
| pos = | |
| [3.61165, 1.1266, -6.66586e-05] | |
| rot = | |
| [ 0.875255, -0.483662, -6.01113e-17] | |
| [ 0.483662, 0.875255, -1.4163e-17] | |
| [ 5.94628e-17, -1.66773e-17, 1] | |
| goal ref midcoords | |
| pos = | |
| [3.56328, 1.21413, -6.66586e-05] | |
| rot = | |
| [ 0.72025, -0.693714, -6.01113e-17] | |
| [ 0.693714, 0.72025, -1.4163e-17] | |
| [ 5.31203e-17, -3.14991e-17, 1] | |
| [0] footstep | |
| name = [rleg] | |
| pos = [3.65518, 1.04783, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [3.53092, 1.24038, -6.66586e-05] | |
| rot = [ 0.777971, -0.6283, -6.01113e-17] [ 0.6283, 0.777971, -1.4163e-17] [ 5.56634e-17, -2.67495e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [3.6383, 1.12749, -6.66586e-05] | |
| rot = [ 0.749824, -0.661637, -6.01113e-17] [ 0.661637, 0.749824, -1.4163e-17] [ 5.44437e-17, -2.91521e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [3.50085, 1.27895, -6.66586e-05] | |
| rot = [ 0.72025, -0.693714, -6.01113e-17] [ 0.693714, 0.72025, -1.4163e-17] [ 5.31203e-17, -3.14991e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [3.62572, 1.14931, -6.66586e-05] | |
| rot = [ 0.72025, -0.693714, -6.01113e-17] [ 0.693714, 0.72025, -1.4163e-17] [ 5.31203e-17, -3.14991e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [lleg] | |
| pos = [3.50085, 1.27895, -6.66586e-05] | |
| rot = [ 0.72025, -0.693714, -6.01113e-17] [ 0.693714, 0.72025, -1.4163e-17] [ 5.31203e-17, -3.14991e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [0] footstep | |
| name = [rleg] | |
| pos = [3.3926, 0.902731, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [3.39307, 1.10864, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [3.56765, 0.999463, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [3] footstep | |
| name = [lleg] | |
| pos = [3.56812, 1.20538, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [4] footstep | |
| name = [rleg] | |
| pos = [3.65518, 1.04783, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0.05[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [5] footstep | |
| name = [lleg] | |
| pos = [3.56812, 1.20538, -6.66586e-05] | |
| rot = [ 0.875255, -0.483662, -6.01113e-17] [ 0.483662, 0.875255, -1.4163e-17] [ 5.94628e-17, -1.66773e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [-3.89415e-05 5.46924e-05 -7.5667e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [5.27792e-05 -4.0575e-05 -7.49176e-05][m], count = 0 | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.31228, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.30609 | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.31228, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.30609 | |
| [abc] Too large IK error (vel_r) = [9.43766e-05 -0.000148762 -2.1337e-05][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000144787 -9.96734e-05 2.11698e-05][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=41.9476, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-41.9476, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [abc] Too large IK error (vel_p) = [0.000209319 0.000370165 -0.000825663][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000376886 0.000194824 -0.000823827][m], count = 100 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.49101, qCurrent=1.309 , Error=0.182012 > 0.18 (limit), servo_state = ON, q=1.49101 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.49101, qCurrent=-1.309 , Error=-0.182012 > 0.18 (limit), servo_state = ON, q=-1.49101 | |
| [abc] Too large IK error (vel_p) = [-1.90601e-05 -4.65384e-05 9.76249e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-4.80963e-05 -1.79555e-05 9.95718e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000128121 0.000118698 8.59789e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000114242 0.000132952 -8.62415e-06][rad], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=127.341, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.56368, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.56368, qCurrent=1.309 , Error=0.254683 > 0.18 (limit), servo_state = ON, q=1.56368 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-127.341, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.56368, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.56368, qCurrent=-1.309 , Error=-0.254683 > 0.18 (limit), servo_state = ON, q=-1.56368 | |
| [abc] setAutoBalancerParam | |
| [abc] use_force_mode cannot be changed to [1] during MODE_ABC, MODE_SYNC_TO_IDLE or MODE_SYNC_TO_ABC. | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 1 | |
| [abc] cannot change end-effectors except during MODE_IDLE | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 1 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [1, 1, 1] | |
| [abc] graspless_manip_reference_trans_pos = [0.450037, 1.04944e-06, 0.869818] | |
| [abc] graspless_manip_reference_trans_rot = [ 1, -2.73061e-06, 0] | |
| [ 2.73061e-06, 1, 0] | |
| [ 0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [co] CollisionDetector is successfully disabled. | |
| [abc] Too large IK error (vel_p) = [-0.000430531 -0.000441748 0.00101191][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000176149 0.000176125 6.71382e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000458791 -0.000414715 0.00101466][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000169845 0.000183127 -6.74393e-07][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=99.0935, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.50719, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.50719, qCurrent=1.309 , Error=0.198187 > 0.18 (limit), servo_state = ON, q=1.50719 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-99.0935, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.50719, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.50719, qCurrent=-1.309 , Error=-0.198187 > 0.18 (limit), servo_state = ON, q=-1.50719 | |
| [abc] Too large IK error (vel_p) = [4.87188e-05 5.01427e-05 -7.71684e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [5.2644e-05 4.47354e-05 -7.53419e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.31535, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.31535, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [abc] Too large IK error (vel_p) = [0.000178752 0.000165651 -0.000322144][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000145528 0.000132611 -0.000259265][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000201509 0.00017766 -0.000354748][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.000121977 0.000101693 -0.000207433][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000370245 0.000299867 -0.000626678][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.000178035 0.000136267 -0.000290902][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000113202 -0.000133939 1.57095e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000105253 -0.000140185 1.558e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00110948 0.000786143 -0.00175613][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.000584546 0.00041368 -0.000922047][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000301479 -0.000421198 2.99613e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000309353 -0.000472483 2.0844e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00284699 0.00174338 -0.0041717][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [0.00174552 0.00110866 -0.00260319][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000580291 -0.000941824 3.26508e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000475963 -0.000766394 1.96261e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00393583 0.00230089 -0.0055925][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [0.00257787 0.0015851 -0.00375618][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000708879 -0.00119528 3.04784e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000451667 -0.000709508 1.45841e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00338918 0.00205224 -0.00490554][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [0.00212247 0.00135949 -0.00316007][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [0.00059996 -0.000964947 2.31243e-06][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000209677 -0.000295569 3.31781e-07][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.00142106 0.000991667 -0.00222728][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [0.000660259 0.000485206 -0.0010609][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [0.000256021 -0.000349735 5.04698e-07][rad], count = 500 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [3.7763e-05 4.88454e-05 -7.98381e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [2.52166e-05 6.59066e-05 -7.89625e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000131154 -0.00011908 -2.61871e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000137402 -0.00010988 -1.99684e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000912497 0.001209 -0.00195124][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000815616 0.00110747 -0.00175413][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000681973 -0.000490166 -3.1001e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000557448 -0.000401353 -1.83955e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00211452 0.00313792 -0.00469578][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00169846 0.00241856 -0.00368093][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.00113213 -0.000761468 -2.8798e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000813756 -0.000578665 -1.46129e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00259673 0.00387637 -0.00571456][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00178624 0.00244847 -0.00378025][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.00103372 -0.000723876 -2.09277e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000567082 -0.00043691 -4.78231e-07][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00178065 0.00240933 -0.00376761][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.000763064 0.000897106 -0.00152123][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000370011 -0.00030745 -9.096e-08][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000169367 0.000147695 -0.000296312][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-2.75478e-05 -6.27739e-05 8.68223e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [5.46443e-05 3.06085e-05 -8.03121e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000108619 -0.000141639 2.78345e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [7.57803e-05 1.43127e-05 -7.52482e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00102465 0.000674011 -0.00158856][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [9.70931e-05 -0.000148122 2.10287e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000384625 -0.000602059 3.10116e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00105082 0.000659301 -0.00157744][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00253682 0.0015419 -0.00373206][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000297047 -0.000467281 1.76329e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000557262 -0.000901286 2.70637e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.0017775 0.0011327 -0.00265548][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00282051 0.00175284 -0.00415292][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000340763 -0.000514532 1.1162e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.00043364 -0.000646312 1.57766e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00109879 0.000771559 -0.00172072][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00123627 0.000888408 -0.00196427][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000119914 -0.000158353 -2.60069e-07][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [8.33232e-05 8.63903e-05 -0.000157631][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [4.73984e-05 8.3976e-05 -0.000117743][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000129257 -0.000118793 -2.61069e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000138912 -0.000112334 -2.06338e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000855231 0.00111642 -0.00181501][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [0.00079925 0.00108548 -0.00171934][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000699164 -0.000499193 -3.24086e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000557532 -0.000395159 -2.06182e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00205243 0.00308825 -0.00460686][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [0.00158186 0.00233238 -0.00350982][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [0.00113347 -0.000738263 -3.22791e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000780352 -0.000526211 -1.96679e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00248305 0.00390616 -0.00567169][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [0.00162532 0.00242473 -0.00363083][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [0.00108972 -0.000708673 -2.81783e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000609245 -0.000420839 -1.43449e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00200081 0.00304026 -0.00452874][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [0.000976765 0.00136325 -0.00213231][m], count = 900 | |
| [abc] Too large IK error (vel_r) = [0.000648565 -0.000460843 -1.6888e-06][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000231427 -0.000179125 -2.24061e-07][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.000982289 0.00129516 -0.00209285][m], count = 900 | |
| [abc] Too large IK error (vel_p) = [0.000259968 0.000312777 -0.000529527][m], count = 1000 | |
| [abc] Too large IK error (vel_r) = [0.000197416 -0.000168418 -6.1179e-07][rad], count = 500 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000328831 0.000370504 -0.000651299][m], count = 1000 | |
| [abc] Too large IK error (vel_p) = [0.000104061 0.000117069 -0.000204241][m], count = 1100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000171767 0.000176728 -0.000325179][m], count = 1100 | |
| [abc] Too large IK error (vel_p) = [0.000104979 0.000110284 -0.000199626][m], count = 1200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000139608 0.00013713 -0.000258064][m], count = 1200 | |
| [abc] Too large IK error (vel_p) = [0.00011391 0.000115406 -0.000213178][m], count = 1300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00013173 0.000126688 -0.000240863][m], count = 1300 | |
| [abc] Too large IK error (vel_p) = [0.000119044 0.000118632 -0.000221173][m], count = 1400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000128973 0.000122827 -0.000234632][m], count = 1400 | |
| [abc] Too large IK error (vel_p) = [0.00012159 0.000120255 -0.000225149][m], count = 1500 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000127797 0.00012115 -0.00023194][m], count = 1500 | |
| [abc] Too large IK error (vel_p) = [0.000122805 0.000121033 -0.000227047][m], count = 1600 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000127262 0.000120384 -0.000230713][m], count = 1600 | |
| [abc] Too large IK error (vel_p) = [0.000123377 0.0001214 -0.000227941][m], count = 1700 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000127015 0.00012003 -0.000230145][m], count = 1700 | |
| [abc] Too large IK error (vel_p) = [0.000126562 0.000119372 -0.000229095][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000124233 0.000121942 -0.000229273][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-4.83317e-05 -5.58024e-05 7.64671e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-6.01969e-05 -4.95668e-05 8.18491e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000193822 -0.000199752 0.00045675][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000197331 -0.000175973 0.000433259][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000117133 -0.000123099 0.000296659][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000107886 -9.46765e-05 0.000248749][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000110118 -0.000116232 0.000280955][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [-7.55673e-05 -6.73474e-05 0.000174483][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [4.62244e-05 2.43012e-05 -8.54472e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-4.63416e-05 -6.39785e-05 0.000142399][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [6.28978e-05 1.46508e-05 -8.05069e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000103866 -0.00014144 3.06191e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000730392 0.000447593 -0.00137513][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [9.24323e-05 -0.000150741 2.19409e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000639207 0.00036726 -0.00114947][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.0003438 -0.00056984 3.66098e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00188968 0.00106716 -0.00335386][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000238495 -0.000406781 1.98645e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00120513 0.000690358 -0.002141][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000479364 -0.000834377 3.38724e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.0021611 0.00121672 -0.00380576][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000251991 -0.00042403 1.62355e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00088338 0.000523575 -0.00159993][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000371471 -0.000614628 2.56056e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00107707 0.000661059 -0.00200242][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-3.65502e-05 -4.47175e-05 0.000101345][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-4.6215e-05 -2.83388e-05 8.49574e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [-0.000110096 0.00013696 -1.66216e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000136938 -0.000122082 0.000316156][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000165765 -0.000134731 0.00037542][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [2.43474e-05 5.02197e-05 -8.8908e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [1.82205e-05 6.41152e-05 -8.3792e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000137766 -0.000112187 -3.04471e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000144289 -9.93208e-05 -2.01236e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000590741 0.000881494 -0.00169163][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000366525 0.000572169 -0.00106318][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.0004901 -0.000330577 -3.44611e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000235059 -0.000152146 -1.91542e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000864439 0.00137229 -0.00254213][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000268106 0.000448343 -0.000812107][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000424014 -0.000279391 -2.83609e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.000333066 0.000515844 -0.000992281][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-4.94075e-05 -2.38423e-05 9.86882e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-3.82751e-05 -4.7649e-05 9.73782e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.00013614 0.000109442 9.05389e-07][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000203251 -0.000226153 0.00053233][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000188423 -0.000224103 0.000509628][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [4.98821e-05 2.56905e-05 -8.97428e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [6.08199e-05 2.04906e-05 -8.61964e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000112247 -0.000138689 2.84506e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000100779 -0.000143483 1.94019e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00119665 0.000771085 -0.00224488][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000916187 0.000590302 -0.00170363][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000434686 -0.000683357 3.48016e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000305563 -0.000480841 1.76976e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00229185 0.00135148 -0.00406461][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.0013389 0.000818774 -0.00242206][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.0004998 -0.000831886 3.1253e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000256178 -0.000412697 1.53744e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00159379 0.00095363 -0.00289545][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000503205 0.000305977 -0.000926336][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000248784 -0.000386536 1.94526e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-3.60034e-05 -4.61996e-05 0.000102712][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-5.1679e-05 -3.33365e-05 9.72076e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [-0.000109239 0.000137534 -1.51971e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.00016443 -0.000147645 0.000381752][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000189655 -0.00015709 0.000432571][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [2.38436e-05 5.04749e-05 -8.88677e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [1.77034e-05 6.52399e-05 -8.40772e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000137996 -0.000111604 -3.118e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000144782 -9.91579e-05 -2.15153e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000650435 0.000984412 -0.00187401][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000480822 0.000751172 -0.00139049][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000604405 -0.000398036 -3.67304e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000413837 -0.000266551 -2.01448e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00128283 0.00209177 -0.00376621][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000753673 0.00120718 -0.00219291][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000820793 -0.000512957 -3.41373e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000401231 -0.000256592 -1.77103e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00118131 0.00192078 -0.00347925][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000450377 0.000713193 -0.00131604][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000553927 -0.000361798 -2.60312e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00048305 0.000713275 -0.00138124][m], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-4.24505e-05 -2.90818e-05 9.17119e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-3.4399e-05 -4.56749e-05 9.17079e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000147861 -0.000148506 0.000363224][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000140897 -0.000162525 0.000366194][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000125079 -0.00011668 0.000298591][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000112237 -0.000123496 0.000288122][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000121801 -0.00011005 0.000286343][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [-0.000110474 -0.000118842 0.00028143][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000121335 -0.00010804 0.000283077][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000110746 -0.000117878 0.000281004][m], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000121333 -0.000107311 0.000282036][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000111026 -0.000117593 0.000281174][m], count = 500 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000121381 -0.000107018 0.000281659][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [-0.000111185 -0.000117492 0.000281322][m], count = 600 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000121414 -0.000106891 0.000281509][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [-0.000111266 -0.000117451 0.000281405][m], count = 700 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000121432 -0.000106835 0.000281444][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.000111309 -0.000117425 0.000281441][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [-0.0001113 -0.00011809 0.000282328][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000120781 -0.000106852 0.000280551][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-9.34549e-05 -9.98688e-05 0.000252413][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [2.93907e-05 5.23854e-05 -8.02555e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.39087e-05 -9.98515e-05 0.000193101][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-3.4463e-05 -3.36811e-05 8.80185e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000124358 -0.000162605 0.000320246][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-9.33105e-05 -0.000103283 0.000247897][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000184267 -0.000229641 0.000467892][m], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000137482 -0.00014962 0.000362405][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000241267 -0.00027567 0.000597369][m], count = 500 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-4.28863e-05 -5.80956e-05 0.000126566][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [5.03087e-05 1.83155e-05 -8.7048e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000168995 -0.000180999 0.000411581][m], count = 600 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000332564 0.000226492 -0.000688743][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000107443 -0.00013793 2.94607e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-8.71479e-05 -0.00010523 0.000228045][m], count = 700 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000245951 0.000171151 -0.000514935][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000179425 -0.000178808 0.000409117][m], count = 800 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-3.55132e-05 -3.75044e-05 8.76889e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000248895 -0.0002503 0.000573853][m], count = 900 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000199804 -0.000182481 0.000485757][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [3.0161e-05 5.06205e-05 -8.67127e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [1.84531e-05 5.54821e-05 -8.25407e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000142527 -0.00011016 -2.3494e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000145074 -0.000102558 -1.92268e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00118809 0.00203083 -0.00330859][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00105485 0.00178199 -0.0033125][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.0010463 -0.000589026 -3.72371e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000944969 -0.000538698 -2.37869e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00254876 0.00507064 -0.00750555][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00202071 0.00394737 -0.00668647][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.00182561 -0.000907612 -3.84916e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.00159073 -0.000804097 -2.52535e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00289339 0.00599181 -0.00866037][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00222962 0.00449842 -0.00747247][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.00180907 -0.000895987 -3.26335e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.00155448 -0.000788307 -1.84255e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00198461 0.00373035 -0.00573252][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.00148326 0.00263562 -0.00474254][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000845309 -0.000489043 -1.16805e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000725898 -0.000438174 2.03328e-07][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-2.47769e-05 -6.07622e-05 8.85289e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000146968 0.000111732 2.87042e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-3.07429e-05 -5.8488e-05 0.000108174][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000129387 0.000118123 2.09326e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000287052 -0.000316455 0.000698891][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-9.36276e-05 -0.000104427 0.000249298][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [5.1279e-05 1.83003e-05 -8.73895e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-9.42656e-05 -0.000113543 0.000246787][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000107835 -0.000137353 2.90844e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000346525 0.0002393 -0.000720555][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000152941 -0.00015688 0.000355215][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [7.40094e-05 4.68702e-05 -0.000152161][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-3.5e-05 -3.68e-05 8.62498e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000252228 -0.000251074 0.000576896][m], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000198116 -0.000181689 0.000482437][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [3.32415e-05 5.449e-05 -9.44351e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [2.32533e-05 6.12032e-05 -9.55744e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000140908 -0.000109019 -2.34997e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000143547 -0.000101468 -1.93988e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00123424 0.00212556 -0.0034486][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00108821 0.00185403 -0.00343071][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.00107643 -0.000601428 -3.78111e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000969398 -0.000548163 -2.44138e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00259972 0.00521642 -0.00768853][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00205675 0.00405637 -0.00683749][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.0018645 -0.000920016 -3.89507e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.00162418 -0.000813954 -2.57831e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00299554 0.00628829 -0.00902103][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.0023128 0.0047526 -0.00781405][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.00195338 -0.000945649 -3.58781e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.00168414 -0.000830309 -2.22455e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00247792 0.00497972 -0.00737074][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.00187462 0.00362973 -0.00621973][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.00138819 -0.000724595 -2.57191e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.00118208 -0.000636154 -1.13627e-06][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00124604 0.00213409 -0.00346789][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [0.000955126 0.00153861 -0.00293828][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000476867 -0.000300452 -1.05659e-06][rad], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000447999 -0.000290868 -5.30524e-09][rad], count = 500 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000277451 0.000407522 -0.000724118][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [0.000331019 0.000471627 -0.000968278][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000146547 -0.000103351 4.43979e-08][rad], count = 600 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00012075 0.000170414 -0.000352179][m], count = 700 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-3.13014e-05 -4.5393e-05 8.37414e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [5.34554e-05 8.04171e-05 -0.000160354][m], count = 800 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-3.86796e-05 -5.43661e-05 0.000102514][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [3.0925e-05 5.09802e-05 -9.66542e-05][m], count = 900 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-4.21063e-05 -5.84245e-05 0.000111192][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-4.41108e-05 -6.08265e-05 0.000116254][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-4.51113e-05 -6.20255e-05 0.000118777][m], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-4.55898e-05 -6.25985e-05 0.000119983][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-4.7927e-05 -6.5883e-05 0.000126154][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-2.561e-05 -4.35174e-05 9.20698e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [4.68427e-05 2.53739e-05 -8.53982e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000123249 -9.35722e-05 0.000241937][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000135864 8.69807e-05 -0.000272643][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [4.67844e-05 3.13057e-05 -8.40006e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000165726 0.000106303 -0.000330876][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000251099 0.000159824 -0.000442694][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [9.5307e-05 -0.000146874 5.51276e-07][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000380729 0.000242609 -0.000757374][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [9.78585e-05 -0.000145618 1.71325e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00102782 0.000596306 -0.00171463][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000242936 -0.000404218 1.43426e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00108669 0.000635035 -0.00206174][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000335716 -0.000589186 3.20259e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00363541 0.0017596 -0.00549528][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000551173 -0.00110755 2.53744e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.0030519 0.0014817 -0.00523894][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000708979 -0.00151219 3.89535e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00593378 0.00259013 -0.00845167][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000749217 -0.00166933 2.55058e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00462731 0.00205183 -0.00751565][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000879751 -0.002009 3.80328e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00619035 0.00270022 -0.00877662][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000768999 -0.0016982 2.06225e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.00457212 0.00206513 -0.0074706][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [0.000828204 -0.00183432 3.19739e-06][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00401869 0.00193448 -0.00602523][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000565182 -0.00110857 8.11131e-07][rad], count = 500 | |
| [abc] Too large IK error (vel_p) = [0.00271163 0.00139767 -0.00477974][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [0.000499892 -0.000958977 1.58633e-06][rad], count = 500 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000454541 0.000292627 -0.000796207][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [0.000112308 -0.000171473 -1.42169e-06][rad], count = 600 | |
| [abc] Too large IK error (vel_p) = [0.000262357 0.000191914 -0.000557128][m], count = 900 | |
| [abc] Too large IK error (vel_p) = [-7.24203e-05 -3.15819e-05 0.000110221][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000102998 0.000146622 -2.57502e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-4.81989e-05 -2.32097e-05 8.78491e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000114494 0.000133634 -1.84055e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000340054 -0.000280411 0.000717112][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000143992 -0.00012686 0.000341874][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [2.4359e-05 4.98433e-05 -9.17873e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000150233 -0.000124704 0.000322005][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00012005 0.000158133 -0.000342668][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000181694 -0.000163108 0.000395048][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [-3.98367e-05 -3.41529e-05 8.99294e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000248762 -0.000223041 0.000541829][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.000193774 -0.000193716 0.00049002][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [4.89446e-05 2.77002e-05 -8.296e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [5.54498e-05 1.92762e-05 -8.60776e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000102127 -0.000144003 2.24304e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [9.79695e-05 -0.000150214 1.62192e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00159363 0.000884851 -0.0025941][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00141116 0.000798905 -0.00262827][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000471464 -0.000879005 3.37811e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000437251 -0.000802482 1.99016e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00405939 0.00196887 -0.00608741][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00315773 0.00157697 -0.00544752][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000730413 -0.00152134 3.46818e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000655388 -0.00133092 2.11495e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00489156 0.0022792 -0.00717124][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00369285 0.0017825 -0.0062458][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000714559 -0.00149158 2.92551e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000638628 -0.0012929 1.52757e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.0030803 0.00156302 -0.00475395][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.00225729 0.00121038 -0.00406706][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000360776 -0.0006484 9.59107e-07][rad], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000339054 -0.000586444 -2.56681e-07][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.84764e-05 -2.92249e-05 0.000103479][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [4.2629e-05 4.27278e-05 -0.000105652][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000101114 0.000144103 -2.5379e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-5.69509e-05 -2.99691e-05 0.000107089][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000113721 0.000132863 -1.85975e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000344193 -0.000284392 0.000726978][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000135509 -0.000117746 0.000319704][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [2.31839e-05 5.19376e-05 -9.2794e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000130378 -0.000102403 0.000276107][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000133163 -0.000113376 -3.05759e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000261351 0.000350921 -0.000747781][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.000132557 -0.000110407 0.000283182][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000153752 0.000211823 -0.00044997][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.000244127 -0.000236861 0.000551541][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-4.16819e-05 -3.47514e-05 9.2128e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000230879 -0.000208186 0.000508901][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000201956 -0.000207547 0.000517079][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000147222 -0.000114994 0.000301085][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [-8.75987e-05 -8.26573e-05 0.000217426][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000103672 -7.51856e-05 0.00020282][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [-3.28692e-05 -3.46443e-05 8.80729e-05][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-8.25639e-05 -5.7654e-05 0.000157809][m], count = 800 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.28198e-05 -4.9892e-05 0.000137565][m], count = 900 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.84152e-05 -4.64422e-05 0.000128509][m], count = 1000 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.64197e-05 -4.48895e-05 0.000124421][m], count = 1100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.55066e-05 -4.41808e-05 0.000122554][m], count = 1200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.50853e-05 -4.38542e-05 0.000121692][m], count = 1300 | |
| [abc] Too large IK error (vel_p) = [-6.20066e-05 -4.17287e-05 0.000115942][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [4.68418e-05 2.03519e-05 -8.63431e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-6.68147e-05 -5.53216e-05 0.000134839][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [6.69389e-05 4.11358e-05 -0.000144312][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [-6.20365e-05 -5.36967e-05 0.000114341][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [6.95366e-05 4.22612e-05 -0.000145669][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000119428 7.41372e-05 -0.000255156][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [4.98274e-05 3.50071e-05 -8.2309e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000321353 0.000200533 -0.000693255][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [9.7588e-05 -0.000145045 1.84769e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000397066 0.000278379 -0.000649255][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000106763 -0.000139062 2.56171e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.0011454 0.000635565 -0.00232132][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.00029055 -0.000504501 3.1099e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.0018616 0.00113168 -0.00280064][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000383419 -0.000612449 3.8963e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00213157 0.00108456 -0.00408603][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000467956 -0.000899045 3.15675e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00340485 0.00191605 -0.00487948][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000606059 -0.00105655 3.84601e-06][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00229003 0.00117443 -0.00438708][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [0.000499706 -0.000955717 2.64799e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00348074 0.00197285 -0.00499006][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000608929 -0.0010524 3.32481e-06][rad], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00132945 0.000760787 -0.00272592][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [0.000332339 -0.000570871 1.32417e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.00179493 0.0011209 -0.00272421][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.00034187 -0.000531747 1.87334e-06][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.29331e-05 -3.86182e-05 9.6742e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000133586 0.000104585 -0.000322081][m], count = 900 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [2.34285e-05 4.7164e-05 -9.57292e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-8.24509e-05 -5.88059e-05 0.000144799][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.00013409 -0.000117496 -2.92141e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [3.16733e-05 6.60406e-05 -8.70869e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000571319 0.000801693 -0.00185059][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000139997 -0.000106674 -1.48182e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000520283 -0.000367667 -2.72799e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000502352 0.000692626 -0.00111897][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000901576 0.00136941 -0.00301181][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000264824 -0.000190219 -1.09545e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000587747 -0.000396579 -2.17657e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.000495919 0.000701727 -0.00112255][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000649161 0.000963344 -0.00217438][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000279206 -0.00020392 -1.10623e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [-4.47919e-05 -4.04195e-05 8.39222e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000126287 0.000145488 -0.000376279][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.00013643 -0.000148793 0.000280835][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [6.01707e-05 1.25661e-05 -8.20278e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [5.26367e-05 3.39732e-05 -8.35692e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000104767 -0.000142567 2.41224e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000115544 -0.000134703 2.80828e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000746565 0.000497054 -0.0016211][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00104016 0.000758386 -0.00168692][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000340389 -0.000510096 2.61415e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000401604 -0.000552852 3.49057e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00154271 0.000984623 -0.00320835][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.0023818 0.00164602 -0.00367548][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000469924 -0.000717943 2.50359e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000569364 -0.000803776 3.29728e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00152562 0.00100968 -0.0032144][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00233427 0.00166415 -0.00364187][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000350828 -0.000493434 1.37114e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000400007 -0.000522445 2.14981e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.000542584 0.000421199 -0.00126955][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.000651147 0.00053618 -0.00111344][m], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-5.90092e-05 -4.40235e-05 9.65767e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [1.78533e-05 4.75969e-05 -9.18653e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-7.68625e-05 -6.46658e-05 0.000143698][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.00014283 -0.000104722 -3.01579e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [2.39256e-05 6.73716e-05 -8.393e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000148513 -9.44678e-05 -1.70752e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000538468 0.000922986 -0.00200155][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000628335 -0.000361669 -3.0883e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000554158 0.000928449 -0.00140687][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000412318 -0.000243245 -1.53611e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000986509 0.00186893 -0.00381771][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000879006 -0.000471011 -2.90885e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.000819539 0.00142092 -0.00211175][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000390844 -0.000229019 -1.34008e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.000967693 0.00184267 -0.00376643][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000690175 -0.000383072 -2.27882e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00045896 0.000779338 -0.00117867][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000561649 0.000964271 -0.00209335][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-4.32949e-05 -4.54342e-05 8.76755e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000253223 -0.000166956 -7.6402e-07][rad], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000119223 0.000155045 -0.000381168][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [-0.000133406 -0.000155815 0.000285871][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-9.02481e-05 -9.77412e-05 0.000186489][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.92334e-05 -8.31069e-05 0.000160746][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.55484e-05 -7.81179e-05 0.000151896][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [3.93311e-05 2.94242e-05 -8.71213e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.41402e-05 -7.61632e-05 0.000148423][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [4.10008e-05 3.07958e-05 -9.10954e-05][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.35602e-05 -7.534e-05 0.000146963][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [4.17886e-05 3.14352e-05 -9.29589e-05][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.33081e-05 -7.4977e-05 0.00014632][m], count = 700 | |
| [abc] Too large IK error (vel_p) = [4.21587e-05 3.17343e-05 -9.38326e-05][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.31948e-05 -7.48124e-05 0.000146028][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [4.27557e-05 3.18798e-05 -9.46944e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-7.22062e-05 -7.39658e-05 0.000144219][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-3.83511e-05 -2.4147e-05 9.81955e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [9.53041e-06 4.99042e-05 -8.93278e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-0.000206222 -0.000238628 0.000465482][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [6.97839e-05 9.42353e-05 -0.000224062][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-8.75474e-05 -0.000112186 0.000198821][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [3.05414e-05 4.12496e-05 -9.55384e-05][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-8.93856e-05 -0.000114076 0.000203416][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [5.74647e-05 5.89535e-05 -0.000158767][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-5.32334e-05 -7.53843e-05 0.000131545][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.00025077 0.0002168 -0.000639761][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000123196 -0.000127714 2.56814e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [5.77669e-05 3.06623e-05 -7.74967e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000112622 -0.000136423 1.71993e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.00103118 0.000776234 -0.00239809][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [0.000384356 -0.000492931 3.09225e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000633051 0.000500225 -0.00105411][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000282917 -0.000360348 1.50266e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00175062 0.00124343 -0.00387555][m], count = 600 | |
| [abc] Too large IK error (vel_r) = [0.000569744 -0.000782601 2.92248e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00125642 0.000974548 -0.00204851][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000292614 -0.000368407 1.20419e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00162563 0.00118216 -0.00364733][m], count = 700 | |
| [abc] Too large IK error (vel_r) = [0.000525469 -0.000702893 2.33181e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.000955582 0.000763164 -0.00158684][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00066223 0.000549881 -0.00163276][m], count = 800 | |
| [abc] Too large IK error (vel_r) = [0.00023511 -0.0002725 8.38618e-07][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-4.15701e-05 -5.06712e-05 9.06111e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.76377e-05 -6.74464e-05 0.000132523][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [6.48431e-06 6.77239e-05 -8.92866e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [3.16862e-05 6.25846e-05 -9.32425e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000142843 -0.000101956 -3.04627e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000151899 -9.05627e-05 -2.80053e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000536867 0.00104217 -0.00209339][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000866946 0.00151666 -0.00226618][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.00071177 -0.000403706 -3.88763e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.00065187 -0.000333548 -3.07893e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00101939 0.00213301 -0.0040522][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00176205 0.0033249 -0.00471014][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.00109144 -0.000590694 -3.74727e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000959966 -0.000469541 -2.99837e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00103774 0.0020737 -0.00399077][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00177178 0.00322053 -0.00460825][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000806675 -0.000472456 -2.64542e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000712734 -0.000383661 -1.76266e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.000447216 0.000724234 -0.00156298][m], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000646886 0.000987961 -0.00154786][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-3.45919e-05 -6.08808e-05 9.08793e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [-0.000133353 0.000114667 2.42613e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [5.04408e-05 2.24815e-05 -9.86893e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000116208 -0.000131136 3.24798e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [6.86048e-05 3.06862e-05 -8.74726e-05][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000107838 -0.000140367 1.858e-06][rad], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00106055 0.000731656 -0.0023938][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000441152 -0.000646695 3.13513e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.000996481 0.000706371 -0.00158474][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000278948 -0.000399025 1.43968e-06][rad], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.0018424 0.00115464 -0.00392151][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000512471 -0.00080245 2.59959e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00122276 0.000836502 -0.00191357][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000203225 -0.000292324 9.89052e-07][rad], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.00136087 0.000873176 -0.00297596][m], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000311532 -0.000455087 1.45624e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.000248573 0.000171154 -0.000396549][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [-4.33723e-05 -4.54525e-05 8.69287e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [0.000264095 0.00021326 -0.000659585][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [-8.53128e-05 -7.38621e-05 0.000156677][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [1.15807e-05 6.60068e-05 -8.70313e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [3.6632e-05 5.9183e-05 -9.24783e-05][m], count = 0 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000133697 -0.000114206 -3.0886e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_r) = [0.000142629 -0.000102667 -2.86941e-06][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.000639222 0.00102808 -0.00215782][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00102343 0.00149606 -0.00234825][m], count = 100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000694414 -0.000467974 -3.92754e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_r) = [0.000637471 -0.000390565 -3.12643e-06][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [0.00119416 0.00211814 -0.00415634][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00204019 0.00328959 -0.004837][m], count = 200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.00108889 -0.000678603 -3.85438e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_r) = [0.000960847 -0.000544112 -3.13114e-06][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [0.00124724 0.00224604 -0.00437384][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.00212372 0.00347628 -0.00507485][m], count = 300 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000959591 -0.000605049 -3.28494e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_r) = [0.000845892 -0.00048695 -2.49566e-06][rad], count = 300 | |
| [abc] Too large IK error (vel_p) = [0.000820092 0.00135879 -0.00280825][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.00134824 0.00206234 -0.00315221][m], count = 400 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_r) = [0.000442094 -0.000310964 -1.74366e-06][rad], count = 400 | |
| [abc] Too large IK error (vel_r) = [0.000414683 -0.0002702 -9.256e-07][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [0.000259374 0.000360903 -0.000825886][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [0.000256307 0.000330937 -0.000557785][m], count = 500 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-3.82637e-05 -4.59363e-05 8.06779e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [7.71111e-05 0.000107125 -0.000242378][m], count = 600 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.41595e-05 -8.38996e-05 0.00015415][m], count = 100 | |
| [abc] Too large IK error (vel_p) = [4.36363e-05 6.29317e-05 -0.000137949][m], count = 700 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.78265e-05 -7.49554e-05 0.000140296][m], count = 200 | |
| [abc] Too large IK error (vel_p) = [3.54058e-05 5.16517e-05 -0.000112019][m], count = 800 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.85122e-05 -7.48511e-05 0.000141245][m], count = 300 | |
| [abc] Too large IK error (vel_p) = [3.24258e-05 4.74971e-05 -0.000102609][m], count = 900 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-6.94806e-05 -7.54916e-05 0.00014298][m], count = 400 | |
| [abc] Too large IK error (vel_p) = [3.11422e-05 4.57103e-05 -9.85693e-05][m], count = 1000 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.00333e-05 -7.58943e-05 0.000143987][m], count = 500 | |
| [abc] Too large IK error (vel_p) = [3.05588e-05 4.49014e-05 -9.6739e-05][m], count = 1100 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.03098e-05 -7.6101e-05 0.000144493][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [3.02892e-05 4.45286e-05 -9.58947e-05][m], count = 1200 | |
| [co] CAUTION!! The robot is moving without checking self collision detection!!! please send enableCollisionDetection to CollisoinDetection RTC | |
| [abc] Too large IK error (vel_p) = [-7.04425e-05 -7.62012e-05 0.000144737][m], count = 700 | |
| [co] CollisionDetector is successfully enabled. | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.309, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.309, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [abc] Too large IK error (vel_p) = [3.00453e-05 4.40299e-05 -9.487e-05][m], count = 1300 | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.31476, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.31476, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [abc] Too large IK error (vel_p) = [-7.35236e-05 -8.81422e-05 0.000157574][m], count = 800 | |
| [abc] Too large IK error (vel_p) = [-2.88179e-05 -3.07992e-05 9.12687e-05][m], count = 0 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=40.6512, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-40.6512, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=75.2257, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.45945, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-75.2257, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.45945, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.4895, qCurrent=1.309 , Error=0.180498 > 0.18 (limit), servo_state = ON, q=1.4895 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.4895, qCurrent=-1.309 , Error=-0.180498 > 0.18 (limit), servo_state = ON, q=-1.4895 | |
| [abc] Too large IK error (vel_p) = [-7.4916e-05 -9.1144e-05 0.000184265][m], count = 900 | |
| [abc] Too large IK error (vel_p) = [-0.000190585 -0.000182033 0.000456873][m], count = 100 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.642, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.57028, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.57028, qCurrent=1.309 , Error=0.261284 > 0.18 (limit), servo_state = ON, q=1.57028 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.642, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.57028, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.57028, qCurrent=-1.309 , Error=-0.261284 > 0.18 (limit), servo_state = ON, q=-1.57028 | |
| [abc] setAutoBalancerParam | |
| [abc] use_force_mode cannot be changed to [1] during MODE_ABC, MODE_SYNC_TO_IDLE or MODE_SYNC_TO_ABC. | |
| [abc] leg_names cannot be set because interpolating. | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] cannot change end-effectors except during MODE_IDLE | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] stop auto balancer mode | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.5708, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.5708, qCurrent=1.309 , Error=0.2618 > 0.18 (limit), servo_state = ON, q=1.5708 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-130.9, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.5708, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.5708, qCurrent=-1.309 , Error=-0.2618 > 0.18 (limit), servo_state = ON, q=-1.5708 | |
| [abc] Too large IK error (vel_p) = [-0.000514368 -0.000500194 5.41276e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000502474 -0.000483648 2.1763e-05][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000519458 -0.000494921 5.42713e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000528578 -0.000508791 -2.1763e-05][m], count = 0 | |
| [abc] Finished cleanup | |
| [el] velocity limit over RARM_WRIST_R(12), qvel=115.561, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.54012, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] error limit over RARM_WRIST_R(12), qRef=1.54012, qCurrent=1.309 , Error=0.231123 > 0.18 (limit), servo_state = ON, q=1.54012 | |
| [el] velocity limit over LARM_WRIST_R(25), qvel=-115.561, lvlimit =-39.9998, uvlimit =39.9998, servo_state = ON | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.54012, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [el] error limit over LARM_WRIST_R(25), qRef=-1.54012, qCurrent=-1.309 , Error=-0.231123 > 0.18 (limit), servo_state = ON, q=-1.54012 | |
| [el] position limit over RARM_WRIST_R(12), qRef=1.33354, llimit =-0.122173, ulimit =1.309, servo_state = ON, prev_angle = 1.309 | |
| [el] position limit over LARM_WRIST_R(25), qRef=-1.33354, llimit =-1.309, ulimit =0.122173, servo_state = ON, prev_angle = -1.309 | |
| [abc] setAutoBalancerParam | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [larm] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rarm] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.01[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = CYCLOID | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0.182[mm], heel_pos_offset_x = -0.072[mm] | |
| [abc] toe_zmp_offset_x = 0.182[mm], heel_zmp_offset_x = -0.072[mm] | |
| [abc] toe_angle = 0[deg] | |
| [abc] heel_angle = 0[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| [abc] setFootStepsList | |
| [abc] print footsteps | |
| [abc] Set normal footsteps | |
| [0] footstep | |
| name = [rleg] | |
| pos = [3.62408, 1.14759, -6.66586e-05] | |
| rot = [ 0.72025, -0.693714, 4.82132e-16] [ 0.693714, 0.72025, 4.84849e-16] [-6.83602e-16, -1.47512e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [0] footstep | |
| name = [larm] | |
| pos = [3.58162, 1.52321, 0.859933] | |
| rot = [ 0.72025, -0.693714, 4.82132e-16] [ 0.693714, 0.72025, 4.84849e-16] [-6.83602e-16, -1.47512e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [lleg] | |
| pos = [3.49921, 1.27723, -6.66586e-05] | |
| rot = [ 0.72025, -0.693714, 4.82132e-16] [ 0.693714, 0.72025, 4.84849e-16] [-6.83602e-16, -1.47512e-17, 1] | |
| step_height = 0.01[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [1] footstep | |
| name = [rarm] | |
| pos = [3.87298, 1.22071, 0.859933] | |
| rot = [ 0.72025, -0.693714, 4.82132e-16] [ 0.693714, 0.72025, 4.84849e-16] [-6.83602e-16, -1.47512e-17, 1] | |
| step_height = 0.01[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [rleg] | |
| pos = [3.62408, 1.14759, -6.66586e-05] | |
| rot = [ 0.72025, -0.693714, 4.82132e-16] [ 0.693714, 0.72025, 4.84849e-16] [-6.83602e-16, -1.47512e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [2] footstep | |
| name = [larm] | |
| pos = [3.58162, 1.52321, 0.859933] | |
| rot = [ 0.72025, -0.693714, 4.82132e-16] [ 0.693714, 0.72025, 4.84849e-16] [-6.83602e-16, -1.47512e-17, 1] | |
| step_height = 0[m], step_time = 1[s], toe_angle = 0[deg], heel_angle = 0[deg] | |
| [abc] Too large IK error (vel_p) = [-6.5433e-05 7.56577e-05 -3.20164e-06][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.000345944 0.000367148 -5.30194e-06][m], count = 100 | |
| [abc] Too large IK error (vel_r) = [-5.35705e-05 -5.14491e-05 -0.000162878][rad], count = 0 | |
| [abc] Too large IK error (vel_p) = [-0.00763456 0.00793376 -3.26462e-06][m], count = 200 | |
| [abc] Too large IK error (vel_r) = [-0.000980227 -0.000943563 -0.00299566][rad], count = 100 | |
| [abc] Too large IK error (vel_p) = [-0.0141869 0.0147346 1.0552e-06][m], count = 300 | |
| [abc,JointPathEx] Upper joint limit over RARM_SHOULDER_R (ja=0.261846[rad], limit=0.261799[rad], count=0, debug_print_freq_count=125) | |
| [abc] Too large IK error (vel_r) = [-0.00122797 -0.00118411 -0.0048579][rad], count = 200 | |
| [abc] Too large IK error (vel_p) = [-0.0147448 0.0153251 1.62852e-05][m], count = 400 | |
| [abc] Too large IK error (vel_r) = [-0.00122331 -0.00117977 -0.00479565][rad], count = 300 | |
| [abc,JointPathEx] Upper joint limit over RARM_SHOULDER_R (ja=0.261869[rad], limit=0.261799[rad], count=125, debug_print_freq_count=125) | |
| [abc] Too large IK error (vel_p) = [-0.0106838 0.0110994 -3.46569e-06][m], count = 500 | |
| [abc] Too large IK error (vel_r) = [-0.000975731 -0.000939508 -0.00308492][rad], count = 400 | |
| [abc] Too large IK error (vel_p) = [-0.00046196 0.000485788 -5.4699e-08][m], count = 600 | |
| [abc] Too large IK error (vel_p) = [0.000187563 -2.94295e-05 -0.000260091][m], count = 0 | |
| [abc] Too large IK error (vel_r) = [7.88698e-05 6.30722e-05 0.000241945][rad], count = 0 | |
| [abc] stop auto balancer mode | |
| [abc] Too large IK error (vel_p) = [0.0156959 0.0172364 0.00306173][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0180831 0.0174208 1.38778e-17][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0177111 0.0141546 0.00493693][m], count = 0 | |
| [abc] Too large IK error (vel_p) = [0.0180831 0.0174208 0][m], count = 0 | |
| [abc] Finished cleanup | |
| [abc] setAutoBalancerParam | |
| [abc] is_hand_fix_mode = 0 | |
| [abc] End Effector [larm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [lleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] End Effector [rarm] | |
| [abc] localpos = [0, 0, -0.12][m] | |
| [abc] localR = [-3.67321e-06, 0, 1] | |
| [ 0, 1, 0] | |
| [ -1, 0, -3.67321e-06] | |
| [abc] End Effector [rleg] | |
| [abc] localpos = [0, 0, -0.07][m] | |
| [abc] localR = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] move_base_gain = 0.8 | |
| [abc] default_zmp_offsets = 0 0 0 0 0 0 0 0 0 0 0 0 | |
| [abc] use_force_mode = 1 | |
| [abc] graspless_manip_mode = 0 | |
| [abc] graspless_manip_arm = arms | |
| [abc] graspless_manip_p_gain = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_pos = [0, 0, 0] | |
| [abc] graspless_manip_reference_trans_rot = [1, 0, 0] | |
| [0, 1, 0] | |
| [0, 0, 1] | |
| [abc] transition_time = 2[s], zmp_transition_time = 1[s], adjust_footstep_transition_time = 2[s] | |
| [abc] leg_names [lleg] | |
| [abc] leg_names [rleg] | |
| [abc] pos_ik_thre = 0.0001[m], rot_ik_thre = 0.000174533[rad] | |
| [abc] default_gait_type = 0 | |
| [abc] ik_optional_weight_vectors = [1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ][1 1 1 1 1 1 ] | |
| [abc] sr_gains = [1, 1, 1, 1, ] | |
| [abc] avoid_gains = [0.001, 0.001, 0.001, 0.001, ] | |
| [abc] reference_gains = [0.01, 0.01, 0.01, 0.01, ] | |
| [abc] manipulability_limits = [0.1, 0.1, 0.1, 0.1, ] | |
| [abc] setGaitGeneratorParam | |
| [abc] toe_heel_phase_ratio is successfully set. | |
| [abc] stride_parameter = 0.15[m], 0.05[m], 10[deg], 0.05[m] | |
| [abc] leg_default_translate_pos = [-0, -0.09, -0] [0, 0.09, 0] [0, 0, 0] [0, 0, 0] | |
| [abc] default_step_time = 1[s] | |
| [abc] default_step_height = 0.05[m] | |
| [abc] default_double_support_ratio_before = 0.1, default_double_support_ratio_before = 0.1, default_double_support_static_ratio_before = 0, default_double_support_static_ratio_after = 0, default_double_support_static_ratio_swing_before = 0.1, default_double_support_static_ratio_swing_after = 0.1 | |
| [abc] default_orbit_type = CYCLOID | |
| [abc] swing_trajectory_delay_time_offset = 0.35[s], swing_trajectory_final_distance_weight = 1 | |
| [abc] stair_trajectory_way_point_offset = [0.03, 0, 0][m] | |
| [abc] cycloid_delay_kick_point_offset = [-0.1, 0, 0][m] | |
| [abc] gravitational_acceleration = 9.80665[m/s^2] | |
| [abc] toe_pos_offset_x = 0.182[mm], heel_pos_offset_x = -0.072[mm] | |
| [abc] toe_zmp_offset_x = 0.182[mm], heel_zmp_offset_x = -0.072[mm] | |
| [abc] toe_angle = 0[deg] | |
| [abc] heel_angle = 0[deg] | |
| [abc] use_toe_joint = false, use_toe_heel_transition = false | |
| [abc] toe_heel_phase_ratio = [0.05 0.25 0.2 0 0.2 0.25 0.05 ] | |
| [abc] optional_go_pos_finalize_footstep_num = 0, overwritable_footstep_index_offset = 1 | |
| [abc] start auto balancer mode | |
| [abc] limb [rleg] | |
| [abc] limb [lleg] | |
| [abc] limb [rarm] | |
| [abc] limb [larm] | |
| ^C[hrpsys-3] killing on exit | |
| [modelloader-2] killing on exit | |
| HGcontroller0: onDeactivated(0) | |
| terminate called after throwing an instance of 'CORBA::OBJECT_NOT_EXIST' | |
| shutting down processing monitor... | |
| ... shutting down processing monitor complete | |
| [1mdone[0m | |
| [34m[rtmlaunch] terminate omniNames at port 15005 [0m | |
| ]0;leus@leus-HP-Z620-Workstation: ~leus@leus-HP-Z620-Workstation:~$ ls | |
| [0m[01;32mall_compile.sh[0m omninames-leus-HP-Z620-Workstation.bak | |
| all_compile.sh~ omninames-leus-HP-Z620-Workstation.log | |
| [01;34mcaffe[0m [01;35mout-1.ogv[0m | |
| [01;34mchoreonoid[0m [01;35mout-2.ogv[0m | |
| [01;32mcuda_7.0.28_linux.run[0m [01;35mout-3.ogv[0m | |
| [01;34mDesktop[0m [01;35mout-4.ogv[0m | |
| [01;34mDocuments[0m [01;35mout-5.ogv[0m | |
| [01;34mDownloads[0m [01;35mout.ogv[0m | |
| [01;34mdrc[0m param.yaml | |
| [01;34mdrcbox-base[0m param.yaml~ | |
| DRC Green Course-xCC4_VJ36-A.mp4.part [01;34mPictures[0m | |
| examples.desktop [01;34mPictures_temp[0m | |
| [01;34mexception-qt[0m [01;34mprog[0m | |
| [01;34mfast-rcnn[0m [01;34mPublic[0m | |
| frames.gv [01;32mqr_position.csv[0m | |
| frames.pdf [01;32mqr_position.csv~[0m | |
| [01;34mhane[0m [01;34mqt-everywhere-opensource-src-4.8.7[0m | |
| hoge.l r4.l | |
| hoge.pdf r4.l~ | |
| hoge.world report_tinou_48156510.pdf | |
| hrpsys_master_hrpsys_ros.txt report_tinou.odt | |
| hrpsys_master_hrpsys.txt [01;34mros[0m | |
| [01;34mJVRCPlugin[0m [01;34mrosdep[0m | |
| jvrc-remaining-time.txt rospack_cache_02900157675999147381 | |
| kadai_1.odt rosstack_cache_02900157675999147381 | |
| [01;32m#kojio.sh#[0m rtc.conf.choreonoid | |
| [01;32mkojio.sh[0m saved_data.l | |
| [01;32mkojio.sh~[0m [01;35mScreenshot from 2015-10-09 12:19:54.png[0m | |
| [01;34mlaundary[0m [01;34msimtrans[0m | |
| [01;34mlaundry[0m step.l | |
| [01;34mlaundry_fixed[0m step.l~ | |
| [01;34mlog[0m [01;34mTemplates[0m | |
| [01;34mmaster_thesis[0m [01;32mterasawa.sh[0m | |
| [34;42mMatlab2013b[0m [01;32mterasawa.sh~[0m | |
| [34;42mMatlab2015a[0m tinou_kadai_48-156510.pdf | |
| [01;34mmemo[0m [01;34mtmp[0m | |
| memo2.txt tmp.l | |
| memo.txt tmp.l~ | |
| memo.txt~ [01;34mtrial1[0m | |
| missfont.log untitled.blend | |
| [01;34mMusic[0m untitled.blend1 | |
| [01;34mnvidia_installers[0m [01;34musr[0m | |
| ocs_state.dot [01;34mvalve[0m | |
| [01;35mocs_state.png[0m [01;34mVideos[0m | |
| [01;34mohara[0m [01;34mVirtualBox VMs[0m | |
| ohara.sh [01;34mvision_opencv[0m | |
| ohara.sh~ [01;34mwork_3[0m | |
| ]0;leus@leus-HP-Z620-Workstation: ~leus@leus-HP-Z620-Workstation:~$ lsrtmlaunch hrpsys samplerobot.launch | |
| [C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[C[Cls[K[K[Kexit | |
| exit | |
| Script done on 2016年01月14日 20時31分18秒 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment