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Copy pathpolicy_kin_debug.txt
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policy_kin_debug.txt
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init_q: -1.3033
-1.3531
0.9471
0.3177
2.0745
1.49
-2.1547
[ INFO] [1554131217.068465491, 138.212000000]: init_x: 0.491934
0.236798
0.236221
1.93143
1.55308
0.319302
[ INFO] [1554131217.068578070, 138.212000000]: target_x: 0.391934
0.136798
0.136221
1.93143
1.55308
0.319302
[ INFO] [1554131217.068716824, 138.212000000]: Init done
[ INFO] [1554131217.068836455, 138.212000000]: curr_q: -1.3048
-1.35466
0.947929
0.317889
2.06793
1.49044
-2.14021
[ INFO] [1554131217.069062160, 138.212000000]: curr_q_d: 0.000531959
0.00055548
-0.000337065
-7.55786e-05
0.00385989
-0.000255539
-0.00792514
[ INFO] [1554131217.069163071, 138.212000000]: curr_x: 0.491507
0.235973
0.235693
2.44063
1.55665
0.84255
[ INFO] [1554131217.069500209, 138.212000000]: ref_x_d_n: 0
0
-0.0606061
0
0
0
[ INFO] [1554131217.069574450, 138.212000000]: noise: 0.0176405
0.00400157
0
0
0
0
[ INFO] [1554131217.069616832, 138.212000000]: ref_x_d: 0.0176405
0.00400157
-0.0606061
0
0
0
[ INFO] [1554131217.069657959, 138.212000000]: ref_x: 0.492816
0.236998
0.23319
1.93143
1.55308
0.319302
[ INFO] [1554131217.069702550, 138.212000000]: error_x: 0.00130919
0.00102449
-0.00250295
-0.509201
-0.00357636
-0.523247
[ INFO] [1554131217.069971381, 138.212000000]: J_G: -0.138111 0.159612 -0.162782 -0.0614139 0.0338992 -0.03541 -6.31548e-18
0.351635 -0.130027 -0.110888 -0.26626 0.0562792 0.0213979 -2.51603e-17
-0.0167584 0.207352 -0.287125 0.132814 0.000146982 -0.0264247 -1.61254e-19
0.813801 0.579203 0.128172 -0.315976 0.852908 0.515967 -0.0108093
0.342026 -0.411338 0.89857 -0.364132 -0.513494 0.856605 0.00912225
0.469837 -0.703793 -0.419694 -0.876109 -0.0941876 0.00223717 -0.9999
[ INFO] [1554131217.070187445, 138.212000000]: J_A: -0.138111 0.159612 -0.162782 -0.0614139 0.0338992 -0.03541 -6.31548e-18
0.351635 -0.130027 -0.110888 -0.26626 0.0562792 0.0213979 -2.51603e-17
-0.0167584 0.207352 -0.287125 0.132814 0.000146982 -0.0264247 -1.61254e-19
-27.9022 -50.7503 33.6251 -0.40748 -69.5856 11.1827 7.77156e-16
-0.786246 -0.0592034 -0.769374 0.482068 -0.157659 -0.987412 -8.67362e-19
-28.3748 -50.0515 34.0482 0.468676 -69.4984 11.1816 1
[ INFO] [1554131217.070365170, 138.212000000]: T_A_inv: 1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
0 0 0 -54.0259 45.594 1
0 0 0 -0.644951 -0.764224 0
0 0 0 -54.0313 45.5986 0
[ INFO] [1554131217.070434159, 138.212000000]: b: 0.018557
0.00471871
-0.0623581
-0.356441
-0.00250345
-0.366273
[ INFO] [1554131217.070801548, 138.212000000]: ref_q_d: -0.128359
0
0.129792
-0.230055
0.100606
-0.124767
0
[ INFO] [1554131217.070867029, 138.212000000]: ref_q_d2: -0.128359
0
0.129792
-0.230055
0.100606
-0.124767
0.0672283
[ INFO] [1554131217.070918284, 138.212000000]: ref_q: -1.30972
-1.3531
0.95359
0.306197
2.07953
1.48376
-2.1547
[ INFO] [1554131217.070969788, 138.212000000]: temp_q_err: -0.00492026
0.00156429
0.00566084
-0.0116913
0.0115969
-0.00667353
-0.0144935
[ INFO] [1554131217.071021616, 138.212000000]: temp_q_d_err: -0.128891
-0.00055548
0.130129
-0.229979
0.0967457
-0.124512
0.00792514
[ INFO] [1554131217.071074131, 138.212000000]: u: -0.0992346
0.0170128
0.0899863
-0.145179
0.0362481
-0.0260222
-0.0177206