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record.txt
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Joint position:
[0.0,0.5,-0.4,0.0,1.1,0.0,0.0,0.0]
From ROS
torque: [-0.0792179673049047, 0.7880800086408377, 0.37608956071270944, 0.029165817033646842, 0.0035233802221366593, 0.001989282512344319, 2.638487576630867e-05, -0.011722972000000276]
On console
desired torque: [-4.599,45.419,21.635,1.667,0.185,0.129,0.002,0.000]
Joint position:
[0.0,0.5,-0.4,0.0,-1.0,0.0,0.0,0.0]
From ROS
torque: [-0.08504519877574004, 0.6121366276076627, 0.2220466128805412, 0.03013349838644286, -0.023088518825281644, -0.0020494645195579995, 4.943559983682926e-06, -0.012676661999999617]
On console
desired torque: [-4.599, 34.881, 12.584, 1.710, -1.313, -0.129, 0.002, 0.000]
(wrist joint sticks outward)
Joint position
[0.0020808464604758136, 0.6303338498388659, -0.6095319166052345, -0.007095403960725943, 1.0954362403895588, -0.008881915462618045, -0.01184255360109154, -12.566370614359172]
on ROS
torque: [-0.08292620551361675, 0.7938422314250746, 0.38426861952718666, 0.049575096474434185, 0.0009874227835003568, 0.00227105556108167, 0.00027296000726633005, -0.012867400000000195]
on console:
torque: [-4.769, 44.927, 21.990, 2.829, 0.068, 0.129, 0.010, 0.000]
[-0.000454691050809076, -0.0300514334367708, 0.0165366398762240, -0.000377980917737483, 4.80044458873782e-05
0.00879598315978225, 0.0120421489906367, -0.366068996991968, 0.0107558050780534, 0.0105187764641146,
0.0105188763084641, -1.42806187468950e-05]
-0.000113568883167462
0.000307099817900616
-6.07834297924996e-05
-6.11882993393682e-06
-7.17434121698881e-06
6.81269790766224e-06
-8.56901783497300e-05
-7.31388260601257e-05
-3.33131738283447e-06
-3.27056004905163e-06
-3.35529124461097e-06
-7.13510725890468e-06
-0.000113568883167462
0.000307099817900616
-6.07834297924996e-05
-6.11882993393682e-06
-7.17434121698881e-06
6.81269790766224e-06
-8.56901783497300e-05
-7.31388260601257e-05
-3.33131738283447e-06
-3.27056004905163e-06
-3.35529124461097e-06
-7.13510725890468e-06
-0.000113568883167462
0.000307099817900616
-6.07834297924996e-05
-6.11882993393682e-06
-7.17434121698881e-06
6.81269790766224e-06
-8.56901783497300e-05
-7.31388260601257e-05
-3.33131738283447e-06
-3.27056004905163e-06
-3.35529124461097e-06
-7.13510725890468e-06
-0.000113568883167462
0.000307099817900616
-6.07834297924996e-05
-6.11882993393682e-06
-7.17434121698881e-06
6.81269790766224e-06
-8.56901783497300e-05
-7.31388260601257e-05
-3.33131738283447e-06
-3.27056004905163e-06
-3.35529124461097e-06
-7.13510725890468e-06