# Imports
import numpy as np
from pydrake.examples.manipulation_station import ManipulationStation
from pydrake.geometry import MeshcatVisualizerCpp
from pydrake.manipulation.planner import (
DifferentialInverseKinematicsParameters,
DifferentialInverseKinematicsIntegrator )
from pydrake.math import RigidTransform, RotationMatrix
from pydrake.systems.analysis import Simulator
from pydrake.systems.framework import DiagramBuilder
from manipulation import running_as_notebook
from manipulation.meshcat_cpp_utils import (
StartMeshcat, MeshcatPoseSliders, WsgButton)
# Start the visualizer.
meshcat = StartMeshcat(open_window=True)
Meshcat is now available at https://16586b7b-2382-4c1a-be41-c94f4b840e41.deepnoteproject.com
def teleop_2d():
builder = DiagramBuilder()
station = builder.AddSystem(ManipulationStation())
station.SetupPlanarIiwaStation()
station.AddManipulandFromFile(
"drake/examples/manipulation_station/models/"
+ "061_foam_brick.sdf",
RigidTransform(RotationMatrix.Identity(), [0.6, 0, 0]))
# TODO(russt): Add planar joint to brick
station.Finalize()
visualizer = MeshcatVisualizerCpp.AddToBuilder(
builder, station.GetOutputPort("query_object"), meshcat)
meshcat.Set2dRenderMode()
robot = station.get_controller_plant()
params = DifferentialInverseKinematicsParameters(
robot.num_positions(), robot.num_velocities())
time_step = 0.005
params.set_timestep(time_step)
iiwa14_velocity_limits = np.array([1.4, 1.3, 2.3])
params.set_joint_velocity_limits((-iiwa14_velocity_limits,
iiwa14_velocity_limits))
# These constants are in body frame.
params.set_end_effector_velocity_gain([.1, 0, 0, 0, .1, .1])
differential_ik = builder.AddSystem(
DifferentialInverseKinematicsIntegrator(
robot, robot.GetFrameByName("iiwa_link_7"), time_step, params))
builder.Connect(differential_ik.get_output_port(),
station.GetInputPort("iiwa_position"))
meshcat.DeleteAllButtonsAndSliders()
teleop = builder.AddSystem(MeshcatPoseSliders(meshcat,
min_range=MeshcatPoseSliders.MinRange(
roll=0, x=-0.6, z=0.0),
max_range=MeshcatPoseSliders.MaxRange(
roll=2*np.pi, x=0.8, z=1.1),
value=MeshcatPoseSliders.Value(pitch=0, yaw=0, y=0),
visible=MeshcatPoseSliders.Visible(pitch=False, yaw=False, y=False)
))
builder.Connect(teleop.get_output_port(0),
differential_ik.get_input_port())
wsg_teleop = builder.AddSystem(WsgButton(meshcat))
builder.Connect(wsg_teleop.get_output_port(0),
station.GetInputPort("wsg_position"))
diagram = builder.Build()
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
station_context = station.GetMyMutableContextFromRoot(context)
q0 = station.GetOutputPort("iiwa_position_measured").Eval(
station_context)
differential_ik.get_mutable_parameters().set_nominal_joint_position(q0)
diff_ik_context = differential_ik.GetMyMutableContextFromRoot(context)
differential_ik.SetPositions(diff_ik_context, q0)
teleop.SetPose(differential_ik.ForwardKinematics(diff_ik_context))
if running_as_notebook: # Then we're not just running as a test on CI.
simulator.set_target_realtime_rate(1.0)
meshcat.AddButton("Stop Simulation")
while meshcat.GetButtonClicks("Stop Simulation") < 1:
simulator.AdvanceTo(simulator.get_context().get_time() + 2.0)
meshcat.DeleteButton("Stop Simulation")
else:
simulator.AdvanceTo(0.1)
teleop_2d()
def teleop_3d():
builder = DiagramBuilder()
station = builder.AddSystem(ManipulationStation())
station.SetupClutterClearingStation()
#ycb_objects = CreateClutterClearingYcbObjectList()
#for model_file, X_WObject in ycb_objects:
# station.AddManipulandFromFile(model_file, X_WObject)
station.AddManipulandFromFile(
"drake/examples/manipulation_station/models/"
+ "061_foam_brick.sdf",
RigidTransform(RotationMatrix.Identity(), [0, -0.6, 0.2]))
station.Finalize()
visualizer = MeshcatVisualizerCpp.AddToBuilder(
builder, station.GetOutputPort("query_object"), meshcat)
meshcat.ResetRenderMode()
robot = station.get_controller_plant()
params = DifferentialInverseKinematicsParameters(
robot.num_positions(), robot.num_velocities())
time_step = 0.005
params.set_timestep(time_step)
# True velocity limits for the IIWA14 (in rad, rounded down to the first
# decimal)
iiwa14_velocity_limits = np.array([1.4, 1.4, 1.7, 1.3, 2.2, 2.3, 2.3])
params.set_joint_velocity_limits((-iiwa14_velocity_limits,
iiwa14_velocity_limits))
params.set_end_effector_velocity_gain([.1]*6)
differential_ik = builder.AddSystem(DifferentialInverseKinematicsIntegrator(
robot, robot.GetFrameByName("iiwa_link_7"), time_step, params))
builder.Connect(differential_ik.get_output_port(),
station.GetInputPort("iiwa_position"))
teleop = builder.AddSystem(MeshcatPoseSliders(meshcat,
min_range = MeshcatPoseSliders.MinRange(
roll=0, pitch=-0.5, yaw=-np.pi, x=-0.6, y=-0.8, z=0.0),
max_range = MeshcatPoseSliders.MaxRange(
roll=2*np.pi, pitch=np.pi, yaw=np.pi, x=0.8, y=0.3, z=1.1)
))
builder.Connect(teleop.get_output_port(0),
differential_ik.get_input_port())
wsg_teleop = builder.AddSystem(WsgButton(meshcat))
builder.Connect(wsg_teleop.get_output_port(0),
station.GetInputPort("wsg_position"))
diagram = builder.Build()
simulator = Simulator(diagram)
context = simulator.get_mutable_context()
station_context = station.GetMyMutableContextFromRoot(context)
q0 = station.GetOutputPort("iiwa_position_measured").Eval(
station_context)
differential_ik.get_mutable_parameters().set_nominal_joint_position(q0)
diff_ik_context = differential_ik.GetMyMutableContextFromRoot(context)
differential_ik.SetPositions(diff_ik_context, q0)
teleop.SetPose(differential_ik.ForwardKinematics(diff_ik_context))
if running_as_notebook: # Then we're not just running as a test on CI.
simulator.set_target_realtime_rate(1.0)
meshcat.AddButton("Stop Simulation")
while meshcat.GetButtonClicks("Stop Simulation") < 1:
simulator.AdvanceTo(simulator.get_context().get_time() + 2.0)
meshcat.DeleteButton("Stop Simulation")
else:
simulator.AdvanceTo(0.1)
teleop_3d()
[2021-09-13 02:11:55.965] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:55.966] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:55.967] [console] [warning] Differential IK started returning status:"stuck" at time 43.155.
[2021-09-13 02:11:55.975] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:55.976] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:55.978] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:55.979] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:55.981] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:55.986] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:55.988] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:55.989] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:55.992] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:55.992] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:55.999] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:56.000] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:56.002] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:56.003] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:56.005] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:56.024] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:56.033] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:56.042] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:56.054] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:56.059] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:56.071] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:56.075] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:56.079] [console] [info] v_next = 0.65313 0.563745 -0.372506 1.29999 -0.354381 0.22411 -0.596827
[2021-09-13 02:11:56.083] [console] [info] alpha = 0.00966841
[2021-09-13 02:11:56.089] [console] [info] v_next = 0.653279 0.563546 -0.376229 1.29999 -0.350913 0.223731 -0.59713
[2021-09-13 02:11:56.094] [console] [info] alpha = 0.00965951
[2021-09-13 02:11:56.103] [console] [info] v_next = 0.653279 0.563546 -0.376229 1.29999 -0.350913 0.223731 -0.59713
[2021-09-13 02:11:56.111] [console] [info] alpha = 0.00965951
[2021-09-13 02:11:56.122] [console] [info] v_next = 0.656414 0.561523 -0.419699 1.29999 -0.310388 0.220299 -0.598789
[2021-09-13 02:11:56.130] [console] [info] alpha = 0.00963539
[2021-09-13 02:11:56.137] [console] [info] v_next = 0.670337 0.544196 -0.736166 1.29792 -0.0144528 0.189263 -0.620588
[2021-09-13 02:11:56.142] [console] [info] alpha = 0.00902065
[2021-09-13 02:11:56.149] [console] [info] v_next = 0.670337 0.544196 -0.736166 1.29792 -0.0144528 0.189263 -0.620588
[2021-09-13 02:11:56.153] [console] [info] alpha = 0.00902065
[2021-09-13 02:11:56.162] [console] [warning] Differential IK started finding solutions again at time 43.245.
[2021-09-13 02:13:46.781] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.783] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.787] [console] [warning] Differential IK started returning status:"stuck" at time 153.97.
[2021-09-13 02:13:46.792] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.794] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.804] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.810] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.817] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.819] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.822] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.826] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.834] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.841] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.853] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.858] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.864] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.870] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.880] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.886] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.896] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.898] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.905] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.910] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.917] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.921] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.928] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.934] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.945] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.950] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.960] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.966] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.976] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.981] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:46.989] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:46.994] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.004] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.007] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.009] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.014] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.024] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.030] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.039] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.039] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.041] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.046] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.049] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.049] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.057] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.057] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.060] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.061] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.063] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.063] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.073] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.073] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.076] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.077] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.083] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.084] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.086] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.091] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.094] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.095] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.097] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.103] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.105] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.106] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.109] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.114] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.117] [console] [info] v_next = -1.4 -0.124571 1.7 0.740723 -0.315157 0.372094 0.00412408
[2021-09-13 02:13:47.118] [console] [info] alpha = 0.00995128
[2021-09-13 02:13:47.124] [console] [warning] Differential IK started finding solutions again at time 154.145.
[2021-09-13 02:13:48.530] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.537] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.540] [console] [warning] Differential IK started returning status:"stuck" at time 155.72.
[2021-09-13 02:13:48.546] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.552] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.563] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.568] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.574] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.588] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.600] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.612] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.617] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.624] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.628] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.635] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.639] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.642] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.645] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.658] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.667] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.670] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.680] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.682] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.685] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.687] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.694] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.698] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.704] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.706] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.708] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.711] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.713] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.718] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.721] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.722] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.725] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.731] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.733] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.734] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.736] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.739] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.742] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.747] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.749] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.750] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.752] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.755] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.772] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.774] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.779] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.780] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.785] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.786] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.792] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.793] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.795] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.804] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.806] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.807] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.809] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.810] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.818] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.819] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.821] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.822] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.824] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.835] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.838] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.839] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.841] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.842] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.844] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.845] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.851] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.852] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.858] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
[2021-09-13 02:13:48.859] [console] [info] alpha = 0.00996715
[2021-09-13 02:13:48.862] [console] [info] v_next = 1.39794 0.0220874 -1.55911 0.395121 0.137597 0.161585 -0.097899
IOPub message rate exceeded.
The notebook server will temporarily stop sending output
to the client in order to avoid crashing it.
To change this limit, set the config variable
`--NotebookApp.iopub_msg_rate_limit`.
Current values:
NotebookApp.iopub_msg_rate_limit=50.0 (msgs/sec)
NotebookApp.rate_limit_window=3.0 (secs)
[2021-09-13 02:13:49.962] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:49.963] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:49.974] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:49.975] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:49.978] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:49.988] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:49.991] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:49.991] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:49.994] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:49.996] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.003] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.004] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.012] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.023] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.026] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.034] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.041] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.042] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.044] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.047] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.049] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.053] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.059] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.060] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.062] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.067] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.069] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.070] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.073] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.075] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.083] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.084] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.087] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.088] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.091] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.094] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.097] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.099] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.104] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.106] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.109] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.111] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.116] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.117] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.122] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.123] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.125] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.127] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.130] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.132] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.144] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.145] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.147] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.148] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.150] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.151] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.158] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.159] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.162] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.163] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.165] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.171] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.174] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.175] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.177] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.182] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.185] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.186] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.188] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.190] [console] [info] alpha = 0.0099758
[2021-09-13 02:13:50.200] [console] [info] v_next = 1.40007 0.189279 -0.518224 0.856841 -0.854459 0.487848 -0.0206125
[2021-09-13 02:13:50.201] [console] [info] alpha = 0.0099758
IOPub message rate exceeded.
The notebook server will temporarily stop sending output
to the client in order to avoid crashing it.
To change this limit, set the config variable
`--NotebookApp.iopub_msg_rate_limit`.
Current values:
NotebookApp.iopub_msg_rate_limit=50.0 (msgs/sec)
NotebookApp.rate_limit_window=3.0 (secs)
[2021-09-13 02:13:51.728] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.736] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.744] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.748] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.756] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.759] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.769] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.772] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.780] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.785] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.792] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.798] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.803] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.810] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.817] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.819] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.822] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.830] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.839] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.846] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.849] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.849] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.856] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.857] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.859] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.860] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.864] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.865] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.875] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.876] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.878] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.879] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.881] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.887] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.889] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.890] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.892] [console] [info] v_next = 1.40215 0.0997412 -0.597983 0.535715 -0.750373 0.168308 0.0376049
[2021-09-13 02:13:51.898] [console] [info] alpha = 0.00810326
[2021-09-13 02:13:51.900] [console] [warning] Differential IK started finding solutions again at time 158.065.
[2021-09-13 02:13:51.985] [console] [info] v_next = 1.39949 0.0856396 -0.663391 0.666869 -0.771302 0.259677 -0.00192843
[2021-09-13 02:13:51.991] [console] [info] alpha = 0.00991453
[2021-09-13 02:13:51.992] [console] [warning] Differential IK started returning status:"stuck" at time 158.205.
[2021-09-13 02:13:51.994] [console] [warning] Differential IK started finding solutions again at time 158.21.
[2021-09-13 02:13:52.006] [console] [info] v_next = 1.39833 0.0841515 -0.670162 0.679092 -0.763873 0.271087 -0.00626312
[2021-09-13 02:13:52.007] [console] [info] alpha = 0.00968251
[2021-09-13 02:13:52.008] [console] [warning] Differential IK started returning status:"stuck" at time 158.22.
[2021-09-13 02:13:52.010] [console] [info] v_next = 1.40239 0.0928072 -0.613712 0.719563 -0.682429 0.348971 -0.0307931
[2021-09-13 02:13:52.011] [console] [info] alpha = 0.00709624
[2021-09-13 02:13:52.017] [console] [info] v_next = 1.40239 0.0928072 -0.613712 0.719563 -0.682429 0.348971 -0.0307931
[2021-09-13 02:13:52.039] [console] [info] alpha = 0.00709624
[2021-09-13 02:13:52.044] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.054] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.060] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.070] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.076] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.082] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.091] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.098] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.108] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.115] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.117] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.118] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.120] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.121] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.124] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.124] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.131] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.131] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.134] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.137] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.139] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.140] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.144] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.151] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.153] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.154] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:52.156] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:52.157] [console] [info] alpha = 0.00506564
IOPub message rate exceeded.
The notebook server will temporarily stop sending output
to the client in order to avoid crashing it.
To change this limit, set the config variable
`--NotebookApp.iopub_msg_rate_limit`.
Current values:
NotebookApp.iopub_msg_rate_limit=50.0 (msgs/sec)
NotebookApp.rate_limit_window=3.0 (secs)
[2021-09-13 02:13:53.088] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.092] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.093] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.098] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.103] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.107] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.117] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.119] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.120] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.124] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.125] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.128] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.135] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.146] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.147] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.150] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.151] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.154] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.161] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.168] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.174] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.177] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.186] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.200] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.210] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.213] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.219] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.224] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.230] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.239] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.246] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.255] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.262] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.272] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.278] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.288] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.294] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.304] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.310] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.332] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.334] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.356] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.362] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.368] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.374] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.384] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.390] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.400] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.405] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.408] [console] [info] v_next = 1.39996 0.091628 -0.610484 0.712465 -0.704648 0.336678 -0.0268772
[2021-09-13 02:13:53.409] [console] [info] alpha = 0.00506564
[2021-09-13 02:13:53.416] [console] [warning] Differential IK started finding solutions again at time 159.115.
[2021-09-13 02:13:53.447] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.454] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.460] [console] [warning] Differential IK started returning status:"stuck" at time 159.16.
[2021-09-13 02:13:53.468] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.471] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.475] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.476] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.480] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.482] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.487] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.487] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.489] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.490] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.500] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.501] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.503] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.504] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.507] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
[2021-09-13 02:13:53.507] [console] [info] alpha = 0.00895139
[2021-09-13 02:13:53.514] [console] [info] v_next = 1.39908 0.0936093 -0.626295 0.717875 -0.698124 0.262707 -0.0883846
IOPub message rate exceeded.
The notebook server will temporarily stop sending output
to the client in order to avoid crashing it.
To change this limit, set the config variable
`--NotebookApp.iopub_msg_rate_limit`.
Current values:
NotebookApp.iopub_msg_rate_limit=50.0 (msgs/sec)
NotebookApp.rate_limit_window=3.0 (secs)
[2021-09-13 02:13:54.891] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.900] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.904] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.910] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.925] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.927] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.932] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.934] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.939] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.941] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.945] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.947] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.952] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.954] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.956] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.959] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.963] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.966] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.968] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.969] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.976] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.977] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.979] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.983] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.985] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.986] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.995] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.996] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:54.998] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:54.999] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.001] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.007] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.011] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.012] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.014] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.016] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.018] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.023] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.025] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.026] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.035] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.036] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.038] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.039] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.042] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.046] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.050] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.059] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.062] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.062] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.065] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.072] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.084] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.085] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.087] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.089] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.092] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.099] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.102] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.102] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.106] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.108] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.110] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.115] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.117] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.118] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.122] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.126] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.129] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.130] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.132] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.134] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.142] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.142] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.145] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.147] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:55.153] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:55.154] [console] [info] alpha = 0.00162301
IOPub message rate exceeded.
The notebook server will temporarily stop sending output
to the client in order to avoid crashing it.
To change this limit, set the config variable
`--NotebookApp.iopub_msg_rate_limit`.
Current values:
NotebookApp.iopub_msg_rate_limit=50.0 (msgs/sec)
NotebookApp.rate_limit_window=3.0 (secs)
[2021-09-13 02:13:56.259] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.259] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.262] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.269] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.276] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.277] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.280] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.280] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.287] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.288] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.290] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.295] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.297] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.298] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.300] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.303] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.309] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.310] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.312] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.316] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.320] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.321] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.327] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.328] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.335] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.335] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.337] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.338] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.341] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.347] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.349] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.350] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.368] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.374] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.384] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.389] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.397] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.399] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.408] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.414] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.424] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.428] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.437] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.438] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.440] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.442] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.444] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.450] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.452] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.453] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.459] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.460] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.462] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.463] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:56.470] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:56.471] [console] [info] alpha = 0.00162301
IOPub message rate exceeded.
The notebook server will temporarily stop sending output
to the client in order to avoid crashing it.
To change this limit, set the config variable
`--NotebookApp.iopub_msg_rate_limit`.
Current values:
NotebookApp.iopub_msg_rate_limit=50.0 (msgs/sec)
NotebookApp.rate_limit_window=3.0 (secs)
[2021-09-13 02:13:57.902] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.904] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.905] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.908] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.909] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.911] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.912] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.914] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.915] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.917] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.918] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.921] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.922] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.924] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.925] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.928] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.929] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.932] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.935] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.938] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.939] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.941] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.942] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.945] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.946] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.948] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.949] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.952] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.953] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.955] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.956] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.960] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.961] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.963] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.964] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.966] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.967] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.971] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.972] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.974] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.975] [console] [info] alpha = 0.00162301
[2021-09-13 02:13:57.977] [console] [info] v_next = 1.07678 0.0581403 -0.527642 0.58865 -0.531772 0.289339 -0.0294603
[2021-09-13 02:13:57.978] [console] [info] alpha = 0.00162301