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Merge pull request #1192 from Sergim96/topic/binding-ng-nh-set
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[Action-base binding]: define setter for ng and nh
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@cmastalli
cmastalli authored Dec 4, 2023
2 parents 610eb4a + 7799c9e commit b7aa19c
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).

## [Unreleased]

* Added nu, ng, and nh setters for Python bindings in https://github.com/loco-3d/crocoddyl/pull/1192

## [2.0.2] - 2023-11-30

* Added CHANGELOG.md in https://github.com/loco-3d/crocoddyl/pull/1188
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6 changes: 6 additions & 0 deletions bindings/python/crocoddyl/core/action-base.cpp
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Expand Up @@ -117,12 +117,18 @@ void exposeActionAbstract() {
&ActionModelAbstract_wrap::default_quasiStatic,
bp::args("self", "data", "u", "x", "maxiter", "tol"))
.add_property("nu", bp::make_function(&ActionModelAbstract_wrap::get_nu),
bp::make_setter(&ActionModelAbstract_wrap::nu_,
bp::return_internal_reference<>()),
"dimension of control vector")
.add_property("nr", bp::make_function(&ActionModelAbstract_wrap::get_nr),
"dimension of cost-residual vector")
.add_property("ng", bp::make_function(&ActionModelAbstract_wrap::get_ng),
bp::make_setter(&ActionModelAbstract_wrap::ng_,
bp::return_internal_reference<>()),
"number of inequality constraints")
.add_property("nh", bp::make_function(&ActionModelAbstract_wrap::get_nh),
bp::make_setter(&ActionModelAbstract_wrap::nh_,
bp::return_internal_reference<>()),
"number of equality constraints")
.add_property(
"state",
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6 changes: 5 additions & 1 deletion bindings/python/crocoddyl/core/action-base.hpp
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@@ -1,7 +1,8 @@
///////////////////////////////////////////////////////////////////////////////
// BSD 3-Clause License
//
// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh
// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
// Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
///////////////////////////////////////////////////////////////////////////////
Expand All @@ -20,6 +21,9 @@ class ActionModelAbstract_wrap : public ActionModelAbstract,
public bp::wrapper<ActionModelAbstract> {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
using ActionModelAbstract::ng_;
using ActionModelAbstract::nh_;
using ActionModelAbstract::nu_;

ActionModelAbstract_wrap(boost::shared_ptr<StateAbstract> state,
const std::size_t nu, const std::size_t nr = 1,
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42 changes: 21 additions & 21 deletions examples/log/boxfddp_vs_boxddp.log
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Expand Up @@ -51,7 +51,7 @@ iter cost merit stop grad preg dreg step
44 2.048e+04 0.000e+00 3.272e+02 7.685e+02 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 2.596e+02 1.674e+02 0.000e+00 0.000e+00
45 2.048e+04 0.000e+00 3.056e+02 5.971e+02 1.000e-02 1.000e-02 0.0156 0.000e+00 0.000e+00 0.000e+00 9.367e+00 1.185e+00 0.000e+00 0.000e+00
46 2.047e+04 0.000e+00 2.846e+02 5.619e+02 1.000e-02 1.000e-02 0.0312 0.000e+00 0.000e+00 0.000e+00 1.740e+01 9.065e+00 0.000e+00 0.000e+00
47 2.046e+04 0.000e+00 2.172e+02 5.258e+02 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 5.591e+01 9.291e+00 0.000e+00 0.000e+00
47 2.046e+04 0.000e+00 2.172e+02 5.258e+02 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 5.591e+01 9.292e+00 0.000e+00 0.000e+00
48 2.044e+04 0.000e+00 2.513e+02 4.995e+02 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 1.881e+02 2.491e+01 0.000e+00 0.000e+00
49 2.044e+04 0.000e+00 1.789e+02 6.932e+02 1.000e-01 1.000e-01 0.0078 0.000e+00 0.000e+00 0.000e+00 4.085e+00 2.132e+00 0.000e+00 0.000e+00
*** SOLVE with Box-DDP ***
Expand All @@ -67,24 +67,24 @@ iter cost merit stop grad preg dreg step
8 9.840e+07 0.000e+00 2.051e+06 4.102e+06 1.000e-01 1.000e-01 0.1250 5.130e-01 0.000e+00 0.000e+00 4.807e+05 -9.654e+07 0.000e+00 0.000e+00
9 5.016e+07 0.000e+00 1.084e+08 3.602e+08 1.000e-01 1.000e-01 0.0625 0.000e+00 0.000e+00 0.000e+00 3.776e+06 4.824e+07 0.000e+00 0.000e+00
iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi
10 5.016e+07 0.000e+00 2.575e+07 1.158e+08 1.000e+00 1.000e+00 0.0020 0.000e+00 0.000e+00 0.000e+00 1.248e+05 -4.328e+07 0.000e+00 0.000e+00
11 5.016e+07 0.000e+00 2.219e+07 1.041e+08 1.000e+01 1.000e+01 0.0020 0.000e+00 0.000e+00 0.000e+00 5.811e+04 -1.147e+06 0.000e+00 0.000e+00
12 4.976e+07 0.000e+00 2.407e+07 1.006e+08 1.000e+02 1.000e+02 0.0020 0.000e+00 0.000e+00 0.000e+00 5.106e+04 3.950e+05 0.000e+00 0.000e+00
13 4.941e+07 0.000e+00 6.999e+06 5.409e+07 1.000e+02 1.000e+02 0.0156 0.000e+00 0.000e+00 0.000e+00 5.254e+05 3.513e+05 0.000e+00 0.000e+00
14 4.724e+07 0.000e+00 2.047e+06 5.589e+07 1.000e+02 1.000e+02 0.0625 0.000e+00 0.000e+00 0.000e+00 1.765e+06 2.166e+06 0.000e+00 0.000e+00
15 4.723e+07 0.000e+00 1.848e+05 4.717e+07 1.000e+03 1.000e+03 0.0039 0.000e+00 0.000e+00 0.000e+00 9.105e+04 1.700e+04 0.000e+00 0.000e+00
16 4.549e+07 0.000e+00 7.559e+06 1.709e+07 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 3.491e+06 1.740e+06 0.000e+00 0.000e+00
17 4.033e+07 0.000e+00 5.319e+06 1.162e+07 1.000e+03 1.000e+03 0.5000 0.000e+00 0.000e+00 0.000e+00 4.112e+06 5.154e+06 0.000e+00 0.000e+00
18 3.836e+07 0.000e+00 2.807e+06 5.919e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.257e+06 1.969e+06 0.000e+00 0.000e+00
19 3.823e+07 0.000e+00 2.468e+06 5.200e+06 1.000e+03 1.000e+03 0.0156 0.000e+00 0.000e+00 0.000e+00 7.855e+04 1.311e+05 0.000e+00 0.000e+00
10 5.016e+07 0.000e+00 2.574e+07 1.158e+08 1.000e+00 1.000e+00 0.0020 0.000e+00 0.000e+00 0.000e+00 1.248e+05 -3.727e+07 0.000e+00 0.000e+00
11 5.016e+07 0.000e+00 2.219e+07 1.041e+08 1.000e+01 1.000e+01 0.0020 0.000e+00 0.000e+00 0.000e+00 5.812e+04 -1.148e+06 0.000e+00 0.000e+00
12 4.976e+07 0.000e+00 2.407e+07 1.006e+08 1.000e+02 1.000e+02 0.0020 0.000e+00 0.000e+00 0.000e+00 5.106e+04 3.961e+05 0.000e+00 0.000e+00
13 4.940e+07 0.000e+00 7.002e+06 5.410e+07 1.000e+02 1.000e+02 0.0156 0.000e+00 0.000e+00 0.000e+00 5.255e+05 3.617e+05 0.000e+00 0.000e+00
14 4.725e+07 0.000e+00 2.023e+06 5.593e+07 1.000e+02 1.000e+02 0.0625 0.000e+00 0.000e+00 0.000e+00 1.765e+06 2.145e+06 0.000e+00 0.000e+00
15 4.724e+07 0.000e+00 1.950e+05 4.718e+07 1.000e+03 1.000e+03 0.0039 0.000e+00 0.000e+00 0.000e+00 9.102e+04 1.458e+04 0.000e+00 0.000e+00
16 4.550e+07 0.000e+00 7.568e+06 1.710e+07 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 3.495e+06 1.741e+06 0.000e+00 0.000e+00
17 4.035e+07 0.000e+00 5.350e+06 1.160e+07 1.000e+03 1.000e+03 0.5000 0.000e+00 0.000e+00 0.000e+00 4.125e+06 5.144e+06 0.000e+00 0.000e+00
18 3.837e+07 0.000e+00 2.819e+06 5.927e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.260e+06 1.984e+06 0.000e+00 0.000e+00
19 3.832e+07 0.000e+00 2.426e+06 5.147e+06 1.000e+03 1.000e+03 0.0312 0.000e+00 0.000e+00 0.000e+00 1.537e+05 5.032e+04 0.000e+00 0.000e+00
iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi
20 3.687e+07 0.000e+00 2.429e+06 5.109e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.086e+06 1.367e+06 0.000e+00 0.000e+00
21 3.574e+07 0.000e+00 1.988e+06 4.196e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 8.903e+05 1.129e+06 0.000e+00 0.000e+00
22 3.496e+07 0.000e+00 1.489e+06 3.213e+06 1.000e+03 1.000e+03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.146e+06 7.774e+05 0.000e+00 0.000e+00
23 3.494e+07 0.000e+00 1.324e+06 2.964e+06 1.000e+03 1.000e+03 0.0312 0.000e+00 0.000e+00 0.000e+00 8.624e+04 1.683e+04 0.000e+00 0.000e+00
24 3.419e+07 0.000e+00 1.275e+06 2.950e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 5.953e+05 7.529e+05 0.000e+00 0.000e+00
25 3.418e+07 0.000e+00 1.097e+06 2.897e+06 1.000e+04 1.000e+04 0.0078 0.000e+00 0.000e+00 0.000e+00 1.979e+04 9.570e+03 0.000e+00 0.000e+00
26 3.418e+07 0.000e+00 2.034e+05 4.456e+05 1.000e+05 1.000e+05 0.0020 0.000e+00 0.000e+00 0.000e+00 8.315e+02 -5.697e+02 0.000e+00 0.000e+00
27 3.418e+07 0.000e+00 2.374e+04 4.853e+04 1.000e+05 1.000e+05 0.2500 0.000e+00 0.000e+00 0.000e+00 1.048e+04 3.651e+03 0.000e+00 0.000e+00
28 3.418e+07 0.000e+00 2.358e+04 4.850e+04 1.000e+06 1.000e+06 0.0020 0.000e+00 0.000e+00 0.000e+00 9.333e+01 -1.014e+02 0.000e+00 0.000e+00
29 3.418e+07 0.000e+00 2.421e+03 4.843e+03 1.000e+06 1.000e+06 0.0156 0.000e+00 0.000e+00 0.000e+00 7.507e+01 7.809e+00 0.000e+00 0.000e+00
20 3.695e+07 0.000e+00 2.397e+06 5.041e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.072e+06 1.372e+06 0.000e+00 0.000e+00
21 3.582e+07 0.000e+00 2.016e+06 4.175e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 8.954e+05 1.131e+06 0.000e+00 0.000e+00
22 3.510e+07 0.000e+00 1.566e+06 3.233e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 6.946e+05 7.130e+05 0.000e+00 0.000e+00
23 3.448e+07 0.000e+00 1.489e+06 3.068e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 6.599e+05 6.264e+05 0.000e+00 0.000e+00
24 3.385e+07 0.000e+00 1.317e+06 2.766e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 5.886e+05 6.332e+05 0.000e+00 0.000e+00
25 3.376e+07 0.000e+00 1.155e+06 2.483e+06 1.000e+03 1.000e+03 0.1250 0.000e+00 0.000e+00 0.000e+00 2.802e+05 8.546e+04 0.000e+00 0.000e+00
26 3.376e+07 0.000e+00 1.059e+06 2.510e+06 1.000e+04 1.000e+04 0.0020 0.000e+00 0.000e+00 0.000e+00 4.515e+03 -1.722e+03 0.000e+00 0.000e+00
27 3.376e+07 0.000e+00 1.463e+05 4.023e+05 1.000e+05 1.000e+05 0.0020 0.000e+00 0.000e+00 0.000e+00 6.779e+02 -3.410e+02 0.000e+00 0.000e+00
28 3.376e+07 0.000e+00 2.240e+04 4.559e+04 1.000e+06 1.000e+06 0.0020 0.000e+00 0.000e+00 0.000e+00 8.819e+01 -1.492e+02 0.000e+00 0.000e+00
29 3.376e+07 0.000e+00 2.288e+03 4.578e+03 1.000e+07 1.000e+07 0.0020 0.000e+00 0.000e+00 0.000e+00 8.931e+00 -8.361e+00 0.000e+00 0.000e+00
28 changes: 14 additions & 14 deletions examples/log/humanoid_manipulation.log
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@@ -1,22 +1,22 @@
iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi
0 7.842e+01 0.000e+00 4.563e+01 9.125e+01 1.000e-01 1.000e-01 0.2500 5.613e-14 0.000e+00 0.000e+00 1.996e+01 2.032e+01 0.000e+00 0.000e+00
1 6.592e+01 0.000e+00 3.143e+01 6.287e+01 1.000e-01 1.000e-01 0.5000 4.211e-14 0.000e+00 0.000e+00 2.357e+01 1.250e+01 0.000e+00 0.000e+00
2 6.225e+01 0.000e+00 1.552e+01 3.103e+01 1.000e-01 1.000e-01 0.2500 2.107e-14 0.000e+00 0.000e+00 6.788e+00 3.676e+00 0.000e+00 0.000e+00
3 5.144e+01 0.000e+00 1.308e+01 2.615e+01 1.000e-01 1.000e-01 0.5000 1.579e-14 0.000e+00 0.000e+00 9.808e+00 1.080e+01 0.000e+00 0.000e+00
4 4.829e+01 0.000e+00 6.135e+00 1.227e+01 1.000e-01 1.000e-01 0.5000 7.896e-15 0.000e+00 0.000e+00 4.601e+00 3.153e+00 0.000e+00 0.000e+00
5 4.668e+01 0.000e+00 6.886e+00 1.377e+01 1.000e-01 1.000e-01 0.1250 3.955e-15 0.000e+00 0.000e+00 1.614e+00 1.611e+00 0.000e+00 0.000e+00
6 4.408e+01 0.000e+00 5.838e+00 1.168e+01 1.000e-01 1.000e-01 0.2500 3.456e-15 0.000e+00 0.000e+00 2.554e+00 2.596e+00 0.000e+00 0.000e+00
7 4.051e+01 0.000e+00 4.356e+00 8.713e+00 1.000e-01 1.000e-01 0.5000 2.609e-15 0.000e+00 0.000e+00 3.267e+00 3.570e+00 0.000e+00 0.000e+00
8 3.756e+01 0.000e+00 4.118e+00 8.237e+00 1.000e-01 1.000e-01 0.5000 1.332e-15 0.000e+00 0.000e+00 3.089e+00 2.955e+00 0.000e+00 0.000e+00
0 7.842e+01 0.000e+00 4.563e+01 9.125e+01 1.000e-01 1.000e-01 0.2500 5.334e-14 0.000e+00 0.000e+00 1.996e+01 2.032e+01 0.000e+00 0.000e+00
1 6.592e+01 0.000e+00 3.143e+01 6.287e+01 1.000e-01 1.000e-01 0.5000 4.000e-14 0.000e+00 0.000e+00 2.357e+01 1.250e+01 0.000e+00 0.000e+00
2 6.225e+01 0.000e+00 1.552e+01 3.103e+01 1.000e-01 1.000e-01 0.2500 2.001e-14 0.000e+00 0.000e+00 6.788e+00 3.676e+00 0.000e+00 0.000e+00
3 5.144e+01 0.000e+00 1.308e+01 2.615e+01 1.000e-01 1.000e-01 0.5000 1.502e-14 0.000e+00 0.000e+00 9.808e+00 1.080e+01 0.000e+00 0.000e+00
4 4.829e+01 0.000e+00 6.135e+00 1.227e+01 1.000e-01 1.000e-01 0.5000 7.522e-15 0.000e+00 0.000e+00 4.601e+00 3.153e+00 0.000e+00 0.000e+00
5 4.668e+01 0.000e+00 6.886e+00 1.377e+01 1.000e-01 1.000e-01 0.1250 3.775e-15 0.000e+00 0.000e+00 1.614e+00 1.611e+00 0.000e+00 0.000e+00
6 4.408e+01 0.000e+00 5.838e+00 1.168e+01 1.000e-01 1.000e-01 0.2500 3.303e-15 0.000e+00 0.000e+00 2.554e+00 2.596e+00 0.000e+00 0.000e+00
7 4.051e+01 0.000e+00 4.356e+00 8.713e+00 1.000e-01 1.000e-01 0.5000 2.470e-15 0.000e+00 0.000e+00 3.267e+00 3.570e+00 0.000e+00 0.000e+00
8 3.756e+01 0.000e+00 4.118e+00 8.237e+00 1.000e-01 1.000e-01 0.5000 1.249e-15 0.000e+00 0.000e+00 3.089e+00 2.955e+00 0.000e+00 0.000e+00
9 3.611e+01 0.000e+00 4.456e+00 8.912e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 1.949e+00 1.447e+00 0.000e+00 0.000e+00
iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi
10 3.502e+01 0.000e+00 4.574e+00 9.148e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 2.001e+00 1.096e+00 0.000e+00 0.000e+00
11 3.432e+01 0.000e+00 4.976e+00 9.952e+00 1.000e-01 1.000e-01 0.2500 4.441e-16 0.000e+00 0.000e+00 2.177e+00 6.977e-01 0.000e+00 0.000e+00
12 3.338e+01 0.000e+00 5.676e+00 1.135e+01 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.330e+00 9.332e-01 0.000e+00 0.000e+00
13 3.252e+01 0.000e+00 5.398e+00 1.080e+01 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.265e+00 8.611e-01 0.000e+00 0.000e+00
14 3.172e+01 0.000e+00 5.168e+00 1.034e+01 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.211e+00 8.028e-01 0.000e+00 0.000e+00
15 3.096e+01 0.000e+00 4.961e+00 9.923e+00 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.163e+00 7.611e-01 0.000e+00 0.000e+00
16 3.034e+01 0.000e+00 4.780e+00 9.560e+00 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.120e+00 6.159e-01 0.000e+00 0.000e+00
13 3.252e+01 0.000e+00 5.398e+00 1.080e+01 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.265e+00 8.611e-01 0.000e+00 0.000e+00
14 3.172e+01 0.000e+00 5.168e+00 1.034e+01 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.211e+00 8.028e-01 0.000e+00 0.000e+00
15 3.096e+01 0.000e+00 4.961e+00 9.923e+00 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.163e+00 7.611e-01 0.000e+00 0.000e+00
16 3.034e+01 0.000e+00 4.780e+00 9.560e+00 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.120e+00 6.159e-01 0.000e+00 0.000e+00
17 2.437e+01 0.000e+00 4.545e+00 9.090e+00 1.000e-02 1.000e-02 1.0000 6.661e-16 0.000e+00 0.000e+00 4.545e+00 5.970e+00 0.000e+00 0.000e+00
18 2.222e+01 0.000e+00 8.519e+00 1.704e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.997e+00 2.156e+00 0.000e+00 0.000e+00
19 2.020e+01 0.000e+00 7.929e+00 1.586e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.858e+00 2.019e+00 0.000e+00 0.000e+00
Expand Down Expand Up @@ -79,7 +79,7 @@ iter cost merit stop grad preg dreg step
70 3.456e+00 0.000e+00 1.016e-07 2.032e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.016e-07 1.033e-07 0.000e+00 0.000e+00
71 3.456e+00 0.000e+00 3.482e-08 6.964e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.482e-08 3.501e-08 0.000e+00 0.000e+00
72 3.456e+00 0.000e+00 3.248e-09 6.495e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.248e-09 3.254e-09 0.000e+00 0.000e+00
73 3.456e+00 0.000e+00 7.353e-13 1.471e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.353e-13 7.829e-13 0.000e+00 0.000e+00
73 3.456e+00 0.000e+00 7.353e-13 1.471e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.353e-13 7.976e-13 0.000e+00 0.000e+00
Finally reached = (0.400, 0.000, 1.200)
Distance between hand and target = 1.523E-05
Distance to default state = 1.615E+00
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