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zA%%&(>R6HMVi1YPJ`5Z@0pR~0$~>~>uOs-;!vFt><|+E=h~#f901ymU@!#nG3{0NF zpUx5ffe$|Z{(qS&JQeV?kMth_b?-4y{}S-Oc9ot=d0I~VM@lf965d}@{wXe=LZ8O% zf1nhE|BB*Ifv_iW@E;%&(f`x@KT+{1_^F@&12!lA3;ch0{ZlzlUFjb=@{e7)|HZLh WDI-0OeE scenario_time + 1: - # ========= for trq ========= - _df_1 = pd.DataFrame(_d2d_trq) + if len(_d2d_trq[0]) / 1000 > scenario_time + 1: + _df = DataFrame(_d2d_trq) for i in range(6): - _ = sqrt(100*_df_1[f'device_servo_trq_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'device_servo_trq_feedback_{i}'])) + _ = sqrt(100*_df[i].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[i])) del data[0][f"axis{i + 1}"][0] data[0][f"axis{i + 1}"].append(_) - _df_1 = pd.DataFrame(data[0]) - # ========= for vel ========= - _df_2 = pd.DataFrame(_d2d_vel) - for i in range(6): - _ = sqrt(100*_df_2[f'hw_joint_vel_feedback_{i}'].apply(lambda x: (rcs[i]*x/10000)**2).sum()/len(_df[f'hw_joint_vel_feedback_{i}'])) + _ = rcs[i] * _df[i].abs().max() / 1000 del data[1][f"axis{i + 1}"][0] data[1][f"axis{i + 1}"].append(_) - _df_2 = pd.DataFrame(data[1]) + _df_1 = DataFrame(data[0]) + _df_2 = DataFrame(data[1]) while True: if not hr.durable_lock: hr.durable_lock = 1 _df_1.to_excel(durable_data_current_xlsx, index=False) - _df_2.to_excel(durable_data_velocity_xlsx, index=False) + _df_2.to_excel(durable_data_current_max_xlsx, index=False) hr.durable_lock = 0 break else: