 LiuzhengSJ
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2e25951bc0
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add test files for the rm75 kinematics class.
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2026-08-05 14:10:06 +01:00 |
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LiuzhengSJ
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d86438115f
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the branch with concise robot kinematics class for rm75
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2026-08-05 13:08:38 +01:00 |
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LiuzhengSJ
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8ff29b1cc9
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add mini scissor stl file, as well as urdf file.
modify the Dual_arm.urdf, in line with real arm installation.
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2026-07-31 16:08:17 +01:00 |
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LiuzhengSJ
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0c121a7425
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In qp inverse kinematic file, the tool frames self.tcps is defined as [] if not given a value.
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2026-07-30 15:41:10 +01:00 |
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LiuzhengSJ
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e001f2e1f1
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add ik q_solved refinement function, to make it as close as possible to last_q.
update the rm75_kine_rm.py to included a series of arm-angle for inverse kinematics calculation.
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2026-07-30 15:28:14 +01:00 |
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LiuzhengSJ
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ace5dea9a2
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add collision detection in workspace cal
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2026-07-29 11:30:32 +01:00 |
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LiuzhengSJ
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2713c54707
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add collision detection in workspace cal
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2026-07-29 11:25:09 +01:00 |
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LiuzhengSJ
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9849466430
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add collision detection
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2026-07-28 22:41:35 +01:00 |
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LiuzhengSJ
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86c40ee380
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add urdf files, dual arm.
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2026-07-28 19:40:27 +01:00 |
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LiuzhengSJ
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9513dfa4ce
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add urdf file, scissor included.
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2026-07-28 16:06:21 +01:00 |
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LiuzhengSJ
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e1d833812b
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the scissor stl file is added.
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2026-07-27 21:31:52 +01:00 |
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LiuzhengSJ
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ceb80a8b17
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the scissor stl file is added.
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2026-07-27 20:34:02 +01:00 |
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LiuzhengSJ
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d1080638c1
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Merge remote-tracking branch 'origin/class_version' into class_version
# Conflicts:
# kine_ctrl/workspace_comfortable/workspace_cal.py
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2026-07-27 15:15:11 +01:00 |
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emboddied
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5cac8c5a73
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code for virtical sci
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2026-07-27 21:59:54 +08:00 |
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LiuzhengSJ
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d0ca4d6115
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update teh contour plot method
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2026-07-24 10:46:09 +01:00 |
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LiuzhengSJ
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579abe6b67
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update teh contour plot method
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2026-07-22 11:41:55 +01:00 |
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emboddied
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2bd6bf510f
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use the tool 'minisci'
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2026-07-20 21:09:15 +08:00 |
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LiuzhengSJ
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a58e1b9f59
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with tool, expand the calculation space
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2026-07-18 21:45:24 +01:00 |
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LiuzhengSJ
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6a50db91a4
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add vertical tool installation.
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2026-07-18 21:39:15 +01:00 |
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emboddied
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c6458248a7
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collision detection ik
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2026-07-15 16:32:18 +08:00 |
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LiuzhengSJ
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4add432f53
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add collision detection
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2026-07-13 15:05:34 +01:00 |
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LiuzhengSJ
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58e84c6a33
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add collision detection
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2026-07-13 14:54:33 +01:00 |
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 ZhengLiu-cart
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7050c93c84
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Upload files to "kine_ctrl/workspace_comfortable"
add
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2026-07-13 18:57:58 +08:00 |
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ZhengLiu-cart
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6db8b2f254
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Upload files to "kine_ctrl/workspace_comfortable"
add
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2026-07-13 18:57:44 +08:00 |
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ZhengLiu-cart
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a5fb40d1a6
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Upload files to "kine_ctrl/workspace_comfortable"
results
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2026-07-13 18:57:11 +08:00 |
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ZhengLiu-cart
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223b29f37d
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Upload files to "kine_ctrl/workspace_comfortable"
ik success rate. no self-collision detection used. no tool installed
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2026-07-13 18:56:17 +08:00 |
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emboddied
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cb51ecf2eb
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test_120Ori+0.05m
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2026-07-13 16:27:35 +08:00 |
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emboddied
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75ba51c609
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after calculation
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2026-07-10 16:55:08 +08:00 |
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LiuzhengSJ
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74d1623b8a
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update the path
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2026-07-06 12:05:44 +01:00 |
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LiuzhengSJ
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b32199e316
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add requirements.txt
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2026-07-06 11:41:13 +01:00 |
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LiuzhengSJ
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e06e48f21b
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ik success bug identified.
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2026-07-06 11:10:35 +01:00 |
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LiuzhengSJ
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fb414078f1
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correct the rm official ik issue.
out of workspace ik calculation may return ret = 0.
in this version, the fk verification is done for double check its success.
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2026-07-03 20:13:05 +01:00 |
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LiuzhengSJ
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12ead6a191
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add workspace reachability evaluation file.
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2026-07-03 15:13:42 +01:00 |
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LiuzhengSJ
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319c1765bc
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add workspace reachability evaluation file.
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2026-07-02 14:41:36 +01:00 |
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LiuzhengSJ
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7246710a7d
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1. add q_mid and mid weight, making the joint prefer to stay at the middle of joint range.
2. add dq_limit weight, making the last several joints move more proactively.
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2026-07-01 15:42:21 +01:00 |
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LiuzhengSJ
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f1846ffe1e
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Example for using qp based ik with urdf, and realman official ik
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2026-06-22 16:19:24 +01:00 |
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LiuzhengSJ
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58452bce90
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start to adjust to ready-to-use class
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2026-06-22 13:53:12 +01:00 |
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LiuzhengSJ
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6c8a335e1d
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start to adjust to ready-to-use class
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2026-06-22 13:29:58 +01:00 |
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LiuzhengSJ
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2ca5033b46
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add urdf files.
aligh the function parameter names of qp and rm methods
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2026-06-05 15:25:35 +01:00 |
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LiuzhengSJ
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aefc7bacd5
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update the mjc function names
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2026-06-05 10:23:02 +01:00 |
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LiuzhengSJ
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ddbbb1746e
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update the comparison results.
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2026-06-05 09:56:33 +01:00 |
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LiuzhengSJ
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48453fa5c8
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compare the qp ik and rm ik with joint limits
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2026-06-04 21:55:35 +01:00 |
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LiuzhengSJ
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cee1a191ea
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compare the qp ik and rm ik
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2026-06-04 17:11:02 +01:00 |
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LiuzhengSJ
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f10152fc29
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correct the w_posture
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2026-06-04 14:31:29 +01:00 |
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LiuzhengSJ
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c0458f0e12
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run correctly
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2026-06-03 21:40:01 +01:00 |
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LiuzhengSJ
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0bed2f87f4
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wrong, not converged
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2026-06-03 21:14:34 +01:00 |
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LiuzhengSJ
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fb64f3c73a
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refine qp based controller
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2026-06-03 20:15:48 +01:00 |
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LiuzhengSJ
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3febe65b6a
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integrate official rm ik, and qp based ik, with mujoco
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2026-06-02 22:24:43 +01:00 |
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LiuzhengSJ
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99ba1786b0
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description update
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2026-06-01 22:30:08 +01:00 |
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LiuzhengSJ
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fc92989fe3
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add pin
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2026-06-01 22:08:44 +01:00 |
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