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‎CallPython.cpp

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#include<iostream>
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#include <Python.h>
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using namespace std;
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void CallPython(int times, double high, double**& ori) {
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Py_Initialize(); // 初始化python模块
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if (!Py_IsInitialized()) // 检查初始化是否成功
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{
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cout << "初始化失败！" << endl;
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Py_Finalize();
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}
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PyRun_SimpleString("import sys");
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PyRun_SimpleString("sys.path.append('./')"); // 设置python模块，搜寻位置，文件放在.cpp文件一起
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PyObject* pModule = PyImport_ImportModule("ToBeCalled"); // Python文件名
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if (!pModule) {
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cout << "py文件导入失败！" << endl;
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Py_Finalize();
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}
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else {
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PyObject* pDict = PyModule_GetDict(pModule);
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if (!pDict) {
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cout << "内容获取失败！" << endl;
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Py_Finalize();
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}
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PyObject* pFunc = PyObject_GetAttrString(pModule, "sim"); // Python文件中的函数名
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if (!pFunc) {
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cout << "函数导入失败！" << endl;
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Py_Finalize();
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}
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PyObject* result = PyObject_CallFunction(pFunc, "id", times, high); // 调用函数
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for (int i = 0; i < times * times; i++)
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{
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ori[i] = new double[4];
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for (int j = 0; j < 4; j++)
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{
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ori[i][j] = PyFloat_AsDouble(PyTuple_GetItem(PyList_GetItem(result, i), j));
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}
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}
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}
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Py_Finalize();
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}

‎CallPython.h

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#pragma once
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void CallPython(int, double, double**&);

‎CppAndPython.sln

+31-31
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1-
2-
Microsoft Visual Studio Solution File, Format Version 12.00
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# Visual Studio Version 17
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VisualStudioVersion = 17.1.32210.238
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MinimumVisualStudioVersion = 10.0.40219.1
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CppAndPython", "CppAndPython\CppAndPython.vcxproj", "{9449F018-36F2-4527-A30B-5D3F9B03857B}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|x64 = Debug|x64
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Debug|x86 = Debug|x86
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Release|x64 = Release|x64
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Release|x86 = Release|x86
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EndGlobalSection
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Debug|x64.ActiveCfg = Debug|x64
17-
{9449F018-36F2-4527-A30B-5D3F9B03857B}.Debug|x64.Build.0 = Debug|x64
18-
{9449F018-36F2-4527-A30B-5D3F9B03857B}.Debug|x86.ActiveCfg = Debug|Win32
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Debug|x86.Build.0 = Debug|Win32
20-
{9449F018-36F2-4527-A30B-5D3F9B03857B}.Release|x64.ActiveCfg = Release|x64
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Release|x64.Build.0 = Release|x64
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Release|x86.ActiveCfg = Release|Win32
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Release|x86.Build.0 = Release|Win32
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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EndGlobalSection
28-
GlobalSection(ExtensibilityGlobals) = postSolution
29-
SolutionGuid = {CB7D77D1-DD58-4516-A787-9695E103F5B5}
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EndGlobalSection
31-
EndGlobal
1+
2+
Microsoft Visual Studio Solution File, Format Version 12.00
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# Visual Studio Version 17
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VisualStudioVersion = 17.1.32210.238
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MinimumVisualStudioVersion = 10.0.40219.1
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CppAndPython", "CppAndPython\CppAndPython.vcxproj", "{9449F018-36F2-4527-A30B-5D3F9B03857B}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|x64 = Debug|x64
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Debug|x86 = Debug|x86
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Release|x64 = Release|x64
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Release|x86 = Release|x86
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EndGlobalSection
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Debug|x64.ActiveCfg = Debug|x64
17+
{9449F018-36F2-4527-A30B-5D3F9B03857B}.Debug|x64.Build.0 = Debug|x64
18+
{9449F018-36F2-4527-A30B-5D3F9B03857B}.Debug|x86.ActiveCfg = Debug|Win32
19+
{9449F018-36F2-4527-A30B-5D3F9B03857B}.Debug|x86.Build.0 = Debug|Win32
20+
{9449F018-36F2-4527-A30B-5D3F9B03857B}.Release|x64.ActiveCfg = Release|x64
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Release|x64.Build.0 = Release|x64
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Release|x86.ActiveCfg = Release|Win32
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{9449F018-36F2-4527-A30B-5D3F9B03857B}.Release|x86.Build.0 = Release|Win32
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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EndGlobalSection
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GlobalSection(ExtensibilityGlobals) = postSolution
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SolutionGuid = {CB7D77D1-DD58-4516-A787-9695E103F5B5}
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EndGlobalSection
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EndGlobal

‎CppAndPython.vcxproj

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<?xml version="1.0" encoding="utf-8"?>
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<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ItemGroup Label="ProjectConfigurations">
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<ProjectConfiguration Include="Debug|Win32">
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<Configuration>Debug</Configuration>
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<Platform>Win32</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Release|Win32">
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<Configuration>Release</Configuration>
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<Platform>Win32</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Debug|x64">
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<Configuration>Debug</Configuration>
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<Platform>x64</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Release|x64">
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<Configuration>Release</Configuration>
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<Platform>x64</Platform>
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</ProjectConfiguration>
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</ItemGroup>
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<PropertyGroup Label="Globals">
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<VCProjectVersion>16.0</VCProjectVersion>
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<Keyword>Win32Proj</Keyword>
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<ProjectGuid>{9449f018-36f2-4527-a30b-5d3f9b03857b}</ProjectGuid>
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<RootNamespace>CppAndPython</RootNamespace>
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<WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>true</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>false</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<WholeProgramOptimization>true</WholeProgramOptimization>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>true</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>false</UseDebugLibraries>
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<PlatformToolset>v143</PlatformToolset>
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<WholeProgramOptimization>true</WholeProgramOptimization>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
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<ImportGroup Label="ExtensionSettings">
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</ImportGroup>
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<ImportGroup Label="Shared">
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<PropertyGroup Label="UserMacros" />
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<LinkIncremental>true</LinkIncremental>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<LinkIncremental>false</LinkIncremental>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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<LinkIncremental>true</LinkIncremental>
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<ExternalIncludePath>$(Python)\include;$(ExternalIncludePath)</ExternalIncludePath>
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<LibraryPath>$(Python)\libs;$(LibraryPath)</LibraryPath>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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<LinkIncremental>false</LinkIncremental>
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</PropertyGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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</Link>
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</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<FunctionLevelLinking>true</FunctionLevelLinking>
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<IntrinsicFunctions>true</IntrinsicFunctions>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<EnableCOMDATFolding>true</EnableCOMDATFolding>
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<OptimizeReferences>true</OptimizeReferences>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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</Link>
114+
</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<AdditionalDependencies>python3.lib;python3_d.lib;python310.lib;python310_d.lib;%(AdditionalDependencies)</AdditionalDependencies>
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</Link>
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</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<FunctionLevelLinking>true</FunctionLevelLinking>
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<IntrinsicFunctions>true</IntrinsicFunctions>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<EnableCOMDATFolding>true</EnableCOMDATFolding>
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<OptimizeReferences>true</OptimizeReferences>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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</Link>
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</ItemDefinitionGroup>
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<ItemGroup>
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<ClCompile Include="CallPython.cpp" />
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<ClCompile Include="main.cpp" />
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<ClCompile Include="Processing.cpp" />
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<ClCompile Include="ResetXml.cpp" />
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<ClCompile Include="tinyxml2.cpp" />
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</ItemGroup>
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<ItemGroup>
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<ClInclude Include="CallPython.h" />
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<ClInclude Include="main.h" />
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<ClInclude Include="Processing.h" />
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<ClInclude Include="ResetXml.h" />
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<ClInclude Include="tinyxml2.h" />
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</ItemGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
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<ImportGroup Label="ExtensionTargets">
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</ImportGroup>
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</Project>

‎CppAndPython.vcxproj.filters

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<?xml version="1.0" encoding="utf-8"?>
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<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ItemGroup>
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<Filter Include="源文件">
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<UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
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<Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
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</Filter>
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<Filter Include="头文件">
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<UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
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<Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
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</Filter>
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<Filter Include="资源文件">
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<UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
14+
<Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
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</Filter>
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<Filter Include="tinyxml2">
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<UniqueIdentifier>{d8fbb35d-482a-440d-8937-7b8c6f523b11}</UniqueIdentifier>
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</Filter>
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</ItemGroup>
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<ItemGroup>
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<ClCompile Include="ResetXml.cpp">
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<Filter>源文件</Filter>
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</ClCompile>
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<ClCompile Include="tinyxml2.cpp">
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<Filter>tinyxml2</Filter>
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</ClCompile>
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<ClCompile Include="CallPython.cpp">
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<Filter>源文件</Filter>
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</ClCompile>
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<ClCompile Include="main.cpp">
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<Filter>源文件</Filter>
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</ClCompile>
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<ClCompile Include="Processing.cpp">
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<Filter>源文件</Filter>
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</ClCompile>
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</ItemGroup>
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<ItemGroup>
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<ClInclude Include="tinyxml2.h">
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<Filter>tinyxml2</Filter>
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</ClInclude>
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<ClInclude Include="ResetXml.h">
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<Filter>头文件</Filter>
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</ClInclude>
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<ClInclude Include="CallPython.h">
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<Filter>头文件</Filter>
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</ClInclude>
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<ClInclude Include="main.h">
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<Filter>头文件</Filter>
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</ClInclude>
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<ClInclude Include="Processing.h">
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<Filter>头文件</Filter>
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</ClInclude>
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</ItemGroup>
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</Project>

‎CppAndPython.vcxproj.user

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<?xml version="1.0" encoding="utf-8"?>
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<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<PropertyGroup />
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</Project>

‎Cylinder.urdf

+39
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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<robot name="Cylinder">
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<link name="base_link">
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<!--视觉？材质？-->
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<visual>
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<!--描述初始位置-->
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<!--看不懂是拿来干啥的。。。。-->
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<origin xyz=" 0 0 0" rpy="0 0 0" />
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<!--创建一个圆柱体 cylinder：圆柱 geometry：几何形状-->
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<geometry>
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<cylinder length="0.2" radius="0.1732"/>
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</geometry>
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<!--将材质命名为yellow（实际颜色与之无关） -->
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<material name="yellow">
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<!--设置材质颜色（应该是RGB）最后一个应该是透明度-->
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<color rgba="0 0.4 0.8 1"/>
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</material>
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</visual>
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<!--好像是碰撞箱？没有这个圆柱骰就一直自由落体-->
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<collision>
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<!--仍然描述初始位置-->
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<origin xyz=" 0 0 0" rpy="0 0 0" />
23+
<!--创建圆柱体-->
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<geometry>
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<cylinder length="0.2" radius="0.1732"/>
26+
</geometry>
27+
</collision>
28+
<!--好像是惯性？没有这个会报错，不过能自动生成（但是报错刷屏看着很不舒服）-->
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<inertial>
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<!--依然描述初始位置-->
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<origin xyz=" 0 0 0" rpy="0 0 0" />
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<!--质量，单位为kg-->
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<mass value="1"/>
34+
<!-- 惯 性 张 量 -->
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<!--我物理专业都看不懂这玩意儿是什么东西，泪目-->
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
37+
</inertial>
38+
</link>
39+
</robot>

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