ggplot2の xlim, ylim と coord_cartesian の違いはこちらになります。 xlim, ylim と coord_cartesian の違い 範囲外のデータに対する処理 xlim, ylimは範囲外の値をNA（欠損）にします。 一方、coord_cartesianは範囲外の値に対し何の処理もしません（ズームインするだけ）。

As opposed to joint-based control, Cartesian control is often more intuitive for programmers to specify how a tool (robot end-effector) should move in their application. For instance, gluing, grinding ...

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