├── dist └── python │ ├── .gitignore │ ├── publish.sh │ ├── README.md │ ├── pyproject.toml │ └── jvrc_description │ └── __init__.py ├── meshes ├── Map01_siri.jpg ├── Map03_douF.jpg ├── Map03_douR.jpg ├── Map05_atamaF.jpg ├── Map05_atamaR.jpg ├── Map06_migikata.jpg ├── Map07_migijowan.jpg ├── Map08_migikawan.jpg ├── Map28_migimata.jpg ├── Map30_migisune.jpg ├── Map32_migiashi.jpg ├── Map09_migitekubi.jpg ├── Map29_migidaitai.jpg ├── Map10_migitenohira.jpg ├── Map12_migiisshisaki.jpg ├── Map14_miginishisaki.jpg ├── Map31_migiashikubi.jpg ├── L_UTHUMB_S.dae ├── R_UTHUMB_S.dae ├── L_UINDEX_S.dae ├── L_ULITTLE_S.dae ├── R_UINDEX_S.dae ├── R_ULITTLE_S.dae ├── L_LTHUMB_S.dae ├── R_LTHUMB_S.dae ├── L_LLITTLE_S.dae ├── R_LLITTLE_S.dae ├── L_LINDEX_S.dae ├── R_LINDEX_S.dae ├── L_WRIST_Y_S.dae ├── R_ELBOW_Y_S.dae └── L_ELBOW_Y_S.dae ├── CMakeLists.txt ├── CHANGELOG.md ├── rsdf └── jvrc1 │ ├── l_wrist.rsdf │ ├── r_wrist.rsdf │ ├── L_ANKLE_P_S.rsdf │ └── R_ANKLE_P_S.rsdf ├── launch └── jvrc_description.launch.py ├── package.xml ├── LICENSE └── README.md /dist/python/.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__ 2 | dist 3 | jvrc_description/meshes 4 | jvrc_description/urdf 5 | -------------------------------------------------------------------------------- /meshes/Map01_siri.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/robot-descriptions/jvrc_description/HEAD/meshes/Map01_siri.jpg -------------------------------------------------------------------------------- /meshes/Map03_douF.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/robot-descriptions/jvrc_description/HEAD/meshes/Map03_douF.jpg -------------------------------------------------------------------------------- /meshes/Map03_douR.jpg: 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https://raw.githubusercontent.com/robot-descriptions/jvrc_description/HEAD/meshes/Map14_miginishisaki.jpg -------------------------------------------------------------------------------- /meshes/Map31_migiashikubi.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/robot-descriptions/jvrc_description/HEAD/meshes/Map31_migiashikubi.jpg -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(jvrc_description VERSION 1.0.4) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | 6 | install(DIRECTORY launch meshes rsdf urdf 7 | DESTINATION share/${PROJECT_NAME} 8 | ) 9 | 10 | ament_package() -------------------------------------------------------------------------------- /CHANGELOG.md: -------------------------------------------------------------------------------- 1 | # Changelog 2 | 3 | All notable changes to this project will be documented in this file. 4 | 5 | ## Unreleased 6 | 7 | ### Changed 8 | 9 | - Set development status to production/stable 10 | 11 | ## [1.1.0] - 2022/05/23 12 | 13 | Starting this changelog. 14 | 15 | ### Added 16 | 17 | - Illustration to the README 18 | - Python distribution of the model 19 | -------------------------------------------------------------------------------- /dist/python/publish.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | SOURCE_DESCRIPTION=$(dirname $0)/../.. 4 | TARGET_DESCRIPTION=$(dirname $0)/jvrc_description 5 | echo ${SOURCE_DESCRIPTION} 6 | echo ${TARGET_DESCRIPTION} 7 | 8 | for folder in meshes urdf; do 9 | rm -rf ${TARGET_DESCRIPTION}/${folder} 10 | cp -r ${SOURCE_DESCRIPTION}/${folder} ${TARGET_DESCRIPTION}/${folder} 11 | done 12 | 13 | flit publish --repository testpypi 14 | -------------------------------------------------------------------------------- /rsdf/jvrc1/l_wrist.rsdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /rsdf/jvrc1/r_wrist.rsdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /launch/jvrc_description.launch.py: -------------------------------------------------------------------------------- 1 | 2 | # Standard library 3 | import os 4 | 5 | # External library 6 | from launch_ros.actions import Node 7 | from launch import LaunchDescription 8 | from ament_index_python.packages import get_package_share_directory 9 | 10 | 11 | def generate_launch_description(): 12 | """! Generate a launch description for the jvrc_description package.""" 13 | urdf_file_name = 'jvrc1.urdf' 14 | urdf = os.path.join( 15 | get_package_share_directory('jvrc_description'), 16 | "urdf", 17 | urdf_file_name) 18 | with open(urdf, 'r') as file: 19 | robot_description = file.read() 20 | 21 | robot_state_publisher = Node( 22 | package='robot_state_publisher', 23 | executable='robot_state_publisher', 24 | name='robot_state_publisher', 25 | output='screen', 26 | parameters=[{'robot_description': robot_description}] 27 | ) 28 | 29 | return LaunchDescription([ 30 | robot_state_publisher 31 | ]) -------------------------------------------------------------------------------- /rsdf/jvrc1/L_ANKLE_P_S.rsdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /rsdf/jvrc1/R_ANKLE_P_S.rsdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | jvrc_description 4 | 1.0.4 5 | Description package for the JVRC-1 robot 6 | 7 | Fumio Kanehiro 8 | Kin'ichi Watanabe 9 | Pierre Gergondet 10 | Shin'ichiro Nakaoka 11 | Shizuko Hattori 12 | Stéphane Caron 13 | Yosuke Matsusaka 14 | 15 | 16 | Stéphane Caron 17 | 18 | 19 | 20 | 21 | BSD 22 | 23 | https://github.com/robot-descriptions/jvrc_description 24 | 25 | ament_cmake 26 | urdf 27 | xacro 28 | 29 | 30 | ament_cmake 31 | 32 | 33 | -------------------------------------------------------------------------------- /dist/python/README.md: -------------------------------------------------------------------------------- 1 | # JVRC humanoid robot model 2 | 3 | 4 | 5 | [![PyPI version](https://img.shields.io/pypi/v/jvrc_description)](https://pypi.org/project/jvrc_description/) 6 | 7 | :warning: **This module has been deprecated in favor of [`robot_descriptions`](https://github.com/robot-descriptions/robot_descriptions.py).** 8 | 9 | This package contains the robot description for the JVRC-1 model, a virtual humanoid robot released for education and research. 10 | 11 | ## Python module 12 | 13 | This module helps retrieve the JVRC-1 model from a Python program. Import it by: 14 | 15 | ```python 16 | import jvrc_description 17 | ``` 18 | 19 | It then provides the following paths: 20 | 21 |
22 |
23 | jvrc_description.path 24 |
25 |
26 | Path to the "jvrc_description" folder itself. 27 |
28 |
29 | jvrc_description.meshes_path 30 |
31 |
32 | Path to the "meshes" folder. 33 |
34 |
35 | jvrc_description.urdf_path 36 |
37 |
38 | Path to the URDF file of the model. 39 |
40 |
41 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 2-Clause License 2 | 3 | Copyright (c) 2012-2019, CNRS-UM LIRMM, CNRS-AIST JRL 4 | Copyright (c) 2022, Stéphane Caron 5 | All rights reserved. 6 | 7 | Redistribution and use in source and binary forms, with or without 8 | modification, are permitted provided that the following conditions are met: 9 | 10 | 1. Redistributions of source code must retain the above copyright notice, this 11 | list of conditions and the following disclaimer. 12 | 13 | 2. Redistributions in binary form must reproduce the above copyright notice, 14 | this list of conditions and the following disclaimer in the documentation 15 | and/or other materials provided with the distribution. 16 | 17 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 21 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 22 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 23 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 24 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 25 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 26 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | -------------------------------------------------------------------------------- /dist/python/pyproject.toml: -------------------------------------------------------------------------------- 1 | [build-system] 2 | requires = ["flit_core >=2,<4"] 3 | build-backend = "flit_core.buildapi" 4 | 5 | [project] 6 | name = "jvrc_description" 7 | readme = "README.md" 8 | authors = [ 9 | {name = "Stéphane Caron", email = "stephane.caron@normalesup.org"}, 10 | ] 11 | maintainers = [ 12 | {name = "Stéphane Caron", email = "stephane.caron@normalesup.org"}, 13 | ] 14 | dynamic = ['version', 'description'] 15 | requires-python = ">=3.7" 16 | classifiers = [ 17 | "Development Status :: 5 - Production/Stable", 18 | "Intended Audience :: Developers", 19 | "Intended Audience :: Science/Research", 20 | "License :: OSI Approved :: Apache Software License", 21 | "Operating System :: OS Independent", 22 | "Programming Language :: Python :: 3", 23 | "Programming Language :: Python :: 3.10", 24 | "Programming Language :: Python :: 3.7", 25 | "Programming Language :: Python :: 3.8", 26 | "Programming Language :: Python :: 3.9", 27 | "Topic :: Scientific/Engineering :: Mathematics", 28 | "Topic :: Scientific/Engineering :: Physics", 29 | ] 30 | dependencies = [ 31 | ] 32 | 33 | [project.urls] 34 | Source = "https://github.com/stephane-caron/jvrc_description" 35 | Tracker = "https://github.com/stephane-caron/jvrc_description/issues" 36 | Changelog = "https://github.com/stephane-caron/jvrc_description/blob/master/CHANGELOG.md" 37 | 38 | [tool.black] 39 | line-length = 79 40 | 41 | [tool.flit.sdist] 42 | include = [ 43 | "jvrc_description/meshes", 44 | "jvrc_description/urdf", 45 | ] 46 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # JVRC humanoid robot model 2 | 3 | 4 | 5 | This package contains the robot description for the JVRC-1 model, a virtual humanoid robot released for education and research. 6 | 7 | ## History 8 | 9 | The model files in this repository come from [mc\_rtc\_data](https://github.com/jrl-umi3218/mc_rtc_data), a collection of robot and environment models distributed with the [mc\_rtc](https://jrl-umi3218.github.io/mc_rtc/) framework. The JVRC-1 model was initially created in VRML format at [jvrc/model](https://github.com/jvrc/model) and converted to URDF using [simtrans](https://github.com/fkanehiro/simtrans). 10 | 11 | ## Show and tell 12 | 13 | Feel free to [open a PR](https://github.com/stephane-caron/jvrc_description/pulls) to share what you have done with this model. 14 | 15 | | Date | Topic | Screenshot | 16 | |------|-------|------------| 17 | | 2019 | [Docker image of a walking controller in simulation](https://hub.docker.com/r/stephanecaron/lipm_walking_controller) — Snapshot of a whole-body controller used on the HRP-4 humanoid to walk and climb stairs. This image includes a fully functional build and simulation environment where you can try the controller on the JVRC model. | | 18 | | 2016 | [Task-based inverse kinematics in Python](https://scaron.info/robot-locomotion/inverse-kinematics.html) — A whole-body inverse kinematics based on the weight-prioritized multi-task framework. Tasks include foot-surface contacts, center of mass or centroidal momentum control. Depends on OpenRAVE. | | 19 | -------------------------------------------------------------------------------- /dist/python/jvrc_description/__init__.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # -*- coding: utf-8 -*- 3 | # 4 | # Copyright (c) 2022, Stéphane Caron 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions are met: 8 | # 9 | # 1. Redistributions of source code must retain the above copyright notice, 10 | # this list of conditions and the following disclaimer. 11 | # 12 | # 2. Redistributions in binary form must reproduce the above copyright notice, 13 | # this list of conditions and the following disclaimer in the documentation 14 | # and/or other materials provided with the distribution. 15 | # 16 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 17 | # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 18 | # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 19 | # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 20 | # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 21 | # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 22 | # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 23 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 24 | # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 25 | # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 26 | # POSSIBILITY OF SUCH DAMAGE. 27 | 28 | """ 29 | URDF description of the JVRC humanoid model. 30 | """ 31 | 32 | import os 33 | 34 | __version__ = "1.1.1" 35 | 36 | # Path to jvrc_description 37 | path = os.path.dirname(os.path.realpath(__file__)) 38 | 39 | # Path to the meshes folder 40 | meshes_path = os.path.join(path, "meshes") 41 | 42 | # Path to the robot's URDF 43 | urdf_path = os.path.join(path, "urdf", "jvrc1.urdf") 44 | 45 | __all__ = [ 46 | "meshes_path", 47 | "path", 48 | "urdf_path", 49 | ] 50 | -------------------------------------------------------------------------------- /meshes/L_UTHUMB_S.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | Blender User 9 | Blender 2.79.0 10 | 11 | 2018-11-29T00:07:39 12 | 2018-11-29T00:07:39 13 | 14 | Z_UP 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 0 0 0 1 24 | 25 | 26 | 0 0 0 1 27 | 28 | 29 | 0.7450981 0.7450981 0.7450981 1 30 | 31 | 32 | 0 0 0 1 33 | 34 | 35 | 0 36 | 37 | 38 | 1 1 1 1 39 | 40 | 41 | 1 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | -0.008925318 -0.00999999 -0.02699995 -0.007719576 -0.00999999 -0.03149992 -0.008925318 -0.00999999 0 -0.007719576 -0.00999999 0.004499971 -0.004425346 -0.00999999 0.007794201 7.46265e-5 -0.00999999 0.008999943 0.004574596 -0.00999999 0.007794201 0.007868826 -0.00999999 0.004499971 0.009074568 -0.00999999 0 0.009074568 -0.00999999 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-0.008925318 0.00999999 -0.02699995 -0.008925318 -0.00999999 0 -0.008925318 0.00999999 0 -0.008925318 0.00999999 -0.02699995 -0.007719576 0.00999999 -0.03149992 -0.004425346 0.00999999 -0.03479415 7.46265e-5 0.00999999 -0.03599995 0.004574596 0.00999999 -0.03479415 0.007868826 0.00999999 -0.03149992 0.009074568 0.00999999 -0.02699995 0.009074568 0.00999999 0 0.007868826 0.00999999 0.004499971 0.004574596 0.00999999 0.007794201 7.46265e-5 0.00999999 0.008999943 -0.004425346 0.00999999 0.007794201 -0.007719576 0.00999999 0.004499971 -0.008925318 0.00999999 0 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 0 -1 -3.35237e-7 0 -1 0 0 -1 0 0 -1 6.70476e-7 0 -1 -6.70477e-7 -0.9659261 0 -0.2588182 -0.7071067 0 -0.7071069 -0.2588184 0 -0.965926 -0.2588196 0 -0.9659257 0.2588195 0 -0.9659257 0.2588184 0 -0.9659261 0.7071068 0 -0.7071068 0.9659258 0 -0.2588191 0.9659258 0 -0.2588195 1 0 0 0.9659259 0 0.2588191 0.7071068 0 0.7071068 0.258819 0 0.9659259 0.2588193 0 0.9659259 -0.2588193 0 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9 0 0 7 0 1 6 0 2 4 1 3 9 1 4 6 1 5 8 1 6 1 1 7 6 1 8 4 1 9 6 1 10 1 1 11 1 1 12 10 1 13 4 1 14 1 1 15 3 1 16 10 1 17 2 1 18 10 1 19 3 1 20 0 1 21 11 1 22 1 1 23 11 2 24 3 2 25 1 2 26 5 1 27 4 1 28 10 1 29 21 3 30 18 3 31 19 3 32 16 4 33 18 4 34 21 4 35 20 4 36 18 4 37 13 4 38 16 4 39 13 4 40 18 4 41 13 4 42 16 4 43 22 4 44 13 4 45 22 4 46 23 4 47 14 4 48 15 4 49 22 4 50 13 5 51 23 5 52 12 5 53 15 4 54 23 4 55 22 4 56 17 4 57 22 4 58 16 4 59 31 6 60 32 6 61 30 6 62 27 7 63 35 7 64 24 7 65 27 8 66 24 8 67 32 8 68 26 6 69 25 6 70 33 6 71 33 6 72 34 6 73 27 6 74 31 6 75 30 6 76 28 6 77 32 9 78 24 9 79 30 9 80 25 6 81 34 6 82 33 6 83 34 10 84 35 10 85 27 10 86 30 11 87 29 11 88 28 11 89 39 12 90 36 12 91 37 12 92 39 13 93 37 13 94 38 13 95 43 14 96 40 14 97 41 14 98 43 15 99 41 15 100 42 15 101 47 16 102 44 16 103 45 16 104 47 17 105 45 17 106 46 17 107 49 18 108 48 18 109 50 18 110 49 19 111 50 19 112 51 19 113 53 20 114 52 20 115 54 20 116 53 21 117 54 21 118 55 21 119 57 22 120 56 22 121 58 22 122 57 23 123 58 23 124 59 23 125 63 24 126 60 24 127 61 24 128 63 25 129 61 25 130 62 25 131 67 26 132 64 26 133 65 26 134 67 27 135 65 27 136 66 27 137 71 28 138 68 28 139 69 28 140 71 29 141 69 29 142 70 29 143 73 30 144 72 30 145 74 30 146 73 31 147 74 31 148 75 31 149 77 32 150 76 32 151 78 32 152 77 33 153 78 33 154 79 33 155 81 34 156 80 34 157 82 34 158 81 35 159 82 35 160 83 35 161 85 36 162 87 36 163 86 36 164 85 37 165 86 37 166 84 37 167 89 38 168 91 38 169 90 38 170 89 39 171 90 39 172 88 39 173 93 40 174 95 40 175 94 40 176 93 41 177 94 41 178 92 41 179 97 42 180 99 42 181 98 42 182 97 43 183 98 43 184 96 43 185 101 44 186 103 44 187 102 44 188 101 45 189 102 45 190 100 45 191 105 46 192 107 46 193 106 46 194 105 47 195 106 47 196 104 47 197 109 48 198 111 48 199 110 48 200 109 49 201 110 49 202 108 49 203 113 50 204 115 50 205 114 50 206 113 51 207 114 51 208 112 51 209 117 52 210 119 52 211 118 52 212 117 53 213 118 53 214 116 53 215 121 54 216 123 54 217 122 54 218 121 55 219 122 55 220 120 55 221 125 56 222 127 56 223 126 56 224 125 57 225 126 57 226 124 57 227 129 58 228 131 58 229 130 58 230 129 59 231 130 59 232 128 59 233 133 60 234 132 60 235 134 60 236 133 61 237 134 61 238 135 61 239 137 62 240 136 62 241 138 62 242 137 63 243 138 63 244 139 63 245 141 64 246 140 64 247 142 64 248 141 65 249 142 65 250 143 65 251 145 66 252 144 66 253 146 66 254 145 67 255 146 67 256 147 67 257 149 68 258 148 68 259 150 68 260 149 69 261 150 69 262 151 69 263 153 70 264 152 70 265 154 70 266 153 71 267 154 71 268 155 71 269 157 72 270 156 72 271 158 72 272 157 73 273 158 73 274 159 73 275 161 74 276 160 74 277 162 74 278 161 75 279 162 75 280 163 75 281 165 76 282 164 76 283 166 76 284 165 77 285 166 77 286 167 77 287 169 78 288 168 78 289 170 78 290 169 79 291 170 79 292 171 79 293 173 80 294 172 80 295 174 80 296 173 81 297 174 81 298 175 81 299 177 82 300 176 82 301 178 82 302 177 83 303 178 83 304 179 83 305 181 84 306 180 84 307 182 84 308 181 84 309 182 84 310 183 84 311 185 85 312 184 85 313 186 85 314 185 85 315 186 85 316 187 85 317 189 86 318 188 86 319 190 86 320 189 87 321 190 87 322 191 87 323 193 88 324 192 88 325 194 88 326 193 89 327 194 89 328 195 89 329 197 90 330 196 90 331 198 90 332 197 90 333 198 90 334 199 90 335 201 91 336 200 91 337 202 91 338 201 91 339 202 91 340 203 91 341 205 92 342 204 92 343 206 92 344 205 92 345 206 92 346 207 92 347 209 93 348 208 93 349 210 93 350 209 93 351 210 93 352 211 93 353 216 94 354 217 94 355 212 94 356 221 95 357 213 95 358 222 95 359 216 96 360 212 96 361 214 96 362 219 97 363 218 97 364 214 97 365 216 98 366 214 98 367 218 98 368 215 99 369 219 99 370 214 99 371 215 100 372 221 100 373 220 100 374 219 101 375 215 101 376 220 101 377 213 102 378 221 102 379 215 102 380 228 103 381 223 103 382 227 103 383 229 104 384 227 104 385 223 104 386 233 105 387 224 105 388 228 105 389 223 106 390 228 106 391 224 106 392 231 107 393 224 107 394 233 107 395 230 108 396 229 108 397 225 108 398 223 109 399 225 109 400 229 109 401 226 110 402 231 110 403 232 110 404 224 111 405 231 111 406 226 111 407 235 112 408 234 112 409 236 112 410 235 112 411 236 112 412 237 112 413 239 113 414 238 113 415 240 113 416 239 113 417 240 113 418 241 113 419

107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | --------------------------------------------------------------------------------