├── misc
├── .keep
└── roboSoftTeaser.png
├── reality
├── README.md
├── rotator_with_encoder.ino
└── mold.DXF
├── simulation
└── README.md
└── README.md
/misc/.keep:
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1 |
2 |
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/reality/README.md:
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1 | Please see [voxcraft.github.io/build](https://voxcraft.github.io/build)
2 |
--------------------------------------------------------------------------------
/simulation/README.md:
--------------------------------------------------------------------------------
1 |
2 | Please see [voxcraft.github.io/design](https://voxcraft.github.io/design)
3 |
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/misc/roboSoftTeaser.png:
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https://raw.githubusercontent.com/skriegman/sim2real4designs/HEAD/misc/roboSoftTeaser.png
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/README.md:
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1 | Scalable sim-to-real transfer of soft robot designs
2 | --------------------
3 | [Sam Kriegman](https://scholar.google.com/citations?user=DCIwaLwAAAAJ),
4 | [Amir Mohammadi Nasab](https://scholar.google.com/citations?user=dgUQLJ0AAAAJ),
5 | [Dylan Shah](https://scholar.google.com/citations?user=bfxXEJkAAAAJ),
6 | [Hannah Steele](https://www.linkedin.com/in/hannah-steele-2a7973172),
7 | [Gabrielle Branin](https://www.linkedin.com/in/gaby-branin),
8 | [Michael Levin](https://scholar.google.com/citations?user=luouyakAAAAJ),
9 | [Josh Bongard](https://scholar.google.com/citations?user=Dj-kPasAAAAJ),
10 | and
11 | [Rebecca Kramer-Bottiglio](https://scholar.google.com/citations?user=2ARbFNoAAAAJ).
12 |
13 | 
14 |
15 | Watch the virtual presentation for RoboSoft 2020.
16 |
17 | Read the paper.
18 |
19 |
20 | **Please see the voxcraft webpage for more details about how to reproduce this work.**
21 |
22 |
23 | Bibtex
24 | ------------
25 |
26 | @inproceedings{kriegman2020sim2real4designs,
27 | author={Kriegman, Sam and Mohammadi Nasab, Amir and Shah, Dylan and Steele, Hannah and Branin, Gabrielle and Levin, Michael and Bongard, Josh and Kramer-Bottiglio, Rebecca},
28 | title={Scalable sim-to-real transfer of soft robot designs},
29 | booktitle={The 3rd IEEE International Conference on Soft Robotics (RoboSoft)},
30 | pages={359--366},
31 | year={2020},
32 | url={https://doi.org/10.1109/RoboSoft48309.2020.9116004}
33 | }
34 |
35 |
--------------------------------------------------------------------------------
/reality/rotator_with_encoder.ino:
--------------------------------------------------------------------------------
1 | /*************************************
2 | voxel_rotator_with_encoder.ino
3 |
4 | This program spins the one-axis rotational molder pi/2 rad (1/4 turn) every 45 seconds. Written for an Arduino Uno with Motor Shield v2.3
5 |
6 | Typical parameters a user wants to edit marked by **USER**
7 |
8 | TODO:
9 | 1. An Item
10 |
11 | Written by Adam Bilodeau and Dylan Shah. Last edited 2019-011-6 by Dylan Shah.
12 | *************************************/
13 |
14 | // Current maintainer: Dylan Shah
15 |
16 | // ***** 1. Import libraries *****
17 | #include
18 | #include
19 | #include "utility/Adafruit_MS_PWMServoDriver.h"
20 |
21 | // ***** 2. Initialize Variables *****
22 | Adafruit_MotorShield AFMS = Adafruit_MotorShield();
23 | Adafruit_DCMotor *molder_motor = AFMS.getMotor(1);
24 | int motor_speed = 75; // PWM value from 0-255. Typically ~75. Tune to allow your motor to move 1/4 turn each cycle. **USER**
25 | unsigned long current_millis = 0; // Time at beginning of current cycle
26 | unsigned long elapsed = 0; //
27 | unsigned long millis_to_rest = 1 * 1000; // The motor slows down in <<1 second
28 | unsigned long millis_per_cycle = 45000; // How long between cycles (1/4 turn) [ms]. **USER**
29 | int overshoot = 200; // Approximately how far the system rotates during slowdown (between stop command issued, and actually stopping)
30 |
31 | // 2.1 Encoder Variables
32 | volatile long encoder_count = 0; // Use volatile to maintain integrity even though it's modified in an interrupt routine https://www.geeksforgeeks.org/understanding-volatile-qualifier-in-c/
33 | const int ENCODER_PIN = 3; // The Arduino pin that the encoder is plugged into. **USER**
34 |
35 | // 100:1 motor https://www.pololu.com/product/2826
36 | int encoder_target = 6533 / 2 / 4 ; // **USER** How many encoder values per 1/4 turn. Even though we specified "CHANGE" below, it appears to only count on rising edge.
37 |
38 | // 131:1 motor https://www.pololu.com/product/2827
39 | // https://www.pololu.com/product/4756
40 | //int encoder_target = 8400/ 2 / 4; // **USER** How many encoder values per 1/4 turn. Even though we specified "CHANGE" below, it appears to only count on rising edge.
41 |
42 | // ***** 3. Set up Arduino & motor*****
43 | void setup() {
44 | // 3.1 Set up serial port
45 | Serial.begin(2000000);
46 | Serial.println("Running firmware \"voxel_rotator_with_encoder.ino\"");
47 |
48 | // 3.2. Motor setup
49 | AFMS.begin();
50 | molder_motor->setSpeed(motor_speed);
51 | attachInterrupt(digitalPinToInterrupt(ENCODER_PIN), increment_encoder, CHANGE); // When the encoder rises or falls, increment the encoder count
52 |
53 | // 3.3 Determine motor speed in [counts/(sec)] (Only need to run once, to calibrate/debug when the machine is not going 1/4 turn per cycle)
54 | // float runtime = 2000;
55 | // molder_motor->run(FORWARD);
56 | // delay(runtime);
57 | // Serial.print("Encoder count after 2 Seconds Rotation = ");
58 | // Serial.println(encoder_count);
59 | // Serial.print("Counts per second = ");
60 | // Serial.println(encoder_count / (runtime/1000) );
61 | // Serial.print("Target Encoder Count on RISING: ");
62 | // Serial.println(encoder_target);
63 |
64 | // // Stop rotating
65 | // molder_motor->run(RELEASE);
66 | // delay(millis_to_rest);
67 | // encoder_count = 0;
68 | }
69 |
70 | // ***** 4. Loop Forever and Rotate 1/4 turn every 45 seconds *****
71 | void loop() {
72 | current_millis = millis();
73 |
74 | // 4.1. Rotate to encoder_target, or 10 seconds, whichever comes first.
75 | molder_motor->setSpeed(motor_speed);
76 | while ((encoder_count < encoder_target - overshoot) && (millis() - current_millis < 10000)) {
77 | molder_motor->run(FORWARD);
78 | delay(5);
79 | }
80 | // Serial.println(encoder_count);
81 |
82 | // 4.2. Stop rotating
83 | molder_motor->run(RELEASE); // Stop rotating
84 | delay(millis_to_rest);
85 | Serial.print("Encoder count after attempted 1/4 turn: ");
86 | Serial.println(encoder_count);
87 | current_millis = millis();
88 |
89 | // 4.3. Wait 45 seconds total
90 | Serial.print("Waiting until 45000...");
91 | while (millis() - current_millis < millis_per_cycle){
92 | delay(1);
93 | }
94 | encoder_count = 0;
95 | }
96 |
97 |
98 | // ***** 5. Increment the variable "encoder_count" every time the Arduino detects a CHANGE on the input pin "ENCODER_PIN" *****
99 | void increment_encoder()
100 | {
101 | encoder_count++;
102 | int remainder = encoder_count % 25; // Print to serial every 25 encoder ticks
103 | if (remainder == 0){ Serial.println(encoder_count);}
104 | }
105 |
--------------------------------------------------------------------------------
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920 | 0
921 | 280
922 | 0
923 | 281
924 | 0
925 | 0
926 | CLASS
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929 | 2
930 | AcDbVisualStyle
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932 | ObjectDBX Classes
933 | 90
934 | 4095
935 | 280
936 | 0
937 | 281
938 | 0
939 | 0
940 | CLASS
941 | 1
942 | MATERIAL
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944 | AcDbMaterial
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946 | ObjectDBX Classes
947 | 90
948 | 1153
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950 | 0
951 | 281
952 | 0
953 | 0
954 | CLASS
955 | 1
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958 | AcDbScale
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961 | 90
962 | 1153
963 | 280
964 | 0
965 | 281
966 | 0
967 | 0
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969 | 1
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972 | AcDbTableStyle
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976 | 4095
977 | 280
978 | 0
979 | 281
980 | 0
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982 | CLASS
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986 | AcDbMLeaderStyle
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989 | 90
990 | 4095
991 | 280
992 | 0
993 | 281
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1000 | AcDbSun
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1004 | 1153
1005 | 280
1006 | 0
1007 | 281
1008 | 0
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1014 | AcDbPlaceHolder
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1016 | ObjectDBX Classes
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1018 | 0
1019 | 280
1020 | 0
1021 | 281
1022 | 0
1023 | 0
1024 | CLASS
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1026 | LAYOUT
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1028 | AcDbLayout
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1030 | ObjectDBX Classes
1031 | 90
1032 | 0
1033 | 280
1034 | 0
1035 | 281
1036 | 0
1037 | 0
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1044 | TABLE
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1048 | 8
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1050 | 0
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1052 | AcDbSymbolTable
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1056 | VPORT
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1058 | 29
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1060 | 8
1061 | 100
1062 | AcDbSymbolTableRecord
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1064 | AcDbViewportTableRecord
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1095 | 26
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1103 | 37
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1121 | 72
1122 | 100
1123 | 73
1124 | 1
1125 | 74
1126 | 3
1127 | 75
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1129 | 76
1130 | 0
1131 | 77
1132 | 0
1133 | 78
1134 | 0
1135 | 281
1136 | 0
1137 | 65
1138 | 1
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1140 | 0.0
1141 | 120
1142 | 0.0
1143 | 130
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1145 | 111
1146 | 1.0
1147 | 121
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1151 | 112
1152 | 0.0
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1155 | 132
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1157 | 79
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1178 | 14
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1182 | AcDbSymbolTableRecord
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1187 | 70
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1189 | 3
1190 |
1191 | 72
1192 | 65
1193 | 73
1194 | 0
1195 | 40
1196 | 0.0
1197 | 0
1198 | LTYPE
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1200 | 15
1201 | 330
1202 | 5
1203 | 100
1204 | AcDbSymbolTableRecord
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1206 | AcDbLinetypeTableRecord
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1208 | ByLayer
1209 | 70
1210 | 0
1211 | 3
1212 |
1213 | 72
1214 | 65
1215 | 73
1216 | 0
1217 | 40
1218 | 0.0
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1220 | LTYPE
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1222 | 16
1223 | 330
1224 | 5
1225 | 100
1226 | AcDbSymbolTableRecord
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1228 | AcDbLinetypeTableRecord
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1232 | 0
1233 | 3
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1236 | 65
1237 | 73
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1239 | 40
1240 | 0.0
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1246 | 5
1247 | 100
1248 | AcDbSymbolTableRecord
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1250 | AcDbLinetypeTableRecord
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1253 | 70
1254 | 0
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1256 | Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ __
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1258 | 65
1259 | 73
1260 | 2
1261 | 40
1262 | 1.905
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1264 | 1.27
1265 | 74
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1268 | -0.635
1269 | 74
1270 | 0
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1272 | LTYPE
1273 | 5
1274 | 6F
1275 | 330
1276 | 5
1277 | 100
1278 | AcDbSymbolTableRecord
1279 | 100
1280 | AcDbLinetypeTableRecord
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1282 | PHANTOM
1283 | 70
1284 | 0
1285 | 3
1286 | Phantom ______ __ __ ______ __ __ ______
1287 | 72
1288 | 65
1289 | 73
1290 | 6
1291 | 40
1292 | 12.7
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1294 | 6.35
1295 | 74
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1297 | 49
1298 | -1.27
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1300 | 0
1301 | 49
1302 | 1.27
1303 | 74
1304 | 0
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1306 | -1.27
1307 | 74
1308 | 0
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1310 | 1.27
1311 | 74
1312 | 0
1313 | 49
1314 | -1.27
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1318 | LTYPE
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1320 | 70
1321 | 330
1322 | 5
1323 | 100
1324 | AcDbSymbolTableRecord
1325 | 100
1326 | AcDbLinetypeTableRecord
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1328 | CENTER
1329 | 70
1330 | 0
1331 | 3
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1334 | 65
1335 | 73
1336 | 4
1337 | 40
1338 | 10.16
1339 | 49
1340 | 6.35
1341 | 74
1342 | 0
1343 | 49
1344 | -1.27
1345 | 74
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1348 | 1.27
1349 | 74
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1352 | -1.27
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1356 | LTYPE
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1358 | 71
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1360 | 5
1361 | 100
1362 | AcDbSymbolTableRecord
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1364 | AcDbLinetypeTableRecord
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1366 | CENTERX2
1367 | 70
1368 | 0
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1370 | Center (2x) ________ __ ________ __ _____
1371 | 72
1372 | 65
1373 | 73
1374 | 4
1375 | 40
1376 | 20.32
1377 | 49
1378 | 12.7
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1380 | 0
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1382 | -2.54
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1396 | 72
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1406 | 0
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1411 | 73
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1496 | 3.5
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1600 | 1
1601 | 78
1602 | 8
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1604 | 2.5
1605 | 141
1606 | 2.5
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1613 | 172
1614 | 1
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1618 | 2
1619 | 272
1620 | 2
1621 | 274
1622 | 3
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1625 | 283
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1652 | AcDbSymbolTableRecord
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1672 | 1E
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1675 | 5
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1678 | 1
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1680 | AcDbSymbolTableRecord
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1714 | 0.0
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1716 | 0.0
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1738 | 1B
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1740 | AcDbEntity
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1753 | 20
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1755 | 30
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1761 | 0
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1764 | 1D
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1766 | 1B
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1780 | 23
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1782 | AcDbEntity
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1788 | *Paper_Space0
1789 | 70
1790 | 0
1791 | 10
1792 | 0.0
1793 | 20
1794 | 0.0
1795 | 30
1796 | 0.0
1797 | 3
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1799 | 1
1800 |
1801 | 0
1802 | ENDBLK
1803 | 5
1804 | 25
1805 | 330
1806 | 23
1807 | 100
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1900 | -590.1453272
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1920 | -1594.764536144
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1950 | -570.389718756
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1954 | -1413.374125748
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1956 | -471.60768772
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1978 | -471.60768772
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2003 | 10
2004 | -1413.6653092697
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2006 | -439.663254784
2007 | 30
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2009 | 11
2010 | -1413.6576797375
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2012 | -289.683773184
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2020 | 1F
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2028 | 7
2029 | 100
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2034 | -289.683773184
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2112 | 7
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2507 | 10
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2521 | 5
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2549 | 5
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2605 | 5
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2801 | 5
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3000 | 1F
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10112 | 1F
10113 | 100
10114 | AcDbEntity
10115 | 8
10116 | 0
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10118 | Continuous
10119 | 62
10120 | 7
10121 | 100
10122 | AcDbLine
10123 | 10
10124 | -1774.8486093
10125 | 20
10126 | -534.613030848
10127 | 30
10128 | 0.0
10129 | 11
10130 | -1806.27050734
10131 | 21
10132 | -534.613030848
10133 | 31
10134 | 0.0
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10137 | 5
10138 | 19C
10139 | 330
10140 | 1F
10141 | 100
10142 | AcDbEntity
10143 | 8
10144 | 0
10145 | 6
10146 | Continuous
10147 | 62
10148 | 7
10149 | 100
10150 | AcDbLine
10151 | 10
10152 | -1806.27050734
10153 | 20
10154 | -534.613030848
10155 | 30
10156 | 0.0
10157 | 11
10158 | -1806.27050734
10159 | 21
10160 | -605.323769284
10161 | 31
10162 | 0.0
10163 | 0
10164 | LINE
10165 | 5
10166 | 19D
10167 | 330
10168 | 1F
10169 | 100
10170 | AcDbEntity
10171 | 8
10172 | 0
10173 | 6
10174 | Continuous
10175 | 62
10176 | 7
10177 | 100
10178 | AcDbLine
10179 | 10
10180 | -1806.27050734
10181 | 20
10182 | -605.323769284
10183 | 30
10184 | 0.0
10185 | 11
10186 | -1644.635705388
10187 | 21
10188 | -605.323769284
10189 | 31
10190 | 0.0
10191 | 0
10192 | LINE
10193 | 5
10194 | 19E
10195 | 330
10196 | 1F
10197 | 100
10198 | AcDbEntity
10199 | 8
10200 | 0
10201 | 6
10202 | Continuous
10203 | 62
10204 | 7
10205 | 100
10206 | AcDbLine
10207 | 10
10208 | -1624.880096944
10209 | 20
10210 | -585.56816084
10211 | 30
10212 | 0.0
10213 | 11
10214 | -1624.880096944
10215 | 21
10216 | -486.786129804
10217 | 31
10218 | 0.0
10219 | 0
10220 | LINE
10221 | 5
10222 | 19F
10223 | 330
10224 | 1F
10225 | 100
10226 | AcDbEntity
10227 | 8
10228 | 0
10229 | 6
10230 | Continuous
10231 | 62
10232 | 7
10233 | 100
10234 | AcDbLine
10235 | 10
10236 | -1624.880096944
10237 | 20
10238 | -486.786129804
10239 | 30
10240 | 0.0
10241 | 11
10242 | -1625.060590868
10243 | 21
10244 | -486.786129804
10245 | 31
10246 | 0.0
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10248 | LINE
10249 | 5
10250 | 1A0
10251 | 330
10252 | 1F
10253 | 100
10254 | AcDbEntity
10255 | 8
10256 | 0
10257 | 6
10258 | Continuous
10259 | 62
10260 | 7
10261 | 100
10262 | AcDbLine
10263 | 10
10264 | -1625.060590868
10265 | 20
10266 | -486.786129804
10267 | 30
10268 | 0.0
10269 | 11
10270 | -1625.060590868
10271 | 21
10272 | 1721.067403172
10273 | 31
10274 | 0.0
10275 | 0
10276 | LINE
10277 | 5
10278 | 1A1
10279 | 330
10280 | 1F
10281 | 100
10282 | AcDbEntity
10283 | 8
10284 | 0
10285 | 6
10286 | Continuous
10287 | 62
10288 | 7
10289 | 100
10290 | AcDbLine
10291 | 10
10292 | -1625.060590868
10293 | 20
10294 | 1721.067403172
10295 | 30
10296 | 0.0
10297 | 11
10298 | -1625.016713892
10299 | 21
10300 | 1721.067403172
10301 | 31
10302 | 0.0
10303 | 0
10304 | LINE
10305 | 5
10306 | 1A2
10307 | 330
10308 | 1F
10309 | 100
10310 | AcDbEntity
10311 | 8
10312 | 0
10313 | 6
10314 | Continuous
10315 | 62
10316 | 7
10317 | 100
10318 | AcDbLine
10319 | 10
10320 | -1625.016713892
10321 | 20
10322 | 1721.067403172
10323 | 30
10324 | 0.0
10325 | 11
10326 | -1625.016713892
10327 | 21
10328 | 1819.849434208
10329 | 31
10330 | 0.0
10331 | 0
10332 | LINE
10333 | 5
10334 | 1A3
10335 | 330
10336 | 1F
10337 | 100
10338 | AcDbEntity
10339 | 8
10340 | 0
10341 | 6
10342 | Continuous
10343 | 62
10344 | 7
10345 | 100
10346 | AcDbLine
10347 | 10
10348 | -1644.772322336
10349 | 20
10350 | 1839.605042652
10351 | 30
10352 | 0.0
10353 | 11
10354 | -1806.154831676
10355 | 21
10356 | 1839.605042652
10357 | 31
10358 | 0.0
10359 | 0
10360 | LINE
10361 | 5
10362 | 1A4
10363 | 330
10364 | 1F
10365 | 100
10366 | AcDbEntity
10367 | 8
10368 | 0
10369 | 6
10370 | Continuous
10371 | 62
10372 | 7
10373 | 100
10374 | AcDbLine
10375 | 10
10376 | -1806.149845656
10377 | 20
10378 | 1768.866382504
10379 | 30
10380 | 0.0
10381 | 11
10382 | -1806.154831676
10383 | 21
10384 | 1839.605042652
10385 | 31
10386 | 0.0
10387 | 0
10388 | LINE
10389 | 5
10390 | 1A5
10391 | 330
10392 | 1F
10393 | 100
10394 | AcDbEntity
10395 | 8
10396 | 0
10397 | 6
10398 | Continuous
10399 | 62
10400 | 7
10401 | 100
10402 | AcDbLine
10403 | 10
10404 | -1774.641190868
10405 | 20
10406 | 1721.067403172
10407 | 30
10408 | 0.0
10409 | 11
10410 | -1774.641190868
10411 | 21
10412 | 1721.037487052
10413 | 31
10414 | 0.0
10415 | 0
10416 | LINE
10417 | 5
10418 | 1A6
10419 | 330
10420 | 1F
10421 | 100
10422 | AcDbEntity
10423 | 8
10424 | 0
10425 | 6
10426 | Continuous
10427 | 62
10428 | 7
10429 | 100
10430 | AcDbLine
10431 | 10
10432 | -1774.641190868
10433 | 20
10434 | 1721.037487052
10435 | 30
10436 | 0.0
10437 | 11
10438 | -1691.091450932
10439 | 21
10440 | 1721.037487052
10441 | 31
10442 | 0.0
10443 | 0
10444 | LINE
10445 | 5
10446 | 1A7
10447 | 330
10448 | 1F
10449 | 100
10450 | AcDbEntity
10451 | 8
10452 | 0
10453 | 6
10454 | Continuous
10455 | 62
10456 | 7
10457 | 100
10458 | AcDbLine
10459 | 10
10460 | -1691.091450932
10461 | 20
10462 | 1721.037487052
10463 | 30
10464 | 0.0
10465 | 11
10466 | -1691.091450932
10467 | 21
10468 | 1689.376260052
10469 | 31
10470 | 0.0
10471 | 0
10472 | LINE
10473 | 5
10474 | 1A8
10475 | 330
10476 | 1F
10477 | 100
10478 | AcDbEntity
10479 | 8
10480 | 0
10481 | 6
10482 | Continuous
10483 | 62
10484 | 7
10485 | 100
10486 | AcDbLine
10487 | 10
10488 | -1691.091450932
10489 | 20
10490 | 1689.376260052
10491 | 30
10492 | 0.0
10493 | 11
10494 | -1774.641190868
10495 | 21
10496 | 1689.376260052
10497 | 31
10498 | 0.0
10499 | 0
10500 | LINE
10501 | 5
10502 | 1A9
10503 | 330
10504 | 1F
10505 | 100
10506 | AcDbEntity
10507 | 8
10508 | 0
10509 | 6
10510 | Continuous
10511 | 62
10512 | 7
10513 | 100
10514 | AcDbLine
10515 | 10
10516 | -1774.641190868
10517 | 20
10518 | 1689.376260052
10519 | 30
10520 | 0.0
10521 | 11
10522 | -1774.641190868
10523 | 21
10524 | 1540.298250868
10525 | 31
10526 | 0.0
10527 | 0
10528 | LINE
10529 | 5
10530 | 1AA
10531 | 330
10532 | 1F
10533 | 100
10534 | AcDbEntity
10535 | 8
10536 | 0
10537 | 6
10538 | Continuous
10539 | 62
10540 | 7
10541 | 100
10542 | AcDbLine
10543 | 10
10544 | -1774.641190868
10545 | 20
10546 | 1540.298250868
10547 | 30
10548 | 0.0
10549 | 11
10550 | -1691.336763116
10551 | 21
10552 | 1540.298250868
10553 | 31
10554 | 0.0
10555 | 0
10556 | LINE
10557 | 5
10558 | 1AB
10559 | 330
10560 | 1F
10561 | 100
10562 | AcDbEntity
10563 | 8
10564 | 0
10565 | 6
10566 | Continuous
10567 | 62
10568 | 7
10569 | 100
10570 | AcDbLine
10571 | 10
10572 | -1691.336763116
10573 | 20
10574 | 1540.298250868
10575 | 30
10576 | 0.0
10577 | 11
10578 | -1691.336763116
10579 | 21
10580 | 1508.637023868
10581 | 31
10582 | 0.0
10583 | 0
10584 | LINE
10585 | 5
10586 | 1AC
10587 | 330
10588 | 1F
10589 | 100
10590 | AcDbEntity
10591 | 8
10592 | 0
10593 | 6
10594 | Continuous
10595 | 62
10596 | 7
10597 | 100
10598 | AcDbLine
10599 | 10
10600 | -1691.336763116
10601 | 20
10602 | 1508.637023868
10603 | 30
10604 | 0.0
10605 | 11
10606 | -1774.641190868
10607 | 21
10608 | 1508.637023868
10609 | 31
10610 | 0.0
10611 | 0
10612 | LINE
10613 | 5
10614 | 1AD
10615 | 330
10616 | 1F
10617 | 100
10618 | AcDbEntity
10619 | 8
10620 | 0
10621 | 6
10622 | Continuous
10623 | 62
10624 | 7
10625 | 100
10626 | AcDbLine
10627 | 10
10628 | -1774.641190868
10629 | 20
10630 | 1508.637023868
10631 | 30
10632 | 0.0
10633 | 11
10634 | -1774.641190868
10635 | 21
10636 | 1358.636600984
10637 | 31
10638 | 0.0
10639 | 0
10640 | LINE
10641 | 5
10642 | 1AE
10643 | 330
10644 | 1F
10645 | 100
10646 | AcDbEntity
10647 | 8
10648 | 0
10649 | 6
10650 | Continuous
10651 | 62
10652 | 7
10653 | 100
10654 | AcDbLine
10655 | 10
10656 | -1774.641190868
10657 | 20
10658 | 1358.636600984
10659 | 30
10660 | 0.0
10661 | 11
10662 | -1691.525234672
10663 | 21
10664 | 1358.636600984
10665 | 31
10666 | 0.0
10667 | 0
10668 | LINE
10669 | 5
10670 | 1AF
10671 | 330
10672 | 1F
10673 | 100
10674 | AcDbEntity
10675 | 8
10676 | 0
10677 | 6
10678 | Continuous
10679 | 62
10680 | 7
10681 | 100
10682 | AcDbLine
10683 | 10
10684 | -1691.525234672
10685 | 20
10686 | 1358.636600984
10687 | 30
10688 | 0.0
10689 | 11
10690 | -1691.525234672
10691 | 21
10692 | 1326.975373984
10693 | 31
10694 | 0.0
10695 | 0
10696 | LINE
10697 | 5
10698 | 1B0
10699 | 330
10700 | 1F
10701 | 100
10702 | AcDbEntity
10703 | 8
10704 | 0
10705 | 6
10706 | Continuous
10707 | 62
10708 | 7
10709 | 100
10710 | AcDbLine
10711 | 10
10712 | -1691.525234672
10713 | 20
10714 | 1326.975373984
10715 | 30
10716 | 0.0
10717 | 11
10718 | -1774.641190868
10719 | 21
10720 | 1326.975373984
10721 | 31
10722 | 0.0
10723 | 0
10724 | LINE
10725 | 5
10726 | 1B1
10727 | 330
10728 | 1F
10729 | 100
10730 | AcDbEntity
10731 | 8
10732 | 0
10733 | 6
10734 | Continuous
10735 | 62
10736 | 7
10737 | 100
10738 | AcDbLine
10739 | 10
10740 | -1774.641190868
10741 | 20
10742 | 1326.975373984
10743 | 30
10744 | 0.0
10745 | 11
10746 | -1774.641190868
10747 | 21
10748 | 1177.512444056
10749 | 31
10750 | 0.0
10751 | 0
10752 | LINE
10753 | 5
10754 | 1B2
10755 | 330
10756 | 1F
10757 | 100
10758 | AcDbEntity
10759 | 8
10760 | 0
10761 | 6
10762 | Continuous
10763 | 62
10764 | 7
10765 | 100
10766 | AcDbLine
10767 | 10
10768 | -1774.641190868
10769 | 20
10770 | 1177.512444056
10771 | 30
10772 | 0.0
10773 | 11
10774 | -1691.101422972
10775 | 21
10776 | 1177.512444056
10777 | 31
10778 | 0.0
10779 | 0
10780 | LINE
10781 | 5
10782 | 1B3
10783 | 330
10784 | 1F
10785 | 100
10786 | AcDbEntity
10787 | 8
10788 | 0
10789 | 6
10790 | Continuous
10791 | 62
10792 | 7
10793 | 100
10794 | AcDbLine
10795 | 10
10796 | -1691.101422972
10797 | 20
10798 | 1177.512444056
10799 | 30
10800 | 0.0
10801 | 11
10802 | -1691.101422972
10803 | 21
10804 | 1145.851217056
10805 | 31
10806 | 0.0
10807 | 0
10808 | LINE
10809 | 5
10810 | 1B4
10811 | 330
10812 | 1F
10813 | 100
10814 | AcDbEntity
10815 | 8
10816 | 0
10817 | 6
10818 | Continuous
10819 | 62
10820 | 7
10821 | 100
10822 | AcDbLine
10823 | 10
10824 | -1691.101422972
10825 | 20
10826 | 1145.851217056
10827 | 30
10828 | 0.0
10829 | 11
10830 | -1774.641190868
10831 | 21
10832 | 1145.851217056
10833 | 31
10834 | 0.0
10835 | 0
10836 | LINE
10837 | 5
10838 | 1B5
10839 | 330
10840 | 1F
10841 | 100
10842 | AcDbEntity
10843 | 8
10844 | 0
10845 | 6
10846 | Continuous
10847 | 62
10848 | 7
10849 | 100
10850 | AcDbLine
10851 | 10
10852 | -1774.641190868
10853 | 20
10854 | 1145.851217056
10855 | 30
10856 | 0.0
10857 | 11
10858 | -1774.641190868
10859 | 21
10860 | 996.063198624
10861 | 31
10862 | 0.0
10863 | 0
10864 | LINE
10865 | 5
10866 | 1B6
10867 | 330
10868 | 1F
10869 | 100
10870 | AcDbEntity
10871 | 8
10872 | 0
10873 | 6
10874 | Continuous
10875 | 62
10876 | 7
10877 | 100
10878 | AcDbLine
10879 | 10
10880 | -1774.641190868
10881 | 20
10882 | 996.063198624
10883 | 30
10884 | 0.0
10885 | 11
10886 | -1691.2829141
10887 | 21
10888 | 996.063198624
10889 | 31
10890 | 0.0
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10893 | 5
10894 | 1B7
10895 | 330
10896 | 1F
10897 | 100
10898 | AcDbEntity
10899 | 8
10900 | 0
10901 | 6
10902 | Continuous
10903 | 62
10904 | 7
10905 | 100
10906 | AcDbLine
10907 | 10
10908 | -1691.2829141
10909 | 20
10910 | 996.063198624
10911 | 30
10912 | 0.0
10913 | 11
10914 | -1691.2829141
10915 | 21
10916 | 964.401971624
10917 | 31
10918 | 0.0
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10920 | LINE
10921 | 5
10922 | 1B8
10923 | 330
10924 | 1F
10925 | 100
10926 | AcDbEntity
10927 | 8
10928 | 0
10929 | 6
10930 | Continuous
10931 | 62
10932 | 7
10933 | 100
10934 | AcDbLine
10935 | 10
10936 | -1691.2829141
10937 | 20
10938 | 964.401971624
10939 | 30
10940 | 0.0
10941 | 11
10942 | -1774.641190868
10943 | 21
10944 | 964.401971624
10945 | 31
10946 | 0.0
10947 | 0
10948 | LINE
10949 | 5
10950 | 1B9
10951 | 330
10952 | 1F
10953 | 100
10954 | AcDbEntity
10955 | 8
10956 | 0
10957 | 6
10958 | Continuous
10959 | 62
10960 | 7
10961 | 100
10962 | AcDbLine
10963 | 10
10964 | -1774.641190868
10965 | 20
10966 | 964.401971624
10967 | 30
10968 | 0.0
10969 | 11
10970 | -1774.641190868
10971 | 21
10972 | 814.72065402
10973 | 31
10974 | 0.0
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10976 | LINE
10977 | 5
10978 | 1BA
10979 | 330
10980 | 1F
10981 | 100
10982 | AcDbEntity
10983 | 8
10984 | 0
10985 | 6
10986 | Continuous
10987 | 62
10988 | 7
10989 | 100
10990 | AcDbLine
10991 | 10
10992 | -1774.641190868
10993 | 20
10994 | 814.72065402
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10998 | -1691.060537608
10999 | 21
11000 | 814.72065402
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11005 | 5
11006 | 1BB
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11008 | 1F
11009 | 100
11010 | AcDbEntity
11011 | 8
11012 | 0
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11014 | Continuous
11015 | 62
11016 | 7
11017 | 100
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11019 | 10
11020 | -1691.060537608
11021 | 20
11022 | 814.72065402
11023 | 30
11024 | 0.0
11025 | 11
11026 | -1691.060537608
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11028 | 783.05942702
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11033 | 5
11034 | 1BC
11035 | 330
11036 | 1F
11037 | 100
11038 | AcDbEntity
11039 | 8
11040 | 0
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11042 | Continuous
11043 | 62
11044 | 7
11045 | 100
11046 | AcDbLine
11047 | 10
11048 | -1691.060537608
11049 | 20
11050 | 783.05942702
11051 | 30
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11054 | -1774.641190868
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11058 | 0.0
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11060 | LINE
11061 | 5
11062 | 1BD
11063 | 330
11064 | 1F
11065 | 100
11066 | AcDbEntity
11067 | 8
11068 | 0
11069 | 6
11070 | Continuous
11071 | 62
11072 | 7
11073 | 100
11074 | AcDbLine
11075 | 10
11076 | -1774.641190868
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11078 | 783.05942702
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11082 | -1774.641190868
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11089 | 5
11090 | 1BE
11091 | 330
11092 | 1F
11093 | 100
11094 | AcDbEntity
11095 | 8
11096 | 0
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11098 | Continuous
11099 | 62
11100 | 7
11101 | 100
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11103 | 10
11104 | -1774.641190868
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11112 | 633.07994542
11113 | 31
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11117 | 5
11118 | 1BF
11119 | 330
11120 | 1F
11121 | 100
11122 | AcDbEntity
11123 | 8
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11127 | 62
11128 | 7
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11131 | 10
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11148 | 1F
11149 | 100
11150 | AcDbEntity
11151 | 8
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11176 | 1F
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11179 | 8
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11201 | 5
11202 | 1C2
11203 | 330
11204 | 1F
11205 | 100
11206 | AcDbEntity
11207 | 8
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11211 | 62
11212 | 7
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11230 | 1C3
11231 | 330
11232 | 1F
11233 | 100
11234 | AcDbEntity
11235 | 8
11236 | 0
11237 | 6
11238 | Continuous
11239 | 62
11240 | 7
11241 | 100
11242 | AcDbLine
11243 | 10
11244 | -1691.336763116
11245 | 20
11246 | 452.348686868
11247 | 30
11248 | 0.0
11249 | 11
11250 | -1691.336763116
11251 | 21
11252 | 420.687459868
11253 | 31
11254 | 0.0
11255 | 0
11256 | LINE
11257 | 5
11258 | 1C4
11259 | 330
11260 | 1F
11261 | 100
11262 | AcDbEntity
11263 | 8
11264 | 0
11265 | 6
11266 | Continuous
11267 | 62
11268 | 7
11269 | 100
11270 | AcDbLine
11271 | 10
11272 | -1691.336763116
11273 | 20
11274 | 420.687459868
11275 | 30
11276 | 0.0
11277 | 11
11278 | -1774.641190868
11279 | 21
11280 | 420.687459868
11281 | 31
11282 | 0.0
11283 | 0
11284 | LINE
11285 | 5
11286 | 1C5
11287 | 330
11288 | 1F
11289 | 100
11290 | AcDbEntity
11291 | 8
11292 | 0
11293 | 6
11294 | Continuous
11295 | 62
11296 | 7
11297 | 100
11298 | AcDbLine
11299 | 10
11300 | -1774.641190868
11301 | 20
11302 | 420.687459868
11303 | 30
11304 | 0.0
11305 | 11
11306 | -1774.641190868
11307 | 21
11308 | 270.687036984
11309 | 31
11310 | 0.0
11311 | 0
11312 | LINE
11313 | 5
11314 | 1C6
11315 | 330
11316 | 1F
11317 | 100
11318 | AcDbEntity
11319 | 8
11320 | 0
11321 | 6
11322 | Continuous
11323 | 62
11324 | 7
11325 | 100
11326 | AcDbLine
11327 | 10
11328 | -1774.641190868
11329 | 20
11330 | 270.687036984
11331 | 30
11332 | 0.0
11333 | 11
11334 | -1691.525234672
11335 | 21
11336 | 270.687036984
11337 | 31
11338 | 0.0
11339 | 0
11340 | LINE
11341 | 5
11342 | 1C7
11343 | 330
11344 | 1F
11345 | 100
11346 | AcDbEntity
11347 | 8
11348 | 0
11349 | 6
11350 | Continuous
11351 | 62
11352 | 7
11353 | 100
11354 | AcDbLine
11355 | 10
11356 | -1691.525234672
11357 | 20
11358 | 270.687036984
11359 | 30
11360 | 0.0
11361 | 11
11362 | -1691.525234672
11363 | 21
11364 | 239.025809984
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11369 | 5
11370 | 1C8
11371 | 330
11372 | 1F
11373 | 100
11374 | AcDbEntity
11375 | 8
11376 | 0
11377 | 6
11378 | Continuous
11379 | 62
11380 | 7
11381 | 100
11382 | AcDbLine
11383 | 10
11384 | -1691.525234672
11385 | 20
11386 | 239.025809984
11387 | 30
11388 | 0.0
11389 | 11
11390 | -1774.641190868
11391 | 21
11392 | 239.025809984
11393 | 31
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11397 | 5
11398 | 1C9
11399 | 330
11400 | 1F
11401 | 100
11402 | AcDbEntity
11403 | 8
11404 | 0
11405 | 6
11406 | Continuous
11407 | 62
11408 | 7
11409 | 100
11410 | AcDbLine
11411 | 10
11412 | -1774.641190868
11413 | 20
11414 | 239.025809984
11415 | 30
11416 | 0.0
11417 | 11
11418 | -1774.641190868
11419 | 21
11420 | 89.562880056
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11422 | 0.0
11423 | 0
11424 | LINE
11425 | 5
11426 | 1CA
11427 | 330
11428 | 1F
11429 | 100
11430 | AcDbEntity
11431 | 8
11432 | 0
11433 | 6
11434 | Continuous
11435 | 62
11436 | 7
11437 | 100
11438 | AcDbLine
11439 | 10
11440 | -1774.641190868
11441 | 20
11442 | 89.562880056
11443 | 30
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11445 | 11
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11447 | 21
11448 | 89.562880056
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11453 | 5
11454 | 1CB
11455 | 330
11456 | 1F
11457 | 100
11458 | AcDbEntity
11459 | 8
11460 | 0
11461 | 6
11462 | Continuous
11463 | 62
11464 | 7
11465 | 100
11466 | AcDbLine
11467 | 10
11468 | -1691.101422972
11469 | 20
11470 | 89.562880056
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11473 | 11
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11481 | 5
11482 | 1CC
11483 | 330
11484 | 1F
11485 | 100
11486 | AcDbEntity
11487 | 8
11488 | 0
11489 | 6
11490 | Continuous
11491 | 62
11492 | 7
11493 | 100
11494 | AcDbLine
11495 | 10
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11497 | 20
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11499 | 30
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11501 | 11
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11509 | 5
11510 | 1CD
11511 | 330
11512 | 1F
11513 | 100
11514 | AcDbEntity
11515 | 8
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11517 | 6
11518 | Continuous
11519 | 62
11520 | 7
11521 | 100
11522 | AcDbLine
11523 | 10
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11526 | 57.901653056
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11537 | 5
11538 | 1CE
11539 | 330
11540 | 1F
11541 | 100
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11543 | 8
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11546 | Continuous
11547 | 62
11548 | 7
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11551 | 10
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11565 | 5
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11567 | 330
11568 | 1F
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11571 | 8
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11574 | Continuous
11575 | 62
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11579 | 10
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11593 | 5
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11595 | 330
11596 | 1F
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11599 | 8
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11621 | 5
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11623 | 330
11624 | 1F
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11627 | 8
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11631 | 62
11632 | 7
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11635 | 10
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11649 | 5
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11651 | 330
11652 | 1F
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11655 | 8
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11660 | 7
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11663 | 10
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11677 | 5
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11680 | 1F
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11687 | 62
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11691 | 10
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11705 | 5
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11708 | 1F
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11711 | 8
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11716 | 7
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11789 | 5
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11795 | 8
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11803 | 10
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11851 | 8
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11859 | 10
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13460 | 3/16" = 1'-0"
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13485 | 140
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13575 | 100
13576 | AcDbScale
13577 | 70
13578 | 0
13579 | 300
13580 | 1" = 1'-0"
13581 | 140
13582 | 1.0
13583 | 141
13584 | 12.0
13585 | 290
13586 | 0
13587 | 0
13588 | SCALE
13589 | 5
13590 | 65
13591 | 102
13592 | {ACAD_REACTORS
13593 | 330
13594 | 47
13595 | 102
13596 | }
13597 | 330
13598 | 47
13599 | 100
13600 | AcDbScale
13601 | 70
13602 | 0
13603 | 300
13604 | 1-1/2" = 1'-0"
13605 | 140
13606 | 1.5
13607 | 141
13608 | 12.0
13609 | 290
13610 | 0
13611 | 0
13612 | SCALE
13613 | 5
13614 | 66
13615 | 102
13616 | {ACAD_REACTORS
13617 | 330
13618 | 47
13619 | 102
13620 | }
13621 | 330
13622 | 47
13623 | 100
13624 | AcDbScale
13625 | 70
13626 | 0
13627 | 300
13628 | 3" = 1'-0"
13629 | 140
13630 | 3.0
13631 | 141
13632 | 12.0
13633 | 290
13634 | 0
13635 | 0
13636 | SCALE
13637 | 5
13638 | 67
13639 | 102
13640 | {ACAD_REACTORS
13641 | 330
13642 | 47
13643 | 102
13644 | }
13645 | 330
13646 | 47
13647 | 100
13648 | AcDbScale
13649 | 70
13650 | 0
13651 | 300
13652 | 6" = 1'-0"
13653 | 140
13654 | 6.0
13655 | 141
13656 | 12.0
13657 | 290
13658 | 0
13659 | 0
13660 | SCALE
13661 | 5
13662 | 68
13663 | 102
13664 | {ACAD_REACTORS
13665 | 330
13666 | 47
13667 | 102
13668 | }
13669 | 330
13670 | 47
13671 | 100
13672 | AcDbScale
13673 | 70
13674 | 0
13675 | 300
13676 | 1'-0" = 1'-0"
13677 | 140
13678 | 12.0
13679 | 141
13680 | 12.0
13681 | 290
13682 | 0
13683 | 0
13684 | ENDSEC
13685 | 0
13686 | EOF
13687 |
--------------------------------------------------------------------------------