├── .github └── workflows │ └── manual.yml ├── CMakeLists.txt ├── CODEOWNERS ├── LICENSE ├── README.md ├── config └── controllers.yaml ├── images └── simulation.png ├── launch ├── robot_control.xml ├── robot_description.xml └── robot_spawn.launch ├── meshes └── camera.dae ├── package.xml ├── src ├── arm_mover.cpp ├── look_away.cpp └── simple_mover.cpp ├── srv └── GoToPosition.srv ├── urdf ├── simple_arm.gazebo.xacro └── simple_arm.urdf.xacro └── worlds └── willow_garage.world /.github/workflows/manual.yml: -------------------------------------------------------------------------------- 1 | # Workflow to ensure whenever a Github PR is submitted, 2 | # a JIRA ticket gets created automatically. 3 | name: Manual Workflow 4 | 5 | # Controls when the action will run. 6 | on: 7 | # Triggers the workflow on pull request events but only for the master branch 8 | pull_request_target: 9 | types: [opened, reopened] 10 | 11 | # Allows you to run this workflow manually from the Actions tab 12 | workflow_dispatch: 13 | 14 | jobs: 15 | test-transition-issue: 16 | name: Convert Github Issue to Jira Issue 17 | runs-on: ubuntu-latest 18 | steps: 19 | - name: Checkout 20 | uses: actions/checkout@master 21 | 22 | - name: Login 23 | uses: atlassian/gajira-login@master 24 | env: 25 | JIRA_BASE_URL: ${{ secrets.JIRA_BASE_URL }} 26 | JIRA_USER_EMAIL: ${{ secrets.JIRA_USER_EMAIL }} 27 | JIRA_API_TOKEN: ${{ secrets.JIRA_API_TOKEN }} 28 | 29 | - name: Create NEW JIRA ticket 30 | id: create 31 | uses: atlassian/gajira-create@master 32 | with: 33 | project: CONUPDATE 34 | issuetype: Task 35 | summary: | 36 | Github PR [Assign the ND component] | Repo: ${{ github.repository }} | PR# ${{github.event.number}} 37 | description: | 38 | Repo link: https://github.com/${{ github.repository }} 39 | PR no. ${{ github.event.pull_request.number }} 40 | PR title: ${{ github.event.pull_request.title }} 41 | PR description: ${{ github.event.pull_request.description }} 42 | In addition, please resolve other issues, if any. 43 | fields: '{"components": [{"name":"Github PR"}], "customfield_16449":"https://classroom.udacity.com/", "customfield_16450":"Resolve the PR", "labels": ["github"], "priority":{"id": "4"}}' 44 | 45 | - name: Log created issue 46 | run: echo "Issue ${{ steps.create.outputs.issue }} was created" 47 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(simple_arm) 3 | 4 | ## Add support for C++11, supported in ROS Kinetic and newer 5 | # add_definitions(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | std_msgs 12 | message_generation 13 | controller_manager 14 | ) 15 | 16 | add_compile_options(-std=c++11) 17 | 18 | 19 | ## System dependencies are found with CMake's conventions 20 | # find_package(Boost REQUIRED COMPONENTS system) 21 | 22 | 23 | ## Uncomment this if the package has a setup.py. This macro ensures 24 | ## modules and global scripts declared therein get installed 25 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 26 | # catkin_python_setup() 27 | 28 | ################################################ 29 | ## Declare ROS messages, services and actions ## 30 | ################################################ 31 | 32 | ## To declare and build messages, services or actions from within this 33 | ## package, follow these steps: 34 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 35 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 36 | ## * In the file package.xml: 37 | ## * add a build_depend tag for "message_generation" 38 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 39 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 40 | ## but can be declared for certainty nonetheless: 41 | ## * add a run_depend tag for "message_runtime" 42 | ## * In this file (CMakeLists.txt): 43 | ## * add "message_generation" and every package in MSG_DEP_SET to 44 | ## find_package(catkin REQUIRED COMPONENTS ...) 45 | ## * add "message_runtime" and every package in MSG_DEP_SET to 46 | ## catkin_package(CATKIN_DEPENDS ...) 47 | ## * uncomment the add_*_files sections below as needed 48 | ## and list every .msg/.srv/.action file to be processed 49 | ## * uncomment the generate_messages entry below 50 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 51 | 52 | ## Generate messages in the 'msg' folder 53 | # add_message_files( 54 | # FILES 55 | # Message1.msg 56 | # Message2.msg 57 | # ) 58 | 59 | ## Generate services in the 'srv' folder 60 | add_service_files( 61 | FILES 62 | GoToPosition.srv 63 | ) 64 | 65 | ## Generate actions in the 'action' folder 66 | # add_action_files( 67 | # FILES 68 | # Action1.action 69 | # Action2.action 70 | # ) 71 | 72 | ## Generate added messages and services with any dependencies listed here 73 | generate_messages( 74 | DEPENDENCIES 75 | std_msgs # Or other packages containing msgs 76 | ) 77 | 78 | ################################################ 79 | ## Declare ROS dynamic reconfigure parameters ## 80 | ################################################ 81 | 82 | ## To declare and build dynamic reconfigure parameters within this 83 | ## package, follow these steps: 84 | ## * In the file package.xml: 85 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 86 | ## * In this file (CMakeLists.txt): 87 | ## * add "dynamic_reconfigure" to 88 | ## find_package(catkin REQUIRED COMPONENTS ...) 89 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 90 | ## and list every .cfg file to be processed 91 | 92 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 93 | # generate_dynamic_reconfigure_options( 94 | # cfg/DynReconf1.cfg 95 | # cfg/DynReconf2.cfg 96 | # ) 97 | 98 | ################################### 99 | ## catkin specific configuration ## 100 | ################################### 101 | ## The catkin_package macro generates cmake config files for your package 102 | ## Declare things to be passed to dependent projects 103 | ## INCLUDE_DIRS: uncomment this if you package contains header files 104 | ## LIBRARIES: libraries you create in this project that dependent projects also need 105 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 106 | ## DEPENDS: system dependencies of this project that dependent projects also need 107 | catkin_package( 108 | # INCLUDE_DIRS include 109 | # LIBRARIES simple_arm 110 | # CATKIN_DEPENDS other_catkin_pkg 111 | # DEPENDS system_lib 112 | ) 113 | 114 | ########### 115 | ## Build ## 116 | ########### 117 | 118 | ## Specify additional locations of header files 119 | ## Your package locations should be listed before other locations 120 | # include_directories(include) 121 | 122 | ## Declare a C++ library 123 | # add_library(${PROJECT_NAME} 124 | # src/${PROJECT_NAME}/simple_arm.cpp 125 | # ) 126 | 127 | ## Add cmake target dependencies of the library 128 | ## as an example, code may need to be generated before libraries 129 | ## either from message generation or dynamic reconfigure 130 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 131 | 132 | ## Declare a C++ executable 133 | ## With catkin_make all packages are built within a single CMake context 134 | ## The recommended prefix ensures that target names across packages don't collide 135 | # add_executable(${PROJECT_NAME}_node src/simple_arm_node.cpp) 136 | 137 | ## Rename C++ executable without prefix 138 | ## The above recommended prefix causes long target names, the following renames the 139 | ## target back to the shorter version for ease of user use 140 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 141 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 142 | 143 | ## Add cmake target dependencies of the executable 144 | ## same as for the library above 145 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 146 | 147 | ## Specify libraries to link a library or executable target against 148 | # target_link_libraries(${PROJECT_NAME}_node 149 | # ${catkin_LIBRARIES} 150 | # ) 151 | 152 | ############# 153 | ## Install ## 154 | ############# 155 | 156 | # all install targets should use catkin DESTINATION variables 157 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 158 | 159 | ## Mark executable scripts (Python etc.) for installation 160 | ## in contrast to setup.py, you can choose the destination 161 | # install(PROGRAMS 162 | # scripts/my_python_script 163 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 164 | # ) 165 | 166 | ## Mark executables and/or libraries for installation 167 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 168 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 169 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 170 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 171 | # ) 172 | 173 | ## Mark cpp header files for installation 174 | # install(DIRECTORY include/${PROJECT_NAME}/ 175 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 176 | # FILES_MATCHING PATTERN "*.h" 177 | # PATTERN ".svn" EXCLUDE 178 | # ) 179 | 180 | ## Mark other files for installation (e.g. launch and bag files, etc.) 181 | # install(FILES 182 | # # myfile1 183 | # # myfile2 184 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 185 | # ) 186 | 187 | ############# 188 | ## Testing ## 189 | ############# 190 | 191 | ## Add gtest based cpp test target and link libraries 192 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_simple_arm.cpp) 193 | # if(TARGET ${PROJECT_NAME}-test) 194 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 195 | # endif() 196 | 197 | ## Add folders to be run by python nosetests 198 | # catkin_add_nosetests(test) 199 | 200 | 201 | include_directories(include ${catkin_INCLUDE_DIRS}) 202 | 203 | add_executable(simple_mover src/simple_mover.cpp) 204 | target_link_libraries(simple_mover ${catkin_LIBRARIES}) 205 | add_dependencies(simple_mover simple_arm_generate_messages_cpp) 206 | 207 | add_executable(arm_mover src/arm_mover.cpp) 208 | target_link_libraries(arm_mover ${catkin_LIBRARIES}) 209 | add_dependencies(arm_mover simple_arm_generate_messages_cpp) 210 | 211 | add_executable(look_away src/look_away.cpp) 212 | target_link_libraries(look_away ${catkin_LIBRARIES}) 213 | add_dependencies(look_away simple_arm_generate_messages_cpp) 214 | -------------------------------------------------------------------------------- /CODEOWNERS: -------------------------------------------------------------------------------- 1 | * @udacity/active-public-content -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Udacity 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | [![Udacity - Robotics NanoDegree Program](https://s3-us-west-1.amazonaws.com/udacity-robotics/Extra+Images/RoboND_flag.png)](https://www.udacity.com/robotics) 2 | 3 | # RoboND-simple_arm 4 | A mini-project to better explain pub-sub architecture in ROS 5 | 6 | ## How to Launch the simulation? 7 | 8 | #### Create a catkin_ws, feel free to skip if you already have one! 9 | ```sh 10 | $ cd /home/workspace/ 11 | $ mkdir -p /home/workspace/catkin_ws/src/ 12 | $ cd catkin_ws/src/ 13 | $ catkin_init_workspace 14 | $ cd .. 15 | ``` 16 | 17 | #### Clone the package in catkin_ws/src/ 18 | ```sh 19 | $ cd /home/workspace/catkin_ws/src/ 20 | $ git clone https://github.com/udacity/RoboND-simple_arm.git simple_arm 21 | ``` 22 | 23 | #### Build the `simple_arm` package 24 | ```sh 25 | $ cd /home/workspace/catkin_ws/ 26 | $ catkin_make 27 | ``` 28 | 29 | #### After building the package, source your environment 30 | ```sh 31 | $ cd /home/workspace/catkin_ws/ 32 | $ source devel/setup.bash 33 | ``` 34 | 35 | #### Make sure to check and install any missing dependencies 36 | ```sh 37 | $ rosdep install -i simple_arm 38 | ``` 39 | 40 | #### Once the `simple_arm` package has been built, you can launch the simulation environment using 41 | ```sh 42 | $ roslaunch simple_arm robot_spawn.launch 43 | ``` 44 | 45 | #### Interact with the arm using the safe_move service 46 | Open a new terminal and type the following: 47 | ```sh 48 | $ cd /home/workspace/catkin_ws/ 49 | $ source devel/setup.bash 50 | $ rosservice call /arm_mover/safe_move 0.0 0.0 51 | ``` 52 | 53 | ## How to view image stream from the camera? 54 | Camera image stream is published to the following topic: 55 | ``` 56 | /rgb_camera/image_raw 57 | ``` 58 | 59 | This stream can be viewed by following command in separate terminal: 60 | ```sh 61 | $ rosrun image_view image_view image:=/rgb_camera/image_raw 62 | ``` 63 | 64 | ## Simulation Interface: 65 | ![alt text](images/simulation.png) 66 | 67 | 68 | -------------------------------------------------------------------------------- /config/controllers.yaml: -------------------------------------------------------------------------------- 1 | simple_arm: 2 | #list of controllers 3 | joint_state_controller: 4 | type: joint_state_controller/JointStateController 5 | publish_rate: 50 6 | 7 | joint_1_position_controller: 8 | type: effort_controllers/JointPositionController 9 | joint: joint_1 10 | pid: {p: 100.0, i: 0.01, d: 10.0} 11 | joint_2_position_controller: 12 | type: effort_controllers/JointPositionController 13 | joint: joint_2 14 | pid: {p: 100.0, i: 0.01, d: 10.0} 15 | -------------------------------------------------------------------------------- /images/simulation.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/udacity/RoboND-simple_arm/ae4bec71c38bd95a9043278b0db0358fc4b1d02b/images/simulation.png -------------------------------------------------------------------------------- /launch/robot_control.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 10 | 11 | -------------------------------------------------------------------------------- /launch/robot_description.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /launch/robot_spawn.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 19 | 20 | 21 | 22 | 23 | min_joint_1_angle: 0 24 | max_joint_1_angle: 1.57 25 | min_joint_2_angle: 0 26 | max_joint_2_angle: 1.57 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /meshes/camera.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.78.0 7 | 8 | 2017-04-10T11:53:55 9 | 2017-04-10T11:53:55 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 0 0 0 1 21 | 22 | 23 | 0 0 0 1 24 | 25 | 26 | 0.1372549 0.1372549 0.1372549 1 27 | 28 | 29 | 0.5 0.5 0.5 1 30 | 31 | 32 | 50 33 | 34 | 35 | 1 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 0 0 0 1 47 | 48 | 49 | 0 0 0 1 50 | 51 | 52 | 0.64 0.64 0.64 1 53 | 54 | 55 | 0.5 0.5 0.5 1 56 | 57 | 58 | 50 59 | 60 | 61 | 1 1 1 1 62 | 63 | 64 | 1 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 0 0 0 1 76 | 77 | 78 | 0 0 0 1 79 | 80 | 81 | 0.227451 0.227451 0.227451 1 82 | 83 | 84 | 0.5 0.5 0.5 1 85 | 86 | 87 | 50 88 | 89 | 90 | 1 1 1 0.9098039 91 | 92 | 93 | 1 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 1.197268 1.201117 -0.650177 1.009026 1.739162 -0.3312799 0.8515461 1.466399 -0.650177 1.419978 1.423828 -0.3312799 1.419978 1.423828 -0.3312799 1.197268 1.201117 -0.650177 1.009026 1.739162 -0.3312799 0.8515461 1.466399 -0.650177 1.419978 1.423828 -0.3312799 1.197268 1.201117 -0.650177 1.009026 1.739162 -0.3312799 0.8515461 1.466399 -0.650177 1.462549 0.8553956 -0.650177 1.735313 1.012876 -0.3312799 1.735313 1.012876 -0.3312799 1.462549 0.8553956 -0.650177 1.735313 1.012876 -0.3312799 1.462549 0.8553956 -0.650177 1.419978 1.423828 -0.3312799 1.168475 2.015335 -0.008444845 1.009026 1.739162 -0.3312799 1.645472 1.649323 -0.008444845 1.645472 1.649323 -0.008444845 1.419978 1.423828 -0.3312799 1.168475 2.015335 -0.008444845 1.009026 1.739162 -0.3312799 1.645472 1.649323 -0.008444845 1.168475 2.015335 -0.008444845 0.530463 1.93739 -0.3312799 0.4489449 1.633161 -0.650177 0.530463 1.93739 -0.3312799 0.4489449 1.633161 -0.650177 0.530463 1.93739 -0.3312799 0.4489449 1.633161 -0.650177 1.197268 1.201117 -0.650177 0.8653267 1.490265 -0.776161 1.216756 1.220603 -0.776161 0.8515461 1.466399 -0.650177 0.8515461 1.466399 -0.650177 1.197268 1.201117 -0.650177 0.8653267 1.490265 -0.776161 1.216756 1.220603 -0.776161 1.216756 1.220603 -0.776161 0.8653267 1.490265 -0.776161 1.629311 0.4527934 -0.650177 1.933541 0.5343115 -0.3312799 1.933541 0.5343115 -0.3312799 1.629311 0.4527934 -0.650177 1.933541 0.5343115 -0.3312799 1.629311 0.4527934 -0.650177 1.735313 1.012876 -0.3312799 2.011486 1.172325 -0.008444845 2.011486 1.172325 -0.008444845 1.735313 1.012876 -0.3312799 2.011486 1.172325 -0.008444845 1.486417 0.8691743 -0.776161 1.462549 0.8553956 -0.650177 1.486417 0.8691743 -0.776161 1.462549 0.8553956 -0.650177 1.486417 0.8691743 -0.776161 1.645472 1.649323 -0.008444845 1.298396 2.240365 0.2868311 1.168475 2.015335 -0.008444845 1.829209 1.833059 0.2868311 1.829209 1.833059 0.2868311 1.645472 1.649323 -0.008444845 1.298396 2.240365 0.2868311 1.168475 2.015335 -0.008444845 1.829209 1.833059 0.2868311 1.298396 2.240365 0.2868311 0.6129997 2.245422 -0.008444845 0.530463 1.93739 -0.3312799 0.6129997 2.245422 -0.008444845 0.530463 1.93739 -0.3312799 0.6129997 2.245422 -0.008444845 0.01689988 1.690041 -0.650177 0.01689988 2.005001 -0.3312799 0.01689988 2.005001 -0.3312799 0.01689988 1.690041 -0.650177 0.01689988 2.005001 -0.3312799 0.01689988 1.690041 -0.650177 0.4560784 1.659781 -0.776161 0.4489449 1.633161 -0.650177 0.4489449 1.633161 -0.650177 0.4560784 1.659781 -0.776161 0.4560784 1.659781 -0.776161 0.8987902 1.548228 -0.98876 1.264081 1.267929 -0.98876 0.8987902 1.548228 -0.98876 1.264081 1.267929 -0.98876 1.264081 1.267929 -0.98876 0.8987902 1.548228 -0.98876 1.686192 0.02074933 -0.650177 2.001152 0.02074933 -0.3312799 1.686192 0.02074933 -0.650177 2.001152 0.02074933 -0.3312799 2.001152 0.02074933 -0.3312799 1.686192 0.02074933 -0.650177 1.933541 0.5343115 -0.3312799 2.241572 0.6168482 -0.008444845 2.241572 0.6168482 -0.008444845 1.933541 0.5343115 -0.3312799 2.241572 0.6168482 -0.008444845 1.655932 0.4599269 -0.776161 1.629311 0.4527934 -0.650177 1.655932 0.4599269 -0.776161 1.629311 0.4527934 -0.650177 1.655932 0.4599269 -0.776161 2.011486 1.172325 -0.008444845 2.236518 1.302245 0.2868311 2.236518 1.302245 0.2868311 2.011486 1.172325 -0.008444845 2.236518 1.302245 0.2868311 1.544378 0.9026396 -0.98876 1.544378 0.9026396 -0.98876 1.544378 0.9026396 -0.98876 1.777116 1.895189 0.794705 1.298396 2.240365 0.2868311 1.829209 1.833059 0.2868311 1.829209 1.833059 0.2868311 1.298396 2.240365 0.2868311 1.777116 1.895189 0.794705 1.777116 1.895189 0.794705 0.6129997 2.245422 -0.008444845 0.6802519 2.49641 0.2868311 0.6802519 2.49641 0.2868311 0.6129997 2.245422 -0.008444845 0.6802519 2.49641 0.2868311 0.01689988 2.005001 -0.3312799 0.01689988 2.323899 -0.008444845 0.01689988 2.323899 -0.008444845 0.01689988 2.005001 -0.3312799 0.01689988 2.323899 -0.008444845 -0.4151441 1.633161 -0.650177 -0.4966613 1.93739 -0.3312799 -0.4966613 1.93739 -0.3312799 -0.4151441 1.633161 -0.650177 -0.4966613 1.93739 -0.3312799 -0.4151441 1.633161 -0.650177 0.01689988 1.7176 -0.776161 0.01689988 1.690041 -0.650177 0.01689988 1.690041 -0.650177 0.01689988 1.7176 -0.776161 0.01689988 1.7176 -0.776161 0.4733999 1.724429 -0.98876 0.4733999 1.724429 -0.98876 0.4733999 1.724429 -0.98876 0.9125698 1.572094 -1.110807 1.283568 1.287418 -1.110807 0.9125698 1.572094 -1.110807 1.283568 1.287418 -1.110807 1.283568 1.287418 -1.110807 0.9125698 1.572094 -1.110807 1.629311 -0.4112957 -0.650177 1.933541 -0.4928124 -0.3312799 1.629311 -0.4112957 -0.650177 1.933541 -0.4928124 -0.3312799 1.933541 -0.4928124 -0.3312799 1.629311 -0.4112957 -0.650177 2.32005 0.02074933 -0.008444845 2.001152 0.02074933 -0.3312799 2.32005 0.02074933 -0.008444845 2.001152 0.02074933 -0.3312799 2.32005 0.02074933 -0.008444845 1.713752 0.02074933 -0.776161 1.686192 0.02074933 -0.650177 1.713752 0.02074933 -0.776161 1.686192 0.02074933 -0.650177 1.713752 0.02074933 -0.776161 2.492561 0.6841004 0.2868311 2.241572 0.6168482 -0.008444845 2.492561 0.6841004 0.2868311 2.241572 0.6168482 -0.008444845 2.492561 0.6841004 0.2868311 1.720581 0.4772494 -0.98876 1.720581 0.4772494 -0.98876 1.720581 0.4772494 -0.98876 2.236518 1.302245 0.2868311 2.18797 1.398551 0.794705 2.18797 1.398551 0.794705 2.236518 1.302245 0.2868311 2.18797 1.398551 0.794705 1.568246 0.9164183 -1.110807 1.568246 0.9164183 -1.110807 1.568246 0.9164183 -1.110807 1.255662 2.274048 0.794705 1.255662 2.274048 0.794705 1.255662 2.274048 0.794705 0.6802519 2.49641 0.2868311 0.6802519 2.49641 0.2868311 0.01689988 2.323899 -0.008444845 0.01689988 2.583741 0.2868311 0.01689988 2.583741 0.2868311 0.01689988 2.323899 -0.008444845 0.01689988 2.583741 0.2868311 -0.4966613 1.93739 -0.3312799 -0.579199 2.245422 -0.008444845 -0.579199 2.245422 -0.008444845 -0.4966613 1.93739 -0.3312799 -0.579199 2.245422 -0.008444845 -0.8177444 1.466399 -0.650177 -0.9752256 1.739162 -0.3312799 -0.8177444 1.466399 -0.650177 -0.9752256 1.739162 -0.3312799 -0.9752256 1.739162 -0.3312799 -0.8177444 1.466399 -0.650177 -0.4222766 1.659781 -0.776161 -0.4151441 1.633161 -0.650177 -0.4151441 1.633161 -0.650177 -0.4222766 1.659781 -0.776161 -0.4222766 1.659781 -0.776161 0.01689988 1.784529 -0.98876 0.01689988 1.784529 -0.98876 0.01689988 1.784529 -0.98876 0.4805325 1.751049 -1.110807 0.4805325 1.751049 -1.110807 0.4805325 1.751049 -1.110807 0.4195278 0.4233763 -1.280098 0.9125698 1.572094 -1.110807 0.3016012 0.5138648 -1.280098 1.283568 1.287418 -1.110807 1.283568 1.287418 -1.110807 0.4195278 0.4233763 -1.280098 0.9125698 1.572094 -1.110807 0.3016012 0.5138648 -1.280098 0.4195278 0.4233763 -1.280098 0.3016012 0.5138648 -1.280098 1.933541 -0.4928124 -0.3312799 2.241572 -0.5753496 -0.008444845 1.933541 -0.4928124 -0.3312799 2.241572 -0.5753496 -0.008444845 2.241572 -0.5753496 -0.008444845 1.629311 -0.4112957 -0.650177 1.655932 -0.4184272 -0.776161 1.629311 -0.4112957 -0.650177 1.655932 -0.4184272 -0.776161 1.655932 -0.4184272 -0.776161 1.735313 -0.9713764 -0.3312799 1.462549 -0.8138964 -0.650177 1.735313 -0.9713764 -0.3312799 1.462549 -0.8138964 -0.650177 1.735313 -0.9713764 -0.3312799 1.462549 -0.8138964 -0.650177 2.32005 0.02074933 -0.008444845 2.579892 0.02074933 0.2868311 2.32005 0.02074933 -0.008444845 2.579892 0.02074933 0.2868311 2.579892 0.02074933 0.2868311 1.78068 0.02074933 -0.98876 1.78068 0.02074933 -0.98876 1.78068 0.02074933 -0.98876 2.492561 0.6841004 0.2868311 2.462407 0.8153432 0.794705 2.462407 0.8153432 0.794705 2.492561 0.6841004 0.2868311 2.462407 0.8153432 0.794705 1.747201 0.4843819 -1.110807 1.747201 0.4843819 -1.110807 1.747201 0.4843819 -1.110807 0.5100163 0.3054497 -1.280098 1.568246 0.9164183 -1.110807 1.568246 0.9164183 -1.110807 0.5100163 0.3054497 -1.280098 0.5100163 0.3054497 -1.280098 1.777116 1.895189 0.794705 2.18797 1.398551 0.794705 2.355851 1.371144 1.404941 2.355851 1.371144 1.404941 2.18797 1.398551 0.794705 1.777116 1.895189 0.794705 2.355851 1.371144 1.404941 1.926645 1.930495 1.404941 1.255662 2.274048 0.794705 1.255662 2.274048 0.794705 1.926645 1.930495 1.404941 1.926645 1.930495 1.404941 0.6563709 2.511323 0.794705 0.6563709 2.511323 0.794705 0.6563709 2.511323 0.794705 0.01689988 2.583741 0.2868311 0.01689988 2.583741 0.2868311 -0.579199 2.245422 -0.008444845 -0.6464512 2.49641 0.2868311 -0.6464512 2.49641 0.2868311 -0.579199 2.245422 -0.008444845 -0.6464512 2.49641 0.2868311 -0.9752256 1.739162 -0.3312799 -1.134674 2.015335 -0.008444845 -0.9752256 1.739162 -0.3312799 -1.134674 2.015335 -0.008444845 -1.134674 2.015335 -0.008444845 -1.163467 1.201117 -0.650177 -1.386178 1.423828 -0.3312799 -1.163467 1.201117 -0.650177 -1.386178 1.423828 -0.3312799 -1.386178 1.423828 -0.3312799 -1.163467 1.201117 -0.650177 -0.831525 1.490265 -0.776161 -0.8177444 1.466399 -0.650177 -0.8177444 1.466399 -0.650177 -0.831525 1.490265 -0.776161 -0.831525 1.490265 -0.776161 -0.4395992 1.724429 -0.98876 -0.4395992 1.724429 -0.98876 -0.4395992 1.724429 -0.98876 0.01689988 1.812087 -1.110807 0.01689988 1.812087 -1.110807 0.01689988 1.812087 -1.110807 0.4805325 1.751049 -1.110807 0.1642721 0.5707486 -1.280098 0.4805325 1.751049 -1.110807 0.1642721 0.5707486 -1.280098 0.1642721 0.5707486 -1.280098 2.241572 -0.5753496 -0.008444845 2.492561 -0.6426013 0.2868311 2.241572 -0.5753496 -0.008444845 2.492561 -0.6426013 0.2868311 2.492561 -0.6426013 0.2868311 2.011486 -1.130825 -0.008444845 1.735313 -0.9713764 -0.3312799 2.011486 -1.130825 -0.008444845 1.735313 -0.9713764 -0.3312799 2.011486 -1.130825 -0.008444845 1.720581 -0.4357503 -0.98876 1.720581 -0.4357503 -0.98876 1.720581 -0.4357503 -0.98876 1.462549 -0.8138964 -0.650177 1.486417 -0.8276754 -0.776161 1.462549 -0.8138964 -0.650177 1.486417 -0.8276754 -0.776161 1.486417 -0.8276754 -0.776161 1.419978 -1.382328 -0.3312799 1.197268 -1.159617 -0.650177 1.419978 -1.382328 -0.3312799 1.197268 -1.159617 -0.650177 1.419978 -1.382328 -0.3312799 1.197268 -1.159617 -0.650177 2.579892 0.02074933 0.2868311 2.583184 0.1822064 0.794705 2.583184 0.1822064 0.794705 2.579892 0.02074933 0.2868311 2.583184 0.1822064 0.794705 1.808239 0.02074933 -1.110807 1.808239 0.02074933 -1.110807 1.808239 0.02074933 -1.110807 0.5668991 0.1681216 -1.280098 1.747201 0.4843819 -1.110807 1.747201 0.4843819 -1.110807 0.5668991 0.1681216 -1.280098 0.5668991 0.1681216 -1.280098 2.462407 0.8153432 0.794705 2.625661 0.719765 1.404941 2.625661 0.719765 1.404941 2.462407 0.8153432 0.794705 2.625661 0.719765 1.404941 1.367294 2.359699 1.404941 1.367294 2.359699 1.404941 1.367294 2.359699 1.404941 0.6563709 2.511323 0.794705 0.6563709 2.511323 0.794705 0.01689988 2.592108 0.794705 0.01689988 2.592108 0.794705 0.01689988 2.592108 0.794705 -0.6464512 2.49641 0.2868311 -0.6464512 2.49641 0.2868311 -1.134674 2.015335 -0.008444845 -1.264596 2.240365 0.2868311 -1.264596 2.240365 0.2868311 -1.134674 2.015335 -0.008444845 -1.264596 2.240365 0.2868311 -1.386178 1.423828 -0.3312799 -1.611672 1.649323 -0.008444845 -1.386178 1.423828 -0.3312799 -1.611672 1.649323 -0.008444845 -1.611672 1.649323 -0.008444845 -1.428748 0.8553956 -0.650177 -1.701512 1.012876 -0.3312799 -1.428748 0.8553956 -0.650177 -1.701512 1.012876 -0.3312799 -1.701512 1.012876 -0.3312799 -1.428748 0.8553956 -0.650177 -1.182954 1.220603 -0.776161 -1.163467 1.201117 -0.650177 -1.163467 1.201117 -0.650177 -1.182954 1.220603 -0.776161 -1.182954 1.220603 -0.776161 -0.8649895 1.548228 -0.98876 -0.8649895 1.548228 -0.98876 -0.8649895 1.548228 -0.98876 -0.4467317 1.751049 -1.110807 -0.4467317 1.751049 -1.110807 -0.4467317 1.751049 -1.110807 0.01689988 0.5901511 -1.280098 0.01689988 1.812087 -1.110807 0.01689988 0.5901511 -1.280098 0.01689988 1.812087 -1.110807 0.01689988 0.5901511 -1.280098 2.492561 -0.6426013 0.2868311 2.492561 -0.6426013 0.2868311 2.011486 -1.130825 -0.008444845 2.236518 -1.260746 0.2868311 2.011486 -1.130825 -0.008444845 2.236518 -1.260746 0.2868311 2.236518 -1.260746 0.2868311 1.645472 -1.607823 -0.008444845 1.419978 -1.382328 -0.3312799 1.645472 -1.607823 -0.008444845 1.419978 -1.382328 -0.3312799 1.645472 -1.607823 -0.008444845 1.747201 -0.4428833 -1.110807 1.747201 -0.4428833 -1.110807 1.747201 -0.4428833 -1.110807 1.544378 -0.8611403 -0.98876 1.544378 -0.8611403 -0.98876 1.544378 -0.8611403 -0.98876 1.197268 -1.159617 -0.650177 1.216756 -1.179105 -0.776161 1.197268 -1.159617 -0.650177 1.216756 -1.179105 -0.776161 1.216756 -1.179105 -0.776161 1.009026 -1.697663 -0.3312799 0.8515461 -1.424899 -0.650177 1.009026 -1.697663 -0.3312799 0.8515461 -1.424899 -0.650177 1.009026 -1.697663 -0.3312799 0.8515461 -1.424899 -0.650177 0.5863007 0.02074933 -1.280098 1.808239 0.02074933 -1.110807 1.808239 0.02074933 -1.110807 0.5863007 0.02074933 -1.280098 0.5863007 0.02074933 -1.280098 2.583184 0.1822064 0.794705 2.717689 0.02074933 1.404941 2.717689 0.02074933 1.404941 2.583184 0.1822064 0.794705 2.717689 0.02074933 1.404941 2.355851 1.371144 1.404941 3.085807 0.8430607 2.180531 2.625661 0.719765 1.404941 2.768407 1.609332 2.180531 2.768407 1.609332 2.180531 2.355851 1.371144 1.404941 3.085807 0.8430607 2.180531 2.625661 0.719765 1.404941 3.085807 0.8430607 2.180531 2.768407 1.609332 2.180531 1.926645 1.930495 1.404941 2.263496 2.267345 2.180531 2.263496 2.267345 2.180531 1.926645 1.930495 1.404941 2.263496 2.267345 2.180531 1.605483 2.772256 2.180531 1.367294 2.359699 1.404941 1.605483 2.772256 2.180531 1.367294 2.359699 1.404941 1.605483 2.772256 2.180531 0.7159165 2.629509 1.404941 0.7159165 2.629509 1.404941 0.7159165 2.629509 1.404941 0.01689988 2.592108 0.794705 0.01689988 2.592108 0.794705 -0.6225693 2.511323 0.794705 -0.6225693 2.511323 0.794705 -0.6225693 2.511323 0.794705 -1.264596 2.240365 0.2868311 -1.264596 2.240365 0.2868311 -1.611672 1.649323 -0.008444845 -1.795409 1.833059 0.2868311 -1.611672 1.649323 -0.008444845 -1.795409 1.833059 0.2868311 -1.795409 1.833059 0.2868311 -1.701512 1.012876 -0.3312799 -1.977686 1.172325 -0.008444845 -1.701512 1.012876 -0.3312799 -1.977686 1.172325 -0.008444845 -1.977686 1.172325 -0.008444845 -1.595511 0.4527934 -0.650177 -1.89974 0.5343115 -0.3312799 -1.595511 0.4527934 -0.650177 -1.89974 0.5343115 -0.3312799 -1.89974 0.5343115 -0.3312799 -1.595511 0.4527934 -0.650177 -1.452615 0.8691743 -0.776161 -1.428748 0.8553956 -0.650177 -1.452615 0.8691743 -0.776161 -1.428748 0.8553956 -0.650177 -1.452615 0.8691743 -0.776161 -1.23028 1.267929 -0.98876 -1.23028 1.267929 -0.98876 -1.23028 1.267929 -0.98876 -0.8787691 1.572094 -1.110807 -0.8787691 1.572094 -1.110807 -0.8787691 1.572094 -1.110807 -0.1304714 0.5707486 -1.280098 -0.4467317 1.751049 -1.110807 -0.1304714 0.5707486 -1.280098 -0.4467317 1.751049 -1.110807 -0.1304714 0.5707486 -1.280098 2.542713 -0.4610756 0.794705 2.542713 -0.4610756 0.794705 2.542713 -0.4610756 0.794705 2.236518 -1.260746 0.2868311 2.236518 -1.260746 0.2868311 1.829209 -1.791559 0.2868311 1.645472 -1.607823 -0.008444845 1.829209 -1.791559 0.2868311 1.645472 -1.607823 -0.008444845 1.829209 -1.791559 0.2868311 1.168475 -1.973836 -0.008444845 1.009026 -1.697663 -0.3312799 1.168475 -1.973836 -0.008444845 1.009026 -1.697663 -0.3312799 1.168475 -1.973836 -0.008444845 1.747201 -0.4428833 -1.110807 0.5668991 -0.1266224 -1.280098 1.747201 -0.4428833 -1.110807 0.5668991 -0.1266224 -1.280098 0.5668991 -0.1266224 -1.280098 1.568246 -0.8749194 -1.110807 1.568246 -0.8749194 -1.110807 1.568246 -0.8749194 -1.110807 1.264081 -1.226431 -0.98876 1.264081 -1.226431 -0.98876 1.264081 -1.226431 -0.98876 0.8515461 -1.424899 -0.650177 0.8653267 -1.448766 -0.776161 0.8515461 -1.424899 -0.650177 0.8653267 -1.448766 -0.776161 0.8653267 -1.448766 -0.776161 0.530463 -1.89589 -0.3312799 0.4489449 -1.591662 -0.650177 0.530463 -1.89589 -0.3312799 0.4489449 -1.591662 -0.650177 0.530463 -1.89589 -0.3312799 0.4489449 -1.591662 -0.650177 2.542713 -0.4610756 0.794705 2.542713 -0.4610756 0.794705 3.194066 0.02074933 2.180531 2.717689 0.02074933 1.404941 3.194066 0.02074933 2.180531 2.717689 0.02074933 1.404941 3.194066 0.02074933 2.180531 0.8392113 3.089656 2.180531 0.7159165 2.629509 1.404941 0.8392113 3.089656 2.180531 0.7159165 2.629509 1.404941 0.8392113 3.089656 2.180531 0.01689988 2.721537 1.404941 0.01689988 2.721537 1.404941 0.01689988 2.721537 1.404941 -0.6225693 2.511323 0.794705 -0.6225693 2.511323 0.794705 -1.221861 2.274048 0.794705 -1.221861 2.274048 0.794705 -1.221861 2.274048 0.794705 -1.795409 1.833059 0.2868311 -1.795409 1.833059 0.2868311 -1.977686 1.172325 -0.008444845 -2.202716 1.302245 0.2868311 -1.977686 1.172325 -0.008444845 -2.202716 1.302245 0.2868311 -2.202716 1.302245 0.2868311 -1.89974 0.5343115 -0.3312799 -2.207771 0.6168482 -0.008444845 -1.89974 0.5343115 -0.3312799 -2.207771 0.6168482 -0.008444845 -2.207771 0.6168482 -0.008444845 -1.967352 0.02074933 -0.3312799 -1.652391 0.02074933 -0.650177 -1.967352 0.02074933 -0.3312799 -1.652391 0.02074933 -0.650177 -1.967352 0.02074933 -0.3312799 -1.652391 0.02074933 -0.650177 -1.622131 0.4599269 -0.776161 -1.595511 0.4527934 -0.650177 -1.622131 0.4599269 -0.776161 -1.595511 0.4527934 -0.650177 -1.622131 0.4599269 -0.776161 -1.510577 0.9026396 -0.98876 -1.510577 0.9026396 -0.98876 -1.510577 0.9026396 -0.98876 -1.249767 1.287418 -1.110807 -1.249767 1.287418 -1.110807 -1.249767 1.287418 -1.110807 -0.2678005 0.5138648 -1.280098 -0.8787691 1.572094 -1.110807 -0.2678005 0.5138648 -1.280098 -0.8787691 1.572094 -1.110807 -0.2678005 0.5138648 -1.280098 2.343535 -1.074081 0.794705 2.343535 -1.074081 0.794705 2.343535 -1.074081 0.794705 1.829209 -1.791559 0.2868311 1.829209 -1.791559 0.2868311 1.298396 -2.198866 0.2868311 1.168475 -1.973836 -0.008444845 1.298396 -2.198866 0.2868311 1.168475 -1.973836 -0.008444845 1.298396 -2.198866 0.2868311 0.6129997 -2.203922 -0.008444845 0.530463 -1.89589 -0.3312799 0.6129997 -2.203922 -0.008444845 0.530463 -1.89589 -0.3312799 0.6129997 -2.203922 -0.008444845 1.568246 -0.8749194 -1.110807 0.5100163 -0.2639511 -1.280098 1.568246 -0.8749194 -1.110807 0.5100163 -0.2639511 -1.280098 0.5100163 -0.2639511 -1.280098 1.283568 -1.245918 -1.110807 1.283568 -1.245918 -1.110807 1.283568 -1.245918 -1.110807 0.8987902 -1.506728 -0.98876 0.8987902 -1.506728 -0.98876 0.8987902 -1.506728 -0.98876 0.4489449 -1.591662 -0.650177 0.4560784 -1.618282 -0.776161 0.4489449 -1.591662 -0.650177 0.4560784 -1.618282 -0.776161 0.4560784 -1.618282 -0.776161 0.01689988 -1.963502 -0.3312799 0.01689988 -1.648541 -0.650177 0.01689988 -1.963502 -0.3312799 0.01689988 -1.648541 -0.650177 0.01689988 -1.963502 -0.3312799 0.01689988 -1.648541 -0.650177 2.625661 -0.6782653 1.404941 2.625661 -0.6782653 1.404941 2.625661 -0.6782653 1.404941 2.625661 -0.6782653 1.404941 3.085807 -0.8015614 2.180531 2.625661 -0.6782653 1.404941 3.085807 -0.8015614 2.180531 3.085807 -0.8015614 2.180531 0.01689988 3.197914 2.180531 0.01689988 2.721537 1.404941 0.01689988 3.197914 2.180531 0.01689988 2.721537 1.404941 0.01689988 3.197914 2.180531 -0.6821148 2.629509 1.404941 -0.6821148 2.629509 1.404941 -0.6821148 2.629509 1.404941 -1.221861 2.274048 0.794705 -1.221861 2.274048 0.794705 -1.743315 1.895189 0.794705 -1.743315 1.895189 0.794705 -1.743315 1.895189 0.794705 -2.154169 1.398551 0.794705 -2.202716 1.302245 0.2868311 -2.202716 1.302245 0.2868311 -2.154169 1.398551 0.794705 -2.154169 1.398551 0.794705 -2.45876 0.6841004 0.2868311 -2.207771 0.6168482 -0.008444845 -2.45876 0.6841004 0.2868311 -2.207771 0.6168482 -0.008444845 -2.45876 0.6841004 0.2868311 -2.286249 0.02074933 -0.008444845 -1.967352 0.02074933 -0.3312799 -2.286249 0.02074933 -0.008444845 -1.967352 0.02074933 -0.3312799 -2.286249 0.02074933 -0.008444845 -1.595511 -0.4112957 -0.650177 -1.89974 -0.4928124 -0.3312799 -1.595511 -0.4112957 -0.650177 -1.89974 -0.4928124 -0.3312799 -1.89974 -0.4928124 -0.3312799 -1.595511 -0.4112957 -0.650177 -1.652391 0.02074933 -0.650177 -1.67995 0.02074933 -0.776161 -1.652391 0.02074933 -0.650177 -1.67995 0.02074933 -0.776161 -1.67995 0.02074933 -0.776161 -1.68678 0.4772494 -0.98876 -1.68678 0.4772494 -0.98876 -1.68678 0.4772494 -0.98876 -1.534444 0.9164183 -1.110807 -1.534444 0.9164183 -1.110807 -1.534444 0.9164183 -1.110807 -0.3857271 0.4233763 -1.280098 -1.249767 1.287418 -1.110807 -0.3857271 0.4233763 -1.280098 -1.249767 1.287418 -1.110807 -0.3857271 0.4233763 -1.280098 2.343535 -1.074081 0.794705 2.343535 -1.074081 0.794705 1.998166 -1.618295 0.794705 1.998166 -1.618295 0.794705 1.998166 -1.618295 0.794705 1.298396 -2.198866 0.2868311 1.298396 -2.198866 0.2868311 0.6802519 -2.45491 0.2868311 0.6129997 -2.203922 -0.008444845 0.6802519 -2.45491 0.2868311 0.6129997 -2.203922 -0.008444845 0.6802519 -2.45491 0.2868311 0.01689988 -2.2824 -0.008444845 0.01689988 -1.963502 -0.3312799 0.01689988 -2.2824 -0.008444845 0.01689988 -1.963502 -0.3312799 0.01689988 -2.2824 -0.008444845 1.283568 -1.245918 -1.110807 0.4195278 -0.3818777 -1.280098 1.283568 -1.245918 -1.110807 0.4195278 -0.3818777 -1.280098 0.4195278 -0.3818777 -1.280098 0.9125698 -1.530595 -1.110807 0.9125698 -1.530595 -1.110807 0.9125698 -1.530595 -1.110807 0.4733999 -1.68293 -0.98876 0.4733999 -1.68293 -0.98876 0.4733999 -1.68293 -0.98876 0.01689988 -1.648541 -0.650177 0.01689988 -1.676101 -0.776161 0.01689988 -1.648541 -0.650177 0.01689988 -1.676101 -0.776161 0.01689988 -1.676101 -0.776161 -0.4966613 -1.89589 -0.3312799 -0.4151441 -1.591662 -0.650177 -0.4966613 -1.89589 -0.3312799 -0.4151441 -1.591662 -0.650177 -0.4966613 -1.89589 -0.3312799 -0.4151441 -1.591662 -0.650177 2.355851 -1.329644 1.404941 2.768407 -1.567833 2.180531 2.355851 -1.329644 1.404941 2.768407 -1.567833 2.180531 2.355851 -1.329644 1.404941 2.768407 -1.567833 2.180531 -0.8054115 3.089656 2.180531 -0.6821148 2.629509 1.404941 -0.8054115 3.089656 2.180531 -0.6821148 2.629509 1.404941 -0.8054115 3.089656 2.180531 -1.333493 2.359699 1.404941 -1.333493 2.359699 1.404941 -1.333493 2.359699 1.404941 -1.743315 1.895189 0.794705 -1.743315 1.895189 0.794705 -2.428606 0.8153432 0.794705 -2.428606 0.8153432 0.794705 -2.428606 0.8153432 0.794705 -2.45876 0.6841004 0.2868311 -2.45876 0.6841004 0.2868311 -2.546092 0.02074933 0.2868311 -2.286249 0.02074933 -0.008444845 -2.546092 0.02074933 0.2868311 -2.286249 0.02074933 -0.008444845 -2.546092 0.02074933 0.2868311 -1.89974 -0.4928124 -0.3312799 -2.207771 -0.5753496 -0.008444845 -1.89974 -0.4928124 -0.3312799 -2.207771 -0.5753496 -0.008444845 -2.207771 -0.5753496 -0.008444845 -1.701512 -0.9713764 -0.3312799 -1.428748 -0.8138964 -0.650177 -1.428748 -0.8138964 -0.650177 -1.701512 -0.9713764 -0.3312799 -1.701512 -0.9713764 -0.3312799 -1.428748 -0.8138964 -0.650177 -1.595511 -0.4112957 -0.650177 -1.622131 -0.4184272 -0.776161 -1.595511 -0.4112957 -0.650177 -1.622131 -0.4184272 -0.776161 -1.622131 -0.4184272 -0.776161 -1.746879 0.02074933 -0.98876 -1.746879 0.02074933 -0.98876 -1.746879 0.02074933 -0.98876 -1.7134 0.4843819 -1.110807 -1.7134 0.4843819 -1.110807 -1.7134 0.4843819 -1.110807 -0.4762145 0.3054497 -1.280098 -1.534444 0.9164183 -1.110807 -0.4762145 0.3054497 -1.280098 -1.534444 0.9164183 -1.110807 -0.4762145 0.3054497 -1.280098 2.355851 -1.329644 1.404941 2.355851 -1.329644 1.404941 1.998166 -1.618295 0.794705 1.998166 -1.618295 0.794705 1.528308 -2.059522 0.794705 1.528308 -2.059522 0.794705 1.528308 -2.059522 0.794705 0.6802519 -2.45491 0.2868311 0.6802519 -2.45491 0.2868311 0.01689988 -2.542242 0.2868311 0.01689988 -2.2824 -0.008444845 0.01689988 -2.542242 0.2868311 0.01689988 -2.2824 -0.008444845 0.01689988 -2.542242 0.2868311 -0.579199 -2.203922 -0.008444845 -0.4966613 -1.89589 -0.3312799 -0.579199 -2.203922 -0.008444845 -0.4966613 -1.89589 -0.3312799 -0.579199 -2.203922 -0.008444845 0.9125698 -1.530595 -1.110807 0.3016012 -0.4723661 -1.280098 0.9125698 -1.530595 -1.110807 0.3016012 -0.4723661 -1.280098 0.3016012 -0.4723661 -1.280098 0.4805325 -1.70955 -1.110807 0.4805325 -1.70955 -1.110807 0.4805325 -1.70955 -1.110807 0.01689988 -1.74303 -0.98876 0.01689988 -1.74303 -0.98876 0.01689988 -1.74303 -0.98876 -0.4151441 -1.591662 -0.650177 -0.4222766 -1.618282 -0.776161 -0.4151441 -1.591662 -0.650177 -0.4222766 -1.618282 -0.776161 -0.4222766 -1.618282 -0.776161 -0.8177444 -1.424899 -0.650177 -0.9752256 -1.697663 -0.3312799 -0.8177444 -1.424899 -0.650177 -0.9752256 -1.697663 -0.3312799 -0.9752256 -1.697663 -0.3312799 -0.8177444 -1.424899 -0.650177 1.926645 -1.888995 1.404941 2.263496 -2.225845 2.180531 1.926645 -1.888995 1.404941 2.263496 -2.225845 2.180531 1.926645 -1.888995 1.404941 2.263496 -2.225845 2.180531 -1.571682 2.772256 2.180531 -1.333493 2.359699 1.404941 -1.571682 2.772256 2.180531 -1.333493 2.359699 1.404941 -1.571682 2.772256 2.180531 -1.892845 1.930495 1.404941 -1.892845 1.930495 1.404941 -1.892845 1.930495 1.404941 -2.154169 1.398551 0.794705 -2.154169 1.398551 0.794705 -2.32205 1.371144 1.404941 -2.428606 0.8153432 0.794705 -2.428606 0.8153432 0.794705 -2.32205 1.371144 1.404941 -2.32205 1.371144 1.404941 -2.549384 0.1822064 0.794705 -2.549384 0.1822064 0.794705 -2.549384 0.1822064 0.794705 -2.546092 0.02074933 0.2868311 -2.546092 0.02074933 0.2868311 -2.207771 -0.5753496 -0.008444845 -2.45876 -0.6426013 0.2868311 -2.207771 -0.5753496 -0.008444845 -2.45876 -0.6426013 0.2868311 -2.45876 -0.6426013 0.2868311 -1.977686 -1.130825 -0.008444845 -1.701512 -0.9713764 -0.3312799 -1.701512 -0.9713764 -0.3312799 -1.977686 -1.130825 -0.008444845 -1.977686 -1.130825 -0.008444845 -1.386178 -1.382328 -0.3312799 -1.163467 -1.159617 -0.650177 -1.163467 -1.159617 -0.650177 -1.386178 -1.382328 -0.3312799 -1.386178 -1.382328 -0.3312799 -1.163467 -1.159617 -0.650177 -1.428748 -0.8138964 -0.650177 -1.452615 -0.8276754 -0.776161 -1.428748 -0.8138964 -0.650177 -1.452615 -0.8276754 -0.776161 -1.452615 -0.8276754 -0.776161 -1.68678 -0.4357503 -0.98876 -1.68678 -0.4357503 -0.98876 -1.68678 -0.4357503 -0.98876 -1.774438 0.02074933 -1.110807 -1.774438 0.02074933 -1.110807 -1.774438 0.02074933 -1.110807 -0.5330994 0.1681216 -1.280098 -1.7134 0.4843819 -1.110807 -0.5330994 0.1681216 -1.280098 -1.7134 0.4843819 -1.110807 -0.5330994 0.1681216 -1.280098 1.926645 -1.888995 1.404941 1.926645 -1.888995 1.404941 1.528308 -2.059522 0.794705 1.528308 -2.059522 0.794705 0.9634798 -2.370038 0.794705 0.9634798 -2.370038 0.794705 0.9634798 -2.370038 0.794705 0.01689988 -2.542242 0.2868311 0.01689988 -2.542242 0.2868311 -0.6464512 -2.45491 0.2868311 -0.579199 -2.203922 -0.008444845 -0.6464512 -2.45491 0.2868311 -0.579199 -2.203922 -0.008444845 -0.6464512 -2.45491 0.2868311 -0.9752256 -1.697663 -0.3312799 -1.134674 -1.973836 -0.008444845 -0.9752256 -1.697663 -0.3312799 -1.134674 -1.973836 -0.008444845 -1.134674 -1.973836 -0.008444845 0.4805325 -1.70955 -1.110807 0.1642721 -0.5292494 -1.280098 0.4805325 -1.70955 -1.110807 0.1642721 -0.5292494 -1.280098 0.1642721 -0.5292494 -1.280098 0.01689988 -1.770589 -1.110807 0.01689988 -1.770589 -1.110807 0.01689988 -1.770589 -1.110807 -0.4395992 -1.68293 -0.98876 -0.4395992 -1.68293 -0.98876 -0.4395992 -1.68293 -0.98876 -0.8177444 -1.424899 -0.650177 -0.831525 -1.448766 -0.776161 -0.8177444 -1.424899 -0.650177 -0.831525 -1.448766 -0.776161 -0.831525 -1.448766 -0.776161 1.367294 -2.318201 1.404941 1.605483 -2.730756 2.180531 1.605483 -2.730756 2.180531 1.367294 -2.318201 1.404941 1.367294 -2.318201 1.404941 1.605483 -2.730756 2.180531 -2.229695 2.267345 2.180531 -1.892845 1.930495 1.404941 -2.229695 2.267345 2.180531 -1.892845 1.930495 1.404941 -2.229695 2.267345 2.180531 -2.59186 0.719765 1.404941 -2.59186 0.719765 1.404941 -2.59186 0.719765 1.404941 -2.549384 0.1822064 0.794705 -2.549384 0.1822064 0.794705 -2.45876 -0.6426013 0.2868311 -2.45876 -0.6426013 0.2868311 -1.977686 -1.130825 -0.008444845 -2.202716 -1.260746 0.2868311 -1.977686 -1.130825 -0.008444845 -2.202716 -1.260746 0.2868311 -2.202716 -1.260746 0.2868311 -1.611672 -1.607823 -0.008444845 -1.386178 -1.382328 -0.3312799 -1.386178 -1.382328 -0.3312799 -1.611672 -1.607823 -0.008444845 -1.611672 -1.607823 -0.008444845 -1.163467 -1.159617 -0.650177 -1.182954 -1.179105 -0.776161 -1.163467 -1.159617 -0.650177 -1.182954 -1.179105 -0.776161 -1.182954 -1.179105 -0.776161 -1.510577 -0.8611403 -0.98876 -1.510577 -0.8611403 -0.98876 -1.510577 -0.8611403 -0.98876 -1.7134 -0.4428833 -1.110807 -1.7134 -0.4428833 -1.110807 -1.7134 -0.4428833 -1.110807 -0.5525 0.02074933 -1.280098 -1.774438 0.02074933 -1.110807 -0.5525 0.02074933 -1.280098 -1.774438 0.02074933 -1.110807 -0.5525 0.02074933 -1.280098 1.367294 -2.318201 1.404941 1.367294 -2.318201 1.404941 0.9634798 -2.370038 0.794705 0.9634798 -2.370038 0.794705 0.339177 -2.530332 0.794705 0.339177 -2.530332 0.794705 0.339177 -2.530332 0.794705 -0.6464512 -2.45491 0.2868311 -0.6464512 -2.45491 0.2868311 -1.264596 -2.198866 0.2868311 -1.134674 -1.973836 -0.008444845 -1.264596 -2.198866 0.2868311 -1.134674 -1.973836 -0.008444845 -1.264596 -2.198866 0.2868311 0.01689988 -1.770589 -1.110807 0.01689988 -0.5486515 -1.280098 0.01689988 -1.770589 -1.110807 0.01689988 -0.5486515 -1.280098 0.01689988 -0.5486515 -1.280098 -0.4467317 -1.70955 -1.110807 -0.4467317 -1.70955 -1.110807 -0.4467317 -1.70955 -1.110807 -0.8649895 -1.506728 -0.98876 -0.8649895 -1.506728 -0.98876 -0.8649895 -1.506728 -0.98876 0.7159165 -2.58801 1.404941 0.8392113 -3.048156 2.180531 0.8392113 -3.048156 2.180531 0.7159165 -2.58801 1.404941 0.7159165 -2.58801 1.404941 0.8392113 -3.048156 2.180531 -2.734606 1.609332 2.180531 -2.32205 1.371144 1.404941 -2.734606 1.609332 2.180531 -2.32205 1.371144 1.404941 -2.734606 1.609332 2.180531 -3.052006 0.8430607 2.180531 -2.59186 0.719765 1.404941 -3.052006 0.8430607 2.180531 -2.59186 0.719765 1.404941 -3.052006 0.8430607 2.180531 -2.683887 0.02074933 1.404941 -2.683887 0.02074933 1.404941 -2.683887 0.02074933 1.404941 -2.508912 -0.4610756 0.794705 -2.508912 -0.4610756 0.794705 -2.508912 -0.4610756 0.794705 -2.202716 -1.260746 0.2868311 -2.202716 -1.260746 0.2868311 -1.795409 -1.791559 0.2868311 -1.611672 -1.607823 -0.008444845 -1.611672 -1.607823 -0.008444845 -1.795409 -1.791559 0.2868311 -1.795409 -1.791559 0.2868311 -1.23028 -1.226431 -0.98876 -1.23028 -1.226431 -0.98876 -1.23028 -1.226431 -0.98876 -1.534444 -0.8749194 -1.110807 -1.534444 -0.8749194 -1.110807 -1.534444 -0.8749194 -1.110807 -1.7134 -0.4428833 -1.110807 -0.5330994 -0.1266224 -1.280098 -0.5330994 -0.1266224 -1.280098 -1.7134 -0.4428833 -1.110807 -0.5330994 -0.1266224 -1.280098 0.7159165 -2.58801 1.404941 0.7159165 -2.58801 1.404941 0.339177 -2.530332 0.794705 0.339177 -2.530332 0.794705 -0.3053752 -2.530332 0.794705 -0.3053752 -2.530332 0.794705 -0.3053752 -2.530332 0.794705 -1.264596 -2.198866 0.2868311 -1.264596 -2.198866 0.2868311 -0.1304714 -0.5292494 -1.280098 -0.4467317 -1.70955 -1.110807 -0.1304714 -0.5292494 -1.280098 -0.4467317 -1.70955 -1.110807 -0.1304714 -0.5292494 -1.280098 -0.8787691 -1.530595 -1.110807 -0.8787691 -1.530595 -1.110807 -0.8787691 -1.530595 -1.110807 0.01689988 -2.680038 1.404941 0.01689988 -3.156416 2.180531 0.01689988 -3.156416 2.180531 0.01689988 -2.680038 1.404941 0.01689988 -2.680038 1.404941 0.01689988 -3.156416 2.180531 -2.683887 0.02074933 1.404941 -3.160265 0.02074933 2.180531 -2.683887 0.02074933 1.404941 -3.160265 0.02074933 2.180531 -3.160265 0.02074933 2.180531 -2.59186 -0.6782653 1.404941 -2.59186 -0.6782653 1.404941 -2.59186 -0.6782653 1.404941 -2.508912 -0.4610756 0.794705 -2.508912 -0.4610756 0.794705 -2.309734 -1.074081 0.794705 -2.309734 -1.074081 0.794705 -2.309734 -1.074081 0.794705 -1.795409 -1.791559 0.2868311 -1.795409 -1.791559 0.2868311 -1.249767 -1.245918 -1.110807 -1.249767 -1.245918 -1.110807 -1.249767 -1.245918 -1.110807 -1.534444 -0.8749194 -1.110807 -0.4762145 -0.2639511 -1.280098 -0.4762145 -0.2639511 -1.280098 -1.534444 -0.8749194 -1.110807 -0.4762145 -0.2639511 -1.280098 0.01689988 -2.680038 1.404941 0.01689988 -2.680038 1.404941 -0.3053752 -2.530332 0.794705 -0.3053752 -2.530332 0.794705 -0.9296801 -2.370038 0.794705 -0.9296801 -2.370038 0.794705 -0.9296801 -2.370038 0.794705 -1.964365 -1.618295 0.794705 -1.964365 -1.618295 0.794705 -1.964365 -1.618295 0.794705 -0.2678005 -0.4723661 -1.280098 -0.8787691 -1.530595 -1.110807 -0.2678005 -0.4723661 -1.280098 -0.8787691 -1.530595 -1.110807 -0.2678005 -0.4723661 -1.280098 -0.6821148 -2.58801 1.404941 -0.8054115 -3.048156 2.180531 -0.8054115 -3.048156 2.180531 -0.6821148 -2.58801 1.404941 -0.6821148 -2.58801 1.404941 -0.8054115 -3.048156 2.180531 -2.59186 -0.6782653 1.404941 -3.052006 -0.8015614 2.180531 -2.59186 -0.6782653 1.404941 -3.052006 -0.8015614 2.180531 -3.052006 -0.8015614 2.180531 -2.32205 -1.329644 1.404941 -2.32205 -1.329644 1.404941 -2.32205 -1.329644 1.404941 -2.309734 -1.074081 0.794705 -2.309734 -1.074081 0.794705 -1.249767 -1.245918 -1.110807 -0.3857271 -0.3818777 -1.280098 -0.3857271 -0.3818777 -1.280098 -1.249767 -1.245918 -1.110807 -0.3857271 -0.3818777 -1.280098 -0.6821148 -2.58801 1.404941 -0.6821148 -2.58801 1.404941 -0.9296801 -2.370038 0.794705 -0.9296801 -2.370038 0.794705 -1.333493 -2.318201 1.404941 -1.571682 -2.730756 2.180531 -1.571682 -2.730756 2.180531 -1.333493 -2.318201 1.404941 -1.333493 -2.318201 1.404941 -1.571682 -2.730756 2.180531 -2.32205 -1.329644 1.404941 -2.734606 -1.567833 2.180531 -2.32205 -1.329644 1.404941 -2.734606 -1.567833 2.180531 -2.734606 -1.567833 2.180531 -1.892845 -1.888995 1.404941 -1.892845 -1.888995 1.404941 -1.892845 -1.888995 1.404941 -1.964365 -1.618295 0.794705 -1.964365 -1.618295 0.794705 -0.9296801 -2.370038 0.794705 -1.964365 -1.618295 0.794705 -1.494506 -2.059522 0.794705 -1.494506 -2.059522 0.794705 -1.964365 -1.618295 0.794705 -0.9296801 -2.370038 0.794705 -1.494506 -2.059522 0.794705 -1.333493 -2.318201 1.404941 -1.333493 -2.318201 1.404941 -1.892845 -1.888995 1.404941 -2.229695 -2.225845 2.180531 -2.229695 -2.225845 2.180531 -1.892845 -1.888995 1.404941 -2.229695 -2.225845 2.180531 -1.892845 -1.888995 1.404941 -1.494506 -2.059522 0.794705 -1.964365 -1.618295 0.794705 -1.964365 -1.618295 0.794705 -1.494506 -2.059522 0.794705 -1.892845 -1.888995 1.404941 -0.9296801 -2.370038 0.794705 -0.9296801 -2.370038 0.794705 -1.892845 -1.888995 1.404941 -1.892845 -1.888995 1.404941 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | -0.5030862 -0.5030862 0.7027153 -0.355735 -0.6161575 0.7027108 0.5030862 0.5030862 -0.7027153 0.355735 0.6161575 -0.7027108 -0.6161575 -0.355735 0.7027108 0.6161575 0.355735 -0.7027108 -0.5030495 -0.5030495 0.7027677 -0.3556997 -0.6161189 0.7027626 0.5030495 0.5030495 -0.7027677 0.3556997 0.6161189 -0.7027626 -0.184124 -0.6872377 0.7027111 0.184124 0.6872377 -0.7027111 -0.6907728 -0.6907728 -0.2136958 -0.4830625 -0.8366612 -0.2581644 -0.6831374 -0.6831374 -0.2581602 -0.4884334 -0.8460298 -0.2136972 0.4884334 0.8460298 0.2136972 0.6907728 0.6907728 0.2136958 0.4830625 0.8366612 0.2581644 0.6831374 0.6831374 0.2581602 -0.6872377 -0.184124 0.7027111 0.6872377 0.184124 -0.7027111 -0.6161189 -0.3556997 0.7027626 0.6161189 0.3556997 -0.7027626 -0.8366612 -0.4830625 -0.2581644 -0.8460172 -0.4884566 -0.213694 0.8366612 0.4830625 0.2581644 0.8460172 0.4884566 0.213694 -0.5308318 -0.5308318 0.6606326 -0.3753548 -0.6501491 0.6606171 0.5308318 0.5308318 -0.6606326 0.3753548 0.6501491 -0.6606171 -0.1841199 -0.6871921 0.7027567 0.1841199 0.6871921 -0.7027567 0 -0.7114878 0.7026984 0 0.7114878 -0.7026984 -0.2500432 -0.9331834 -0.2581613 -0.25282 -0.943619 -0.2136945 0.25282 0.943619 0.2136945 0.2500432 0.9331834 0.2581613 -0.482851 -0.8363294 -0.2596305 -0.6828599 -0.6828599 -0.2596241 0.482851 0.8363294 0.2596305 0.6828599 0.6828599 0.2596241 -0.7114878 0 0.7026984 0.7114878 0 -0.7026984 -0.6871921 -0.1841199 0.7027567 0.6871921 0.1841199 -0.7027567 -0.9331834 -0.2500432 -0.2581613 -0.943619 -0.25282 -0.2136945 0.9331834 0.2500432 0.2581613 0.943619 0.25282 0.2136945 -0.6501491 -0.3753548 0.6606171 0.6501491 0.3753548 -0.6606171 -0.8363294 -0.482851 -0.2596305 0.8363294 0.482851 0.2596305 -0.6815263 -0.7317 0.0117194 -0.5004894 -0.8654416 0.02282857 -0.7079597 -0.7058234 0.02462917 0.7079597 0.7058234 -0.02462917 0.5004894 0.8654416 -0.02282857 0.6815263 0.7317 -0.0117194 -0.1942865 -0.7251412 0.6606232 0.1942865 0.7251412 -0.6606232 0 -0.7114272 0.7027599 0 0.7114272 -0.7027599 0.184124 -0.6872377 0.7027111 -0.184124 0.6872377 -0.7027111 0 -0.9661027 -0.2581584 0 -0.9769013 -0.2136914 0 0.9769013 0.2136914 0 0.9661027 0.2581584 -0.2499194 -0.9328106 -0.2596244 0.2499194 0.9328106 0.2596244 -0.4877201 -0.8447589 -0.2202538 -0.6897413 -0.6897413 -0.2202594 0.4877201 0.8447589 0.2202538 0.6897413 0.6897413 0.2202594 -0.6872377 0.184124 0.7027111 0.6872377 -0.184124 -0.7027111 -0.7114272 0 0.7027599 0.7114272 0 -0.7027599 -0.9661027 0 -0.2581584 -0.9769013 0 -0.2136914 0.9661027 0 0.2581584 0.9769013 0 0.2136914 -0.7251412 -0.1942865 0.6606232 0.7251412 0.1942865 -0.6606232 -0.9328106 -0.2499194 -0.2596244 0.9328106 0.2499194 0.2596244 -0.8667562 -0.4980491 0.02609419 -0.8418931 -0.5395429 0.01046794 0.8418931 0.5395429 -0.01046794 0.8667562 0.4980491 -0.02609419 -0.8447589 -0.4877201 -0.2202538 0.8447589 0.4877201 0.2202538 -0.4786682 -0.8778941 0.01336753 0.4786682 0.8778941 -0.01336753 -0.258493 -0.9657934 0.02060008 0.258493 0.9657934 -0.02060008 0 -0.7507172 0.6606238 0 0.7507172 -0.6606238 0.1841199 -0.6871921 0.7027567 -0.1841199 0.6871921 -0.7027567 0.355735 -0.6161575 0.7027108 -0.355735 0.6161575 -0.7027108 0.2500432 -0.9331834 -0.2581613 0.25282 -0.943619 -0.2136945 -0.25282 0.943619 0.2136945 -0.2500432 0.9331834 0.2581613 0 -0.9657098 -0.2596243 0 0.9657098 0.2596243 -0.2524518 -0.9422081 -0.2202544 0.2524518 0.9422081 0.2202544 -0.09702157 -0.09702157 0.9905422 -0.06860774 -0.1188428 0.99054 0.09702157 0.09702157 -0.9905422 0.06860774 0.1188428 -0.99054 -0.6871921 0.1841199 0.7027567 0.6871921 -0.1841199 -0.7027567 -0.943619 0.25282 -0.2136945 -0.9331834 0.2500432 -0.2581613 0.943619 -0.25282 0.2136945 0.9331834 -0.2500432 0.2581613 -0.6161575 0.355735 0.7027108 0.6161575 -0.355735 -0.7027108 -0.7507172 0 0.6606238 0.7507172 0 -0.6606238 -0.9657098 0 -0.2596243 0.9657098 0 0.2596243 -0.9661812 -0.2564235 0.02722322 -0.9495945 -0.3133372 0.009491324 0.9495945 0.3133372 -0.009491324 0.9661812 0.2564235 -0.02722322 -0.9422081 -0.2524518 -0.2202544 0.9422081 0.2524518 0.2202544 -0.1188428 -0.06860774 0.99054 0.1188428 0.06860774 -0.99054 -0.6698445 -0.7159902 0.1966379 -0.8268047 -0.5285068 0.1925477 -0.8476287 -0.4828681 0.2199183 0.8476287 0.4828681 -0.2199183 0.8268047 0.5285068 -0.1925477 0.6698445 0.7159902 -0.1966379 -0.6935263 -0.6873309 0.2158648 -0.4714631 -0.8588454 0.200268 0.4714631 0.8588454 -0.200268 0.6935263 0.6873309 -0.2158648 -0.2461029 -0.9691218 0.01538139 0.2461029 0.9691218 -0.01538139 0.00149542 -0.999839 0.01788419 -0.00149542 0.999839 -0.01788419 0.1942865 -0.7251412 0.6606232 -0.1942865 0.7251412 -0.6606232 0.3556997 -0.6161189 0.7027626 -0.3556997 0.6161189 -0.7027626 0.5030862 -0.5030862 0.7027153 -0.5030862 0.5030862 -0.7027153 0.4830625 -0.8366612 -0.2581644 0.4884566 -0.8460172 -0.213694 -0.4884566 0.8460172 0.213694 -0.4830625 0.8366612 0.2581644 0.2499194 -0.9328106 -0.2596244 -0.2499194 0.9328106 0.2596244 0 -0.9754426 -0.2202543 0 0.9754426 0.2202543 -0.03549414 -0.1325462 0.9905412 0.03549414 0.1325462 -0.9905412 -0.7251412 0.1942865 0.6606232 0.7251412 -0.1942865 -0.6606232 -0.6161189 0.3556997 0.7027626 0.6161189 -0.3556997 -0.7027626 -0.9328106 0.2499194 -0.2596244 0.9328106 -0.2499194 0.2596244 -0.8460172 0.4884566 -0.213694 -0.8366612 0.4830625 -0.2581644 0.8460172 -0.4884566 0.213694 0.8366704 -0.4830501 0.2581577 -0.5030862 0.5030862 0.7027153 0.5030862 -0.5030862 -0.7027153 -0.9996716 0.02557468 -0.001648008 -0.9984645 -0.05179095 0.01965433 0.9984645 0.05179095 -0.01965433 0.9996716 -0.02557468 0.001648008 -0.9754426 0 -0.2202543 0.9754426 0 0.2202543 -0.1325462 -0.03549414 0.9905412 0.1325462 0.03549414 -0.9905412 -0.9326388 -0.3080006 0.1879377 -0.9430742 -0.2454355 0.2244383 0.9430742 0.2454355 -0.2244383 0.9326388 0.3080006 -0.1879377 -0.4913921 -0.8446843 0.2122316 0.4913921 0.8446843 -0.2122316 -0.2439726 -0.9482093 0.2034122 0.2439726 0.9482093 -0.2034122 0.001525938 -0.999839 0.01788419 -0.001525938 0.999839 -0.01788419 0.2616427 -0.9650536 0.01464927 -0.2616427 0.9650536 -0.01464927 0.3753548 -0.6501491 0.6606171 -0.3753548 0.6501491 -0.6606171 0.5030495 -0.5030495 0.7027677 -0.5030495 0.5030495 -0.7027677 0.6161575 -0.355735 0.7027108 -0.6161575 0.355735 -0.7027108 0.6831374 -0.6831374 -0.2581602 0.6907728 -0.6907728 -0.2136958 -0.6907728 0.6907728 0.2136958 -0.6831374 0.6831374 0.2581602 0.482851 -0.8363294 -0.2596305 -0.482851 0.8363294 0.2596305 0.2524518 -0.9422081 -0.2202544 -0.2524518 0.9422081 0.2202544 0 -0.1372157 0.9905412 0 0.1372157 -0.9905412 -0.9617878 0.2732095 -0.01791483 0.9617878 -0.2732095 0.01791483 -0.6501491 0.3753548 0.6606171 0.6501491 -0.3753548 -0.6606171 -0.5030495 0.5030495 0.7027677 0.5030495 -0.5030495 -0.7027677 -0.9422081 0.2524518 -0.2202544 0.9422081 -0.2524518 0.2202544 -0.8363294 0.482851 -0.2596305 0.8363294 -0.482851 0.2596305 -0.6907728 0.6907728 -0.2136958 -0.6831374 0.6831374 -0.2581602 0.6907728 -0.6907728 0.2136958 0.6831374 -0.6831374 0.2581602 -0.355735 0.6161575 0.7027108 0.355735 -0.6161575 -0.7027108 -0.1372157 0 0.9905412 0.1372157 0 -0.9905412 -0.9775874 -0.08282876 0.193552 -0.9787093 -0.01025432 0.2049952 0.9787093 0.01025432 -0.2049952 0.9775874 0.08282876 -0.193552 0.7379493 0.4260451 -0.5233702 0.8230713 0.2205315 -0.5233731 -0.7379493 -0.4260451 0.5233702 -0.8230713 -0.2205315 0.5233731 0.6025314 0.6025314 -0.5233659 -0.6025314 -0.6025314 0.5233659 0.4260451 0.7379493 -0.5233702 -0.4260451 -0.7379493 0.5233702 -0.2552024 -0.9440231 0.2090267 0.2552024 0.9440231 -0.2090267 -0.001403808 -0.9785187 0.2061533 0.001403808 0.9785187 -0.2061533 0.2488541 -0.9683154 0.02090567 -0.2488541 0.9683154 -0.02090567 0.5039383 -0.8636718 0.01083439 -0.5039383 0.8636718 -0.01083439 0.5308318 -0.5308318 0.6606326 -0.5308318 0.5308318 -0.6606326 0.6161189 -0.3556997 0.7027626 -0.6161189 0.3556997 -0.7027626 0.6872377 -0.184124 0.7027111 -0.6872377 0.184124 -0.7027111 0.8366612 -0.4830625 -0.2581644 0.8460172 -0.4884566 -0.213694 -0.8366612 0.4830625 0.2581644 -0.8460172 0.4884566 0.213694 0.6828599 -0.6828599 -0.2596241 -0.6828599 0.6828599 0.2596241 0.4877201 -0.8447589 -0.2202538 -0.4877201 0.8447589 0.2202538 0.03549414 -0.1325462 0.9905412 -0.03549414 0.1325462 -0.9905412 -0.9829765 0.1762454 0.05191224 0.9829765 -0.1762454 -0.05191224 -0.856966 0.514729 -0.02575778 0.856966 -0.514729 0.02575778 -0.5308318 0.5308318 0.6606326 0.5308318 -0.5308318 -0.6606326 -0.3556997 0.6161189 0.7027626 0.3556997 -0.6161189 -0.7027626 -0.1325462 0.03549414 0.9905412 0.1325462 -0.03549414 -0.9905412 -0.8447589 0.4877201 -0.2202538 0.8447589 -0.4877201 0.2202538 -0.6828599 0.6828599 -0.2596241 0.6828599 -0.6828599 0.2596241 -0.4884566 0.8460172 -0.213694 -0.4830625 0.8366612 -0.2581644 0.4884566 -0.8460172 0.213694 0.4830625 -0.8366612 0.2581644 -0.184124 0.6872377 0.7027111 0.184124 -0.6872377 -0.7027111 -0.959605 0.1799393 0.2162873 0.959605 -0.1799393 -0.2162873 0.8521013 0 -0.523377 -0.8521013 0 0.523377 0.2205315 0.8230713 -0.5233731 -0.2205315 -0.8230713 0.5233731 -0.00125128 -0.9785115 0.2061887 0.00125128 0.9785115 -0.2061887 0.2411022 -0.9478367 0.2085075 -0.2411022 0.9478367 -0.2085075 0.4804676 -0.876671 0.02447658 -0.4804676 0.876671 -0.02447658 0.7032893 -0.7106445 0.01919668 -0.7032893 0.7106445 -0.01919668 0.6501491 -0.3753548 0.6606171 -0.6501491 0.3753548 -0.6606171 0.6871921 -0.1841199 0.7027567 -0.6871921 0.1841199 -0.7027567 0.7114878 0 0.7026984 -0.7114878 0 -0.7026984 0.9331834 -0.2500432 -0.2581613 0.943619 -0.25282 -0.2136945 -0.9331834 0.2500432 0.2581613 -0.943619 0.25282 0.2136945 0.8363294 -0.482851 -0.2596305 -0.8363294 0.482851 0.2596305 0.6897413 -0.6897413 -0.2202594 -0.6897413 0.6897413 0.2202594 0.06860774 -0.1188428 0.99054 -0.06860774 0.1188428 -0.99054 -0.9088075 0.4129583 0.05945181 0.9088075 -0.4129583 -0.05945181 -0.6926672 0.7204398 -0.03433424 0.6926672 -0.7204398 0.03433424 -0.3753548 0.6501491 0.6606171 0.3753548 -0.6501491 -0.6606171 -0.1841199 0.6871921 0.7027567 0.1841199 -0.6871921 -0.7027567 -0.1188428 0.06860774 0.99054 0.1188428 -0.06860774 -0.99054 -0.6897413 0.6897413 -0.2202594 0.6897413 -0.6897413 0.2202594 -0.482851 0.8363294 -0.2596305 0.482851 -0.8363294 0.2596305 -0.25282 0.943619 -0.2136945 -0.2500432 0.9331834 -0.2581613 0.25282 -0.943619 0.2136945 0.2500432 -0.9331834 0.2581613 0 0.7114878 0.7026984 0 -0.7114878 -0.7026984 -0.9470447 0.2550498 0.1950794 0.9470447 -0.2550498 -0.1950794 0.8230713 -0.2205315 -0.5233731 -0.8230713 0.2205315 0.5233731 0 0.8521013 -0.523377 0 -0.8521013 0.523377 0.2528861 -0.9458051 0.2037189 -0.2528861 0.9458051 -0.2037189 0.4685621 -0.8579878 0.2104912 -0.4685621 0.8579878 -0.2104912 0.6752324 -0.7373079 0.02093601 -0.6752324 0.7373079 -0.02093601 0.8418931 -0.5395429 0.01046794 0.8667562 -0.4980491 0.02609419 -0.8667562 0.4980491 -0.02609419 -0.8418931 0.5395429 -0.01046794 0.7251412 -0.1942865 0.6606232 -0.7251412 0.1942865 -0.6606232 0.7114272 0 0.7027599 -0.7114272 0 -0.7027599 0.6872377 0.184124 0.7027111 -0.6872377 -0.184124 -0.7027111 0.9769013 0 -0.2136914 0.9661027 0 -0.2581584 -0.9769013 0 0.2136914 -0.9661027 0 0.2581584 0.9328106 -0.2499194 -0.2596244 -0.9328106 0.2499194 0.2596244 0.8447589 -0.4877201 -0.2202538 -0.8447589 0.4877201 0.2202538 0.09702157 -0.09702157 0.9905422 -0.09702157 0.09702157 -0.9905422 -0.8844472 0.4131998 0.2168391 0.8844472 -0.4131998 -0.2168391 -0.7785432 0.6239332 0.06766092 0.7785432 -0.6239332 -0.06766092 -0.4803675 0.8759839 -0.04358094 0.4803675 -0.8759839 0.04358094 -0.1942865 0.7251412 0.6606232 0.1942865 -0.7251412 -0.6606232 0 0.7114272 0.7027599 0 -0.7114272 -0.7027599 -0.09702157 0.09702157 0.9905422 0.09702157 -0.09702157 -0.9905422 -0.4877201 0.8447589 -0.2202538 0.4877201 -0.8447589 0.2202538 -0.2499194 0.9328106 -0.2596244 0.2499194 -0.9328106 0.2596244 0 0.9769013 -0.2136914 0 0.9661027 -0.2581584 0 -0.9769013 0.2136914 0 -0.9661027 0.2581584 0.184124 0.6872377 0.7027111 -0.184124 -0.6872377 -0.7027111 0.7379493 -0.4260451 -0.5233702 -0.7379493 0.4260451 0.5233702 -0.2205315 0.8230713 -0.5233731 0.2205315 -0.8230713 0.5233731 0.4898341 -0.8481912 0.2015797 -0.4898341 0.8481912 -0.2015797 0.6666662 -0.7145206 0.212171 -0.6666662 0.7145206 -0.212171 0.9495945 -0.3133372 0.009491324 -0.9495945 0.3133372 -0.009491324 0.9661812 -0.2564235 0.02722322 -0.9661812 0.2564235 -0.02722322 0.7507172 0 0.6606238 -0.7507172 0 -0.6606238 0.6871921 0.1841199 0.7027567 -0.6871921 -0.1841199 -0.7027567 0.6161575 0.355735 0.7027108 -0.6161575 -0.355735 -0.7027108 0.943619 0.25282 -0.2136945 0.9331834 0.2500432 -0.2581613 -0.943619 -0.25282 0.2136945 -0.9331834 -0.2500432 0.2581613 0.9657098 0 -0.2596243 -0.9657098 0 0.2596243 0.9422081 -0.2524518 -0.2202544 -0.9422081 0.2524518 0.2202544 0.1188428 -0.06860774 0.99054 -0.1188428 0.06860774 -0.99054 -0.848949 0.4914181 0.1944065 0.848949 -0.4914181 -0.1944065 -0.7535197 0.6204864 0.2172663 0.7535197 -0.6204864 -0.2172663 -0.6003444 0.7960645 0.07660335 0.6003444 -0.7960645 -0.07660335 -0.2348775 0.9705482 -0.05356156 0.2348775 -0.9705482 0.05356156 0 0.7507172 0.6606238 0 -0.7507172 -0.6606238 0.1841199 0.6871921 0.7027567 -0.1841199 -0.6871921 -0.7027567 -0.06860774 0.1188428 0.99054 0.06860774 -0.1188428 -0.99054 -0.2524518 0.9422081 -0.2202544 0.2524518 -0.9422081 0.2202544 0 0.9657098 -0.2596243 0 -0.9657098 0.2596243 0.25282 0.943619 -0.2136945 0.2500432 0.9331834 -0.2581613 -0.25282 -0.943619 0.2136945 -0.2500432 -0.9331834 0.2581613 0.355735 0.6161575 0.7027108 -0.355735 -0.6161575 -0.7027108 0.6025314 -0.6025314 -0.5233659 -0.6025314 0.6025314 0.5233659 -0.4260451 0.7379493 -0.5233702 0.4260451 -0.7379493 0.5233702 0.6932792 -0.6924247 0.1997801 -0.6932792 0.6924247 -0.1997801 0.8230444 -0.5263052 0.2135435 -0.8230444 0.5263052 -0.2135435 0.849325 -0.4892264 0.1982541 0.9278314 -0.305035 0.2146689 -0.9278314 0.305035 -0.2146689 -0.849325 0.4892264 -0.1982541 0.9984645 -0.05179095 0.01965433 -0.9984645 0.05179095 -0.01965433 0.9996716 0.02557468 -0.001648008 -0.9996716 -0.02557468 0.001648008 0.7251412 0.1942865 0.6606232 -0.7251412 -0.1942865 -0.6606232 0.6161189 0.3556997 0.7027626 -0.6161189 -0.3556997 -0.7027626 0.5030862 0.5030862 0.7027153 -0.5030862 -0.5030862 -0.7027153 0.8460172 0.4884566 -0.213694 0.8366612 0.4830625 -0.2581644 -0.8460172 -0.4884566 0.213694 -0.8366612 -0.4830625 0.2581644 0.9328106 0.2499194 -0.2596244 -0.9328106 -0.2499194 0.2596244 0.9754426 0 -0.2202543 -0.9754426 0 0.2202543 0.1325462 -0.03549414 0.9905412 -0.1325462 0.03549414 -0.9905412 -0.6930278 0.6943401 0.1939184 0.6930278 -0.6943401 -0.1939184 -0.5750399 0.7886734 0.2175398 0.5750399 -0.7886734 -0.2175398 -0.3852799 0.9187632 0.08621793 0.3852799 -0.9187632 -0.08621793 0.02661269 0.9975814 -0.06421238 -0.02661269 -0.9975814 0.06421238 0.1942865 0.7251412 0.6606232 -0.1942865 -0.7251412 -0.6606232 0.3556997 0.6161189 0.7027626 -0.3556997 -0.6161189 -0.7027626 -0.03549414 0.1325462 0.9905412 0.03549414 -0.1325462 -0.9905412 0 0.9754426 -0.2202543 0 -0.9754426 0.2202543 0.2499194 0.9328106 -0.2596244 -0.2499194 -0.9328106 0.2596244 0.4884566 0.8460172 -0.213694 0.4830625 0.8366612 -0.2581644 -0.4884566 -0.8460172 0.213694 -0.4830625 -0.8366612 0.2581644 0.4260451 -0.7379493 -0.5233702 -0.4260451 0.7379493 0.5233702 -0.6025314 0.6025314 -0.5233659 0.6025314 -0.6025314 0.5233659 0.9473087 -0.2526054 0.1969693 -0.9473087 0.2526054 -0.1969693 0.9775189 -0.04983729 0.204873 -0.9775189 0.04983729 -0.204873 0.9617878 0.2732095 -0.01791483 -0.9617878 -0.2732095 0.01791483 0.6501491 0.3753548 0.6606171 -0.6501491 -0.3753548 -0.6606171 0.5030495 0.5030495 0.7027677 -0.5030495 -0.5030495 -0.7027677 0.6907728 0.6907728 -0.2136958 0.6831374 0.6831374 -0.2581602 -0.6907728 -0.6907728 0.2136958 -0.6831374 -0.6831374 0.2581602 0.8363294 0.482851 -0.2596305 -0.8363294 -0.482851 0.2596305 0.9422081 0.2524518 -0.2202544 -0.9422081 -0.2524518 0.2202544 0.1372157 0 0.9905412 -0.1372157 0 -0.9905412 -0.4899877 0.8499632 0.193584 0.4899877 -0.8499632 -0.193584 -0.3602225 0.9071026 0.2177266 0.3602225 -0.9071026 -0.2177266 -0.1467665 0.9844558 0.09647095 0.1467665 -0.9844558 -0.09647095 0.2858382 0.9552964 -0.07553374 -0.2858382 -0.9552964 0.07553374 0.3753548 0.6501491 0.6606171 -0.3753548 -0.6501491 -0.6606171 0 0.1372157 0.9905412 0 -0.1372157 -0.9905412 0.2524518 0.9422081 -0.2202544 -0.2524518 -0.9422081 0.2202544 0.482851 0.8363294 -0.2596305 -0.482851 -0.8363294 0.2596305 0.2205315 -0.8230713 -0.5233731 -0.2205315 0.8230713 0.5233731 -0.7379493 0.4260451 -0.5233702 0.7379493 -0.4260451 0.5233702 -0.8230713 0.2205315 -0.5233731 0.8230713 -0.2205315 0.5233731 0.9752444 0.01995962 0.2202273 -0.9752444 -0.01995962 -0.2202273 0.9829765 0.1762454 0.05191224 -0.9829765 -0.1762454 -0.05191224 0.856966 0.514729 -0.02575778 -0.856966 -0.514729 0.02575778 0.5308318 0.5308318 0.6606326 -0.5308318 -0.5308318 -0.6606326 0.6828599 0.6828599 -0.2596241 -0.6828599 -0.6828599 0.2596241 0.8447589 0.4877201 -0.2202538 -0.8447589 -0.4877201 0.2202538 0.1325462 0.03549414 0.9905412 -0.1325462 -0.03549414 -0.9905412 -0.2535861 0.9477816 0.1934018 0.2535861 -0.9477816 -0.1934018 -0.1226566 0.968252 0.2178155 0.1226566 -0.968252 -0.2178155 0.1003483 0.989139 0.1073983 -0.1003483 -0.989139 -0.1073983 0.5137573 0.8553568 -0.06647044 -0.5137573 -0.8553568 0.06647044 0.03549414 0.1325462 0.9905412 -0.03549414 -0.1325462 -0.9905412 0.4877201 0.8447589 -0.2202538 -0.4877201 -0.8447589 0.2202538 0 -0.8521013 -0.523377 0 0.8521013 0.523377 -0.8521013 0 -0.523377 0.8521013 0 0.523377 0.9363083 0.2611555 0.2347866 -0.9363083 -0.2611555 -0.2347866 0.9682442 0.1764605 0.1771014 -0.9682442 -0.1764605 -0.1771014 0.9088075 0.4129583 0.05945181 -0.9088075 -0.4129583 -0.05945181 0.6926672 0.7204398 -0.03433424 -0.6926672 -0.7204398 0.03433424 0.6897413 0.6897413 -0.2202594 -0.6897413 -0.6897413 0.2202594 0.1188428 0.06860774 0.99054 -0.1188428 -0.06860774 -0.99054 0 0.9811321 0.1933393 0 -0.9811321 -0.1933393 0.1226566 0.968252 0.2178155 -0.1226566 -0.968252 -0.2178155 0.3553325 0.9313478 0.07956296 -0.3553325 -0.9313478 -0.07956296 0.7670745 0.6408157 0.03085505 -0.7670745 -0.6408157 -0.03085505 0.06860774 0.1188428 0.99054 -0.06860774 -0.1188428 -0.99054 -0.2205315 -0.8230713 -0.5233731 0.2205315 0.8230713 0.5233731 -0.8230713 -0.2205315 -0.5233731 0.8230713 0.2205315 0.5233731 0.8347766 0.4952137 0.2406483 -0.8347766 -0.4952137 -0.2406483 0.8957068 0.4105132 0.1708462 -0.8957068 -0.4105132 -0.1708462 0.09702157 0.09702157 0.9905422 -0.09702157 -0.09702157 -0.9905422 0.2535861 0.9477816 0.1934018 -0.2535861 -0.9477816 -0.1934018 0.3630531 0.9026886 0.2309672 -0.3630531 -0.9026886 -0.2309672 -0.4260451 -0.7379493 -0.5233702 0.4260451 0.7379493 0.5233702 -0.7379493 -0.4260451 -0.5233702 0.7379493 0.4260451 0.5233702 0.8020709 0.561886 0.2024022 -0.8020709 -0.561886 -0.2024022 0.8363267 0.5307347 0.1373989 -0.8363267 -0.5307347 -0.1373989 5.76903e-7 0 1 0 0 -1 0.5166543 0.8115278 0.2729305 -0.5166543 -0.8115278 -0.2729305 -0.6025314 -0.6025314 -0.5233659 0.6025314 0.6025314 0.5233659 0.6121779 0.7688313 0.1847612 0.5436063 0.8303028 0.1228394 0.6651737 0.7083284 0.2362518 -0.6651737 -0.7083284 -0.2362518 -0.5436084 -0.8303059 -0.1228093 -0.6121779 -0.7688313 -0.1847612 0.4805881 0.8741961 0.06940096 -0.4805881 -0.8741961 -0.06940096 0.5771486 0.7521762 0.3180101 -0.5771486 -0.7521762 -0.3180101 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 |

9 8 8 10 11 10 9 11 17 16 16 8 17 9 8 26 26 27 10 27 10 32 33 32 11 33 42 9 43 11 42 43 49 48 48 16 49 17 16 54 54 26 59 17 59 42 26 68 68 69 27 69 27 74 32 74 32 79 80 79 33 80 85 33 43 85 90 42 91 43 90 91 97 96 96 48 97 49 48 102 102 54 107 49 107 59 54 112 112 68 115 59 115 90 68 122 69 122 69 127 74 127 74 132 79 132 79 137 138 137 80 138 143 80 85 143 146 85 91 146 151 90 152 91 151 152 157 96 158 97 158 157 96 163 163 102 168 97 168 107 102 173 173 112 176 107 176 115 112 181 68 181 184 115 184 151 181 122 122 187 69 187 127 187 127 194 132 194 132 199 137 199 137 204 205 204 138 205 210 138 143 210 213 143 146 213 216 146 152 216 225 151 226 152 225 226 231 163 157 231 236 168 236 158 241 157 242 158 242 241 163 247 247 173 250 168 250 176 173 255 112 255 258 176 258 184 255 181 263 184 263 225 181 270 122 270 122 275 187 275 187 278 127 278 194 278 194 285 199 285 199 290 204 290 204 295 296 295 205 296 301 205 210 301 304 210 213 304 307 213 216 307 312 216 226 312 317 247 231 317 322 231 241 322 325 250 325 236 330 236 330 242 335 241 336 242 336 335 247 341 173 341 344 250 344 258 341 255 349 258 349 263 255 354 181 354 354 270 270 275 275 357 187 357 278 357 278 362 194 362 285 362 285 369 290 369 290 374 295 374 295 379 380 379 296 380 385 296 301 385 388 301 304 388 391 304 307 391 396 307 312 396 317 341 403 317 322 403 408 322 335 408 411 344 411 325 414 325 414 330 419 330 419 336 424 335 425 336 425 424 430 344 430 349 341 435 255 435 435 354 444 354 445 270 444 445 450 275 445 450 455 357 450 455 357 458 278 458 362 458 362 463 285 463 369 463 369 470 374 470 374 475 379 475 379 480 481 480 380 481 486 380 385 486 489 385 388 489 492 388 391 492 497 391 396 497 317 500 500 341 403 500 507 403 408 507 512 408 424 512 517 430 517 411 520 411 520 414 523 414 523 419 528 419 528 425 533 424 534 425 534 533 500 435 541 435 541 444 546 458 455 546 458 549 362 549 463 549 463 554 369 554 470 554 470 561 475 561 475 566 480 566 480 571 572 571 481 572 577 481 486 577 580 486 489 580 583 489 492 583 588 492 497 588 403 591 591 500 507 591 598 507 512 598 603 512 533 603 608 517 608 520 611 520 611 523 614 523 614 528 619 528 619 534 624 533 625 534 625 624 500 628 628 435 633 541 633 628 638 549 546 638 549 641 463 641 554 641 554 646 470 646 561 651 651 470 561 656 566 656 566 661 571 661 571 666 667 666 572 667 672 572 577 672 675 577 580 675 678 580 583 678 683 583 588 683 591 628 507 688 688 591 598 688 695 598 603 695 700 603 624 700 705 608 705 611 708 611 708 614 711 614 711 619 716 619 716 625 721 624 722 625 722 721 727 628 728 633 728 727 733 641 638 733 641 736 554 736 646 736 646 651 741 561 651 741 656 741 656 748 661 748 661 753 666 753 666 758 759 758 667 759 764 667 672 764 767 672 675 767 770 675 678 770 775 678 683 775 591 727 688 727 598 782 782 688 695 782 789 695 700 789 794 700 721 794 799 705 799 708 802 708 802 711 805 711 805 716 810 716 810 722 815 721 816 722 816 815 821 727 822 728 822 821 827 736 733 827 736 830 646 830 651 830 651 837 741 837 840 656 741 840 748 840 748 847 753 847 753 852 758 852 758 857 858 857 759 858 863 759 764 863 866 764 767 866 869 767 770 869 874 770 775 874 688 821 782 821 695 881 881 782 789 881 888 789 794 888 893 794 815 893 898 799 898 802 901 802 901 805 904 805 904 810 909 810 909 816 857 815 858 816 914 821 915 822 915 914 920 830 827 920 830 837 837 923 741 923 840 923 840 847 847 932 852 932 852 937 857 937 942 858 863 942 945 863 866 945 948 866 869 948 953 869 874 953 782 914 881 914 789 960 960 881 888 960 967 888 893 967 937 893 972 898 972 901 975 901 975 904 978 904 978 909 942 909 983 914 984 915 984 983 989 837 920 989 994 923 989 994 923 997 840 997 840 1000 847 1000 1000 932 932 1007 937 1007 1010 942 945 1010 1013 945 948 1013 1018 948 953 1018 881 983 960 983 888 1025 1025 960 967 1025 1007 967 1032 972 1032 975 1035 975 1035 978 1010 978 1040 983 1041 984 1041 1040 1046 997 994 1046 997 1049 840 1049 1000 1049 1000 1054 932 1054 1054 1007 1059 1010 1013 1059 1064 1013 1018 1064 960 1040 1025 1040 967 1071 1071 1025 1007 1074 967 1074 1079 1032 1079 1035 1059 1035 1084 1040 1085 1041 1085 1084 1090 1049 1046 1090 1049 1093 1000 1093 1054 1093 1054 1074 1100 1059 1064 1100 1025 1084 1071 1074 1071 1084 1100 1079 1109 1084 1110 1085 1110 1109 1115 1093 1090 1115 1093 1118 1054 1118 1074 1118 1127 1071 1074 1127 1071 1109 1118 1109 1134 1110 1134 1118 1115 1134 1127 1118 1071 1118

140 | 141 | 142 | 143 | 144 | 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 145 |

0 0 1 1 2 1 1 1 0 0 3 0 4 2 5 2 6 3 7 3 6 3 5 2 12 4 3 0 0 0 3 0 12 4 13 4 14 5 15 5 4 2 5 2 4 2 15 5 18 6 19 7 20 7 19 7 18 6 21 6 22 8 23 8 24 9 25 9 24 9 23 8 2 1 28 10 29 10 28 10 2 1 1 1 6 3 7 3 30 11 31 11 30 11 7 3 34 12 35 13 36 14 35 13 34 12 37 15 38 16 39 17 40 18 41 19 40 18 39 17 44 20 13 4 12 4 13 4 44 20 45 20 46 21 47 21 14 5 15 5 14 5 47 21 50 22 21 6 18 6 21 6 50 22 51 22 52 23 53 23 22 8 23 8 22 8 53 23 34 12 55 24 56 25 55 24 34 12 36 14 41 19 39 17 57 26 58 27 57 26 39 17 60 28 61 29 62 29 61 29 60 28 63 28 64 30 65 30 66 31 67 31 66 31 65 30 20 7 70 32 71 32 70 32 20 7 19 7 24 9 25 9 72 33 73 33 72 33 25 9 28 10 75 34 29 10 75 34 28 10 76 34 77 35 30 11 78 35 31 11 78 35 30 11 37 15 81 36 35 13 81 36 37 15 82 37 83 38 38 16 84 39 40 18 84 39 38 16 36 14 86 40 87 41 86 40 36 14 35 13 40 18 41 19 88 42 89 43 88 42 41 19 45 20 92 44 93 44 92 44 45 20 44 20 47 21 46 21 94 45 95 45 94 45 46 21 98 46 51 22 50 22 51 22 98 46 99 46 100 47 101 47 52 23 53 23 52 23 101 47 56 25 103 48 104 49 103 48 56 25 55 24 57 26 58 27 105 50 106 51 105 50 58 27 108 52 63 28 60 28 63 28 108 52 109 52 110 53 111 53 64 30 65 30 64 30 111 53 36 14 113 54 55 24 113 54 36 14 87 41 89 43 41 19 114 55 57 26 114 55 41 19 116 56 117 57 118 58 119 59 120 60 121 61 61 29 123 62 62 29 123 62 61 29 124 62 125 63 66 31 126 63 67 31 126 63 66 31 70 32 128 64 71 32 128 64 70 32 129 64 130 65 72 33 131 65 73 33 131 65 72 33 76 34 133 66 75 34 133 66 76 34 134 66 135 67 77 35 136 67 78 35 136 67 77 35 82 37 139 68 81 36 139 68 82 37 140 69 141 70 83 38 142 71 84 39 142 71 83 38 35 13 144 72 86 40 144 72 35 13 81 36 84 39 40 18 145 73 88 42 145 73 40 18 87 41 147 74 148 75 147 74 87 41 86 40 88 42 89 43 149 76 150 77 149 76 89 43 93 44 153 78 154 78 153 78 93 44 92 44 94 45 95 45 155 79 156 79 155 79 95 45 159 80 98 46 160 80 98 46 159 80 99 46 100 47 161 81 101 47 162 81 101 47 161 81 104 49 164 82 165 83 164 82 104 49 103 48 105 50 106 51 166 84 167 85 166 84 106 51 169 86 108 52 170 86 108 52 169 86 109 52 110 53 171 87 111 53 172 87 111 53 171 87 55 24 174 88 103 48 174 88 55 24 113 54 114 55 57 26 175 89 105 50 175 89 57 26 118 58 177 90 178 91 179 92 180 93 119 59 87 41 182 94 113 54 182 94 87 41 148 75 150 77 89 43 183 95 114 55 183 95 89 43 116 56 118 58 178 91 179 92 119 59 121 61 185 96 117 57 116 56 121 61 120 60 186 97 185 96 188 98 117 57 120 60 189 99 186 97 124 62 190 100 123 62 190 100 124 62 191 100 192 101 125 63 193 101 126 63 193 101 125 63 129 64 195 102 128 64 195 102 129 64 196 102 197 103 130 65 198 103 131 65 198 103 130 65 200 104 134 66 201 104 134 66 200 104 133 66 136 67 202 105 135 67 203 105 135 67 202 105 140 69 206 106 139 68 206 106 140 69 207 107 208 108 141 70 209 109 142 71 209 109 141 70 81 36 211 110 144 72 211 110 81 36 139 68 142 71 84 39 212 111 145 73 212 111 84 39 86 40 214 112 147 74 214 112 86 40 144 72 145 73 88 42 215 113 149 76 215 113 88 42 217 114 218 115 219 115 218 115 217 114 220 114 221 116 222 116 223 117 224 117 223 117 222 116 159 80 227 118 228 118 227 118 159 80 160 80 162 81 161 81 229 119 230 119 229 119 161 81 232 120 164 82 233 121 164 82 232 120 165 83 167 85 234 122 166 84 235 123 166 84 234 122 237 124 153 78 238 124 153 78 237 124 154 78 156 79 239 125 155 79 240 125 155 79 239 125 169 86 243 126 244 126 243 126 169 86 170 86 172 87 171 87 245 127 246 127 245 127 171 87 103 48 248 128 164 82 248 128 103 48 174 88 175 89 105 50 249 129 166 84 249 129 105 50 177 90 251 130 252 131 253 132 254 133 180 93 113 54 256 134 174 88 256 134 113 54 182 94 183 95 114 55 257 135 175 89 257 135 114 55 178 91 177 90 252 131 253 132 180 93 179 92 259 136 220 114 217 114 220 114 259 136 260 136 261 137 262 137 221 116 222 116 221 116 262 137 264 138 265 139 266 140 267 141 268 142 269 143 271 144 272 145 264 138 269 143 273 146 274 147 276 148 188 98 185 96 186 97 189 99 277 149 276 148 279 150 188 98 189 99 280 151 277 149 191 100 281 152 190 100 281 152 191 100 282 152 283 153 192 101 284 153 193 101 284 153 192 101 286 154 196 102 287 154 196 102 286 154 195 102 198 103 288 155 197 103 289 155 197 103 288 155 291 156 201 104 292 156 201 104 291 156 200 104 202 105 293 157 203 105 294 157 203 105 293 157 207 107 297 158 206 106 297 158 207 107 298 159 299 160 208 108 300 161 209 109 300 161 208 108 139 68 302 162 211 110 302 162 139 68 206 106 209 109 142 71 303 163 212 111 303 163 142 71 144 72 305 164 214 112 305 164 144 72 211 110 212 111 145 73 306 165 215 113 306 165 145 73 219 115 308 166 309 166 308 166 219 115 218 115 223 117 224 117 310 167 311 167 310 167 224 117 244 126 313 168 314 168 313 168 244 126 243 126 245 127 246 127 315 169 316 169 315 169 246 127 318 170 227 118 319 170 227 118 318 170 228 118 230 119 320 171 229 119 321 171 229 119 320 171 233 121 248 128 323 172 248 128 233 121 164 82 166 84 235 123 249 129 324 173 249 129 235 123 326 174 233 121 327 175 233 121 326 174 232 120 234 122 328 176 235 123 329 177 235 123 328 176 331 178 238 124 332 178 238 124 331 178 237 124 239 125 333 179 240 125 334 179 240 125 333 179 251 130 337 180 338 181 339 182 340 183 254 133 174 88 342 184 248 128 342 184 174 88 256 134 257 135 175 89 343 185 249 129 343 185 175 89 252 131 251 130 338 181 339 182 254 133 253 132 345 186 260 136 259 136 260 136 345 186 346 186 347 187 348 187 261 137 262 137 261 137 348 187 265 139 350 188 351 189 352 190 353 191 268 142 265 139 351 189 266 140 267 141 352 190 268 142 271 144 264 138 266 140 267 141 269 143 274 147 355 192 272 145 271 144 274 147 273 146 356 193 355 192 358 194 272 145 273 146 359 195 356 193 360 196 279 150 276 148 277 149 280 151 361 197 360 196 363 198 279 150 280 151 364 199 361 197 282 152 365 200 281 152 365 200 282 152 366 200 367 201 283 153 368 201 284 153 368 201 283 153 370 202 287 154 371 202 287 154 370 202 286 154 288 155 372 203 289 155 373 203 289 155 372 203 375 204 292 156 376 204 292 156 375 204 291 156 293 157 377 205 294 157 378 205 294 157 377 205 298 159 381 206 297 158 381 206 298 159 382 207 383 208 299 160 384 209 300 161 384 209 299 160 206 106 386 210 302 162 386 210 206 106 297 158 300 161 209 109 387 211 303 163 387 211 209 109 211 110 389 212 305 164 389 212 211 110 302 162 303 163 212 111 390 213 306 165 390 213 212 111 392 214 308 166 393 214 308 166 392 214 309 166 311 167 394 215 310 167 395 215 310 167 394 215 338 181 337 180 397 216 398 217 340 183 339 182 314 168 399 218 400 218 399 218 314 168 313 168 315 169 316 169 401 219 402 219 401 219 316 169 404 220 319 170 405 220 319 170 404 220 318 170 320 171 406 221 321 171 407 221 321 171 406 221 323 172 342 184 409 222 342 184 323 172 248 128 249 129 324 173 343 185 410 223 343 185 324 173 327 175 323 172 412 224 323 172 327 175 233 121 235 123 329 177 324 173 413 225 324 173 329 177 415 226 327 175 416 227 327 175 415 226 326 174 328 176 417 228 329 177 418 229 329 177 417 228 420 230 332 178 421 230 332 178 420 230 331 178 333 179 422 231 334 179 423 231 334 179 422 231 426 232 346 186 345 186 346 186 426 232 427 232 428 233 429 233 347 187 348 187 347 187 429 233 350 188 431 234 432 235 433 236 434 237 353 191 350 188 432 235 351 189 352 190 433 236 353 191 436 238 437 239 438 239 437 239 436 238 439 238 440 240 441 240 442 241 443 241 442 241 441 240 446 242 439 238 436 238 439 238 446 242 447 242 448 243 449 243 440 240 441 240 440 240 449 243 451 244 446 242 452 244 446 242 451 244 447 242 448 243 453 245 449 243 454 245 449 243 453 245 456 246 358 194 355 192 356 193 359 195 457 247 456 246 459 248 358 194 359 195 460 249 457 247 461 250 363 198 360 196 361 197 364 199 462 251 461 250 464 252 363 198 364 199 465 253 462 251 466 254 366 200 467 254 366 200 466 254 365 200 368 201 468 255 367 201 469 255 367 201 468 255 471 256 371 202 472 256 371 202 471 256 370 202 372 203 473 257 373 203 474 257 373 203 473 257 476 258 376 204 477 258 376 204 476 258 375 204 377 205 478 259 378 205 479 259 378 205 478 259 482 260 382 207 483 261 382 207 482 260 381 206 384 209 484 262 383 208 485 263 383 208 484 262 297 158 487 264 386 210 487 264 297 158 381 206 384 209 300 161 488 265 387 211 488 265 300 161 302 162 490 266 389 212 490 266 302 162 386 210 387 211 303 163 491 267 390 213 491 267 303 163 493 268 393 214 494 268 393 214 493 268 392 214 394 215 495 269 395 215 496 269 395 215 495 269 338 181 397 216 498 270 499 271 398 217 339 182 498 270 397 216 501 272 502 273 398 217 499 271 503 274 399 218 504 274 399 218 503 274 400 218 402 219 505 275 401 219 506 275 401 219 505 275 508 276 405 220 509 276 405 220 508 276 404 220 406 221 510 277 407 221 511 277 407 221 510 277 513 278 426 232 514 278 426 232 513 278 427 232 428 233 515 279 429 233 516 279 429 233 515 279 412 224 409 222 518 280 409 222 412 224 323 172 324 173 413 225 410 223 519 281 410 223 413 225 416 227 412 224 521 282 412 224 416 227 327 175 329 177 418 229 413 225 522 283 413 225 418 229 524 284 416 227 525 285 416 227 524 284 415 226 417 228 526 286 418 229 527 287 418 229 526 286 529 288 421 230 530 288 421 230 529 288 420 230 422 231 531 289 423 231 532 289 423 231 531 289 431 234 535 290 432 235 433 236 536 291 434 237 438 239 537 292 538 292 537 292 438 239 437 239 442 241 443 241 539 293 540 293 539 293 443 241 542 294 452 244 543 294 452 244 542 294 451 244 453 245 544 295 454 245 545 295 454 245 544 295 547 296 459 248 456 246 457 247 460 249 548 297 547 296 550 298 459 248 460 249 551 299 548 297 552 300 464 252 461 250 462 251 465 253 553 301 552 300 555 302 464 252 465 253 556 303 553 301 557 304 467 254 558 304 467 254 557 304 466 254 468 255 559 305 469 255 560 305 469 255 559 305 562 306 472 256 563 306 472 256 562 306 471 256 473 257 564 307 474 257 565 307 474 257 564 307 476 258 567 308 568 308 567 308 476 258 477 258 479 259 478 259 569 309 570 309 569 309 478 259 573 310 483 261 574 311 483 261 573 310 482 260 484 262 575 312 485 263 576 313 485 263 575 312 578 314 381 206 482 260 381 206 578 314 487 264 488 265 579 315 384 209 484 262 384 209 579 315 386 210 581 316 490 266 581 316 386 210 487 264 488 265 387 211 582 317 491 267 582 317 387 211 584 318 494 268 585 318 494 268 584 318 493 268 495 269 586 319 496 269 587 319 496 269 586 319 498 270 501 272 589 320 590 321 502 273 499 271 589 320 501 272 592 322 593 323 502 273 590 321 594 324 504 274 595 324 504 274 594 324 503 274 505 275 596 325 506 275 597 325 506 275 596 325 599 326 509 276 600 326 509 276 599 326 508 276 510 277 601 327 511 277 602 327 511 277 601 327 604 328 514 278 605 328 514 278 604 328 513 278 515 279 606 329 516 279 607 329 516 279 606 329 521 282 518 280 609 330 518 280 521 282 412 224 413 225 522 283 519 281 610 331 519 281 522 283 525 285 521 282 612 332 521 282 525 285 416 227 418 229 527 287 522 283 613 333 522 283 527 287 615 334 525 285 616 335 525 285 615 334 524 284 526 286 617 336 527 287 618 337 527 287 617 336 620 338 530 288 621 338 530 288 620 338 529 288 531 289 622 339 532 289 623 339 532 289 622 339 432 235 535 290 626 340 627 341 536 291 433 236 629 342 537 292 630 342 537 292 629 342 538 292 540 293 631 343 539 293 632 343 539 293 631 343 634 344 543 294 635 344 543 294 634 344 542 294 544 295 636 345 545 295 637 345 545 295 636 345 639 346 550 298 547 296 548 297 551 299 640 347 639 346 642 348 550 298 551 299 643 349 640 347 644 350 555 302 552 300 553 301 556 303 645 351 555 302 647 352 648 353 649 354 650 355 556 303 557 304 652 356 653 356 652 356 557 304 558 304 560 305 559 305 654 357 655 357 654 357 559 305 562 306 657 358 658 358 657 358 562 306 563 306 565 307 564 307 659 359 660 359 659 359 564 307 662 360 567 308 663 360 567 308 662 360 568 308 570 309 664 361 569 309 665 361 569 309 664 361 573 310 668 362 669 363 668 362 573 310 574 311 576 313 575 312 670 364 671 365 670 364 575 312 673 366 482 260 573 310 482 260 673 366 578 314 579 315 674 367 484 262 575 312 484 262 674 367 676 368 487 264 578 314 487 264 676 368 581 316 582 317 677 369 488 265 579 315 488 265 677 369 679 370 585 318 680 370 585 318 679 370 584 318 586 319 681 371 587 319 682 371 587 319 681 371 535 290 684 372 626 340 627 341 685 373 536 291 589 320 592 322 686 374 687 375 593 323 590 321 686 374 592 322 689 376 690 377 593 323 687 375 691 378 595 324 692 378 595 324 691 378 594 324 596 325 693 379 597 325 694 379 597 325 693 379 696 380 600 326 697 380 600 326 696 380 599 326 601 327 698 381 602 327 699 381 602 327 698 381 701 382 605 328 702 382 605 328 701 382 604 328 606 329 703 383 607 329 704 383 607 329 703 383 612 332 609 330 706 384 609 330 612 332 521 282 522 283 613 333 610 331 707 385 610 331 613 333 616 335 612 332 709 386 612 332 616 335 525 285 527 287 618 337 613 333 710 387 613 333 618 337 712 388 616 335 713 389 616 335 712 388 615 334 617 336 714 390 618 337 715 391 618 337 714 390 717 392 621 338 718 392 621 338 717 392 620 338 622 339 719 393 623 339 720 393 623 339 719 393 723 394 630 342 724 394 630 342 723 394 629 342 631 343 725 395 632 343 726 395 632 343 725 395 729 396 635 344 730 396 635 344 729 396 634 344 636 345 731 397 637 345 732 397 637 345 731 397 734 398 642 348 639 346 640 347 643 349 735 399 734 398 737 400 642 348 643 349 738 401 735 399 644 350 647 352 555 302 556 303 650 355 645 351 647 352 739 402 648 353 649 354 740 403 650 355 648 353 739 402 742 404 743 405 740 403 649 354 653 356 744 406 745 406 744 406 653 356 652 356 654 357 655 357 746 407 747 407 746 407 655 357 749 408 657 358 750 408 657 358 749 408 658 358 660 359 751 409 659 359 752 409 659 359 751 409 754 410 662 360 663 360 662 360 754 410 755 410 756 411 757 411 664 361 665 361 664 361 757 411 669 363 760 412 761 413 760 412 669 363 668 362 670 364 671 365 762 414 763 415 762 414 671 365 673 366 669 363 765 416 669 363 673 366 573 310 575 312 674 367 671 365 766 417 671 365 674 367 768 418 578 314 673 366 578 314 768 418 676 368 677 369 769 419 579 315 674 367 579 315 769 419 771 420 680 370 772 420 680 370 771 420 679 370 681 371 773 421 682 371 774 421 682 371 773 421 626 340 684 372 776 422 777 423 685 373 627 341 684 372 778 424 776 422 777 423 779 425 685 373 686 374 689 376 780 426 781 427 690 377 687 375 780 426 689 376 783 428 784 429 690 377 781 427 785 430 692 378 786 430 692 378 785 430 691 378 693 379 787 431 694 379 788 431 694 379 787 431 790 432 697 380 791 432 697 380 790 432 696 380 698 381 792 433 699 381 793 433 699 381 792 433 795 434 702 382 796 434 702 382 795 434 701 382 703 383 797 435 704 383 798 435 704 383 797 435 709 386 706 384 800 436 706 384 709 386 612 332 613 333 710 387 707 385 801 437 707 385 710 387 713 389 709 386 803 438 709 386 713 389 616 335 618 337 715 391 710 387 804 439 710 387 715 391 806 440 713 389 807 441 713 389 806 440 712 388 714 390 808 442 715 391 809 443 715 391 808 442 717 392 811 444 812 444 811 444 717 392 718 392 720 393 719 393 813 445 814 445 813 445 719 393 817 446 724 394 818 446 724 394 817 446 723 394 725 395 819 447 726 395 820 447 726 395 819 447 823 448 730 396 824 448 730 396 823 448 729 396 731 397 825 449 732 397 826 449 732 397 825 449 828 450 737 400 734 398 735 399 738 401 829 451 828 450 831 452 737 400 738 401 832 453 829 451 831 452 833 454 834 455 835 456 836 457 832 453 739 402 838 458 742 404 743 405 839 459 740 403 742 404 838 458 841 460 842 461 839 459 743 405 843 462 744 406 844 462 744 406 843 462 745 406 747 407 845 463 746 407 846 463 746 407 845 463 848 464 749 408 750 408 749 408 848 464 849 464 850 465 851 465 751 409 752 409 751 409 851 465 853 466 755 410 754 410 755 410 853 466 854 466 855 467 856 467 756 411 757 411 756 411 856 467 761 413 859 468 860 469 859 468 761 413 760 412 762 414 763 415 861 470 862 471 861 470 763 415 765 416 761 413 864 472 761 413 765 416 669 363 671 365 766 417 763 415 865 473 763 415 766 417 768 418 765 416 867 474 765 416 768 418 673 366 674 367 769 419 766 417 868 475 766 417 769 419 870 476 772 420 871 476 772 420 870 476 771 420 773 421 872 477 774 421 873 477 774 421 872 477 776 422 778 424 875 478 876 479 779 425 777 423 875 478 778 424 877 480 878 481 779 425 876 479 780 426 783 428 879 482 880 483 784 429 781 427 879 482 783 428 882 484 883 485 784 429 880 483 884 486 786 430 885 486 786 430 884 486 785 430 787 431 886 487 788 431 887 487 788 431 886 487 790 432 889 488 890 488 889 488 790 432 791 432 793 433 792 433 891 489 892 489 891 489 792 433 894 490 796 434 895 490 796 434 894 490 795 434 797 435 896 491 798 435 897 491 798 435 896 491 803 438 800 436 899 492 800 436 803 438 709 386 710 387 804 439 801 437 900 493 801 437 804 439 807 441 803 438 902 494 803 438 807 441 713 389 715 391 809 443 804 439 903 495 804 439 809 443 905 496 807 441 906 497 807 441 905 496 806 440 808 442 907 498 809 443 908 499 809 443 907 498 812 444 854 466 853 466 854 466 812 444 811 444 813 445 814 445 855 467 856 467 855 467 814 445 818 446 910 500 817 446 910 500 818 446 911 500 912 501 820 447 913 501 819 447 913 501 820 447 916 502 824 448 917 502 824 448 916 502 823 448 825 449 918 503 826 449 919 503 826 449 918 503 828 450 833 454 831 452 832 453 836 457 829 451 833 454 921 504 834 455 835 456 922 505 836 457 834 455 921 504 924 506 925 507 922 505 835 456 838 458 926 508 841 460 842 461 927 509 839 459 928 510 844 462 929 510 844 462 928 510 843 462 845 463 930 511 846 463 931 511 846 463 930 511 933 512 849 464 848 464 849 464 933 512 934 512 935 513 936 513 850 465 851 465 850 465 936 513 860 469 938 514 939 515 938 514 860 469 859 468 861 470 862 471 940 516 941 517 940 516 862 471 864 472 860 469 943 518 860 469 864 472 761 413 763 415 865 473 862 471 944 519 862 471 865 473 867 474 864 472 946 520 864 472 867 474 765 416 766 417 868 475 865 473 947 521 865 473 868 475 949 522 871 476 950 522 871 476 949 522 870 476 872 477 951 523 873 477 952 523 873 477 951 523 875 478 877 480 954 524 955 525 878 481 876 479 954 524 877 480 956 526 957 527 878 481 955 525 879 482 882 484 958 528 959 529 883 485 880 483 958 528 882 484 961 530 962 531 883 485 959 529 963 532 885 486 964 532 885 486 963 532 884 486 886 487 965 533 887 487 966 533 887 487 965 533 890 488 934 512 933 512 934 512 890 488 889 488 891 489 892 489 935 513 936 513 935 513 892 489 968 534 895 490 969 534 895 490 968 534 894 490 896 491 970 535 897 491 971 535 897 491 970 535 902 494 899 492 973 536 899 492 902 494 803 438 804 439 903 495 900 493 974 537 900 493 903 495 906 497 902 494 976 538 902 494 906 497 807 441 809 443 908 499 903 495 977 539 903 495 908 499 938 514 906 497 939 515 906 497 938 514 905 496 907 498 940 516 908 499 941 517 908 499 940 516 911 500 979 540 910 500 979 540 911 500 980 540 981 541 912 501 982 541 913 501 982 541 912 501 985 542 917 502 986 542 917 502 985 542 916 502 918 503 987 543 919 503 988 543 919 503 987 543 990 544 986 542 991 544 986 542 990 544 985 542 987 543 992 545 988 543 993 545 988 543 992 545 921 504 995 546 924 506 925 507 996 547 922 505 838 458 998 548 926 508 927 509 999 549 839 459 998 548 1001 550 926 508 927 509 1002 551 999 549 1003 552 928 510 929 510 928 510 1003 552 1004 552 1005 553 1006 553 930 511 931 511 930 511 1006 553 943 518 939 515 1008 554 939 515 943 518 860 469 862 471 944 519 941 517 1009 555 941 517 944 519 946 520 943 518 1011 556 943 518 946 520 864 472 865 473 947 521 944 519 1012 557 944 519 947 521 1014 558 949 522 950 522 949 522 1014 558 1015 558 1016 559 1017 559 951 523 952 523 951 523 1017 559 954 524 956 526 1019 560 1020 561 957 527 955 525 1019 560 956 526 1021 562 1022 563 957 527 1020 561 958 528 961 530 1023 564 1024 565 962 531 959 529 1023 564 961 530 1026 566 1027 567 962 531 1024 565 963 532 1004 552 1003 552 1004 552 963 532 964 532 966 533 965 533 1005 553 1006 553 1005 553 965 533 968 534 1028 568 1029 568 1028 568 968 534 969 534 971 535 970 535 1030 569 1031 569 1030 569 970 535 976 538 973 536 1033 570 973 536 976 538 902 494 903 495 977 539 974 537 1034 571 974 537 977 539 939 515 976 538 1008 554 976 538 939 515 906 497 908 499 941 517 977 539 1009 555 977 539 941 517 980 540 1036 572 979 540 1036 572 980 540 1037 572 1038 573 981 541 1039 573 982 541 1039 573 981 541 990 544 1042 574 1043 574 1042 574 990 544 991 544 993 545 992 545 1044 575 1045 575 1044 575 992 545 924 506 995 546 1047 576 1048 577 996 547 925 507 924 506 1047 576 1050 578 1051 579 1048 577 925 507 998 548 1052 580 1001 550 1002 551 1053 581 999 549 1052 580 1055 582 1001 550 1002 551 1056 583 1053 581 1011 556 1008 554 1057 584 1008 554 1011 556 943 518 944 519 1012 557 1009 555 1058 585 1009 555 1012 557 1060 586 1015 558 1014 558 1015 558 1060 586 1061 586 1062 587 1063 587 1016 559 1017 559 1016 559 1063 587 1019 560 1021 562 1065 588 1066 589 1022 563 1020 561 1065 588 1021 562 1067 590 1068 591 1022 563 1066 589 1023 564 1026 566 1069 592 1070 593 1027 567 1024 565 1072 594 1026 566 1055 582 1056 583 1027 567 1073 595 1029 568 1075 596 1076 596 1075 596 1029 568 1028 568 1030 569 1031 569 1077 597 1078 597 1077 597 1031 569 1008 554 1033 570 1057 584 1033 570 1008 554 976 538 977 539 1009 555 1034 571 1058 585 1034 571 1009 555 1037 572 1080 598 1036 572 1080 598 1037 572 1081 598 1082 599 1038 573 1083 599 1039 573 1083 599 1038 573 1043 574 1086 600 1087 600 1086 600 1043 574 1042 574 1044 575 1045 575 1088 601 1089 601 1088 601 1045 575 1050 578 1047 576 1091 602 1092 603 1048 577 1051 579 1050 578 1091 602 1094 604 1095 605 1092 603 1051 579 1052 580 1072 594 1055 582 1056 583 1073 595 1053 581 1096 606 1061 586 1060 586 1061 586 1096 606 1097 606 1098 607 1099 607 1062 587 1063 587 1062 587 1099 607 1065 588 1067 590 1101 608 1102 609 1068 591 1066 589 1069 592 1026 566 1072 594 1073 595 1027 567 1070 593 1101 608 1067 590 1103 610 1104 611 1068 591 1102 609 1076 596 1097 606 1096 606 1097 606 1076 596 1075 596 1077 597 1078 597 1098 607 1099 607 1098 607 1078 597 1081 598 1105 612 1080 598 1105 612 1081 598 1106 612 1107 613 1082 599 1108 613 1083 599 1108 613 1082 599 1087 600 1111 614 1112 614 1111 614 1087 600 1086 600 1088 601 1089 601 1113 615 1114 615 1113 615 1089 601 1094 604 1091 602 1116 616 1117 617 1092 603 1095 605 1094 604 1116 616 1119 618 1120 619 1117 617 1095 605 1121 620 1122 620 1123 620 1124 621 1125 621 1126 621 1101 608 1103 610 1128 622 1129 623 1104 611 1102 609 1106 612 1130 624 1105 612 1130 624 1106 612 1131 624 1132 625 1107 613 1133 625 1108 613 1133 625 1107 613 1112 614 1130 624 1131 624 1130 624 1112 614 1111 614 1113 615 1114 615 1133 625 1132 625 1133 625 1114 615 1135 626 1136 627 1137 628 1138 629 1139 630 1140 631 1135 626 1141 632 1136 627 1139 630 1142 633 1140 631 1128 622 1103 610 1143 634 1144 635 1104 611 1129 623

146 | 147 | 148 | 149 | 150 | 151 | 152 | 3.575245 3.602176 -2.088189 3.575245 -3.446367 -0.8716536 3.575245 -3.446367 -2.088189 3.575245 -2.251476 -0.8716536 3.575245 -2.251476 -0.2692907 3.575245 1.828605 -0.8716536 3.575245 3.602176 -0.8716536 3.575245 1.828605 -0.2692907 3.575245 1.828605 -0.8716536 3.575245 -2.251476 -0.2692907 3.575245 1.828605 -0.2692907 3.575245 3.602176 -0.8716536 3.575245 3.602176 -2.088189 3.575245 -2.251476 -0.8716536 3.575245 -3.446367 -0.8716536 3.575245 -3.446367 -2.088189 3.575245 -3.446367 -2.088189 3.575245 3.602176 -2.088189 3.575245 3.602176 -0.8716536 3.575245 1.828605 -0.8716536 3.575245 1.828605 -0.2692907 3.575245 -2.251476 -0.2692907 3.575245 -2.251476 -0.8716536 3.575245 -3.446367 -0.8716536 -3.473298 3.602176 -0.8716536 3.575245 3.602176 -2.088189 -3.473298 3.602176 -2.088189 3.575245 3.602176 -0.8716536 3.575245 3.602176 -0.8716536 -3.473298 3.602176 -0.8716536 3.575245 3.602176 -2.088189 -3.473298 3.602176 -2.088189 -3.473298 3.602176 -2.088189 -3.473298 3.602176 -0.8716536 -2.947823 2.172824 -0.8716536 -3.473298 3.602176 -0.8716536 -3.473298 1.828605 -0.8716536 -2.389039 2.459827 -0.8716536 -1.803153 2.686427 -0.8716536 -1.196672 2.850106 -0.8716536 -0.5763335 2.949046 -0.8716536 3.575245 3.602176 -0.8716536 0.05097353 2.982149 -0.8716536 0.6782804 2.949046 -0.8716536 1.298621 2.850106 -0.8716536 1.905102 2.686427 -0.8716536 2.490988 2.459827 -0.8716536 3.049771 2.172824 -0.8716536 3.575245 1.828605 -0.8716536 3.575245 1.828605 -0.8716536 3.049771 2.172824 -0.8716536 3.575245 3.602176 -0.8716536 2.490988 2.459827 -0.8716536 1.905102 2.686427 -0.8716536 1.298621 2.850106 -0.8716536 0.6782804 2.949046 -0.8716536 0.05097353 2.982149 -0.8716536 -0.5763335 2.949046 -0.8716536 -3.473298 3.602176 -0.8716536 -1.196672 2.850106 -0.8716536 -1.803153 2.686427 -0.8716536 -2.389039 2.459827 -0.8716536 -2.947823 2.172824 -0.8716536 -3.473298 1.828605 -0.8716536 -3.473298 1.828605 -0.8716536 -2.947823 2.172824 -0.8716536 -2.389039 2.459827 -0.8716536 -1.803153 2.686427 -0.8716536 -1.196672 2.850106 -0.8716536 -0.5763335 2.949046 -0.8716536 0.05097353 2.982149 -0.8716536 0.6782804 2.949046 -0.8716536 1.298621 2.850106 -0.8716536 1.905102 2.686427 -0.8716536 2.490988 2.459827 -0.8716536 3.049771 2.172824 -0.8716536 3.049771 2.172824 -0.2692907 3.575245 1.828605 -0.8716536 3.049771 2.172824 -0.8716536 3.575245 1.828605 -0.2692907 3.575245 1.828605 -0.2692907 3.049771 2.172824 -0.2692907 3.575245 1.828605 -0.8716536 3.049771 2.172824 -0.8716536 3.049771 2.172824 -0.2692907 3.000781 -2.409479 -0.2692907 2.561317 -2.135022 -0.2692907 2.419293 -2.539271 -0.2692907 2.678256 -1.722816 -0.2692907 2.769671 -1.30421 -0.2692907 2.835214 -0.8807807 -0.2692907 2.874639 -0.4541264 -0.2692907 2.887797 -0.02585649 -0.2692907 2.561317 2.083307 -0.2692907 2.490988 2.459827 -0.2692907 2.419293 2.487556 -0.2692907 3.049771 2.172824 -0.2692907 2.678256 1.671103 -0.2692907 2.769671 1.252496 -0.2692907 2.835214 0.8290672 -0.2692907 2.874639 0.4024124 -0.2692907 3.575245 -2.251476 -0.2692907 3.575245 1.828605 -0.2692907 3.575245 1.828605 -0.2692907 3.575245 -2.251476 -0.2692907 3.049771 2.172824 -0.2692907 3.000781 -2.409479 -0.2692907 2.887797 -0.02585649 -0.2692907 2.874639 0.4024124 -0.2692907 2.835214 0.8290672 -0.2692907 2.769671 1.252496 -0.2692907 2.678256 1.671103 -0.2692907 2.561317 2.083307 -0.2692907 2.490988 2.459827 -0.2692907 2.419293 2.487556 -0.2692907 2.874639 -0.4541264 -0.2692907 2.835214 -0.8807807 -0.2692907 2.769671 -1.30421 -0.2692907 2.678256 -1.722816 -0.2692907 2.561317 -2.135022 -0.2692907 2.419293 -2.539271 -0.2692907 2.490988 2.459827 -0.2692907 2.419293 2.487556 -0.2692907 2.561317 2.083307 -0.2692907 2.678256 1.671103 -0.2692907 2.769671 1.252496 -0.2692907 2.835214 0.8290672 -0.2692907 2.874639 0.4024124 -0.2692907 2.887797 -0.02585649 -0.2692907 2.874639 -0.4541264 -0.2692907 2.835214 -0.8807807 -0.2692907 2.769671 -1.30421 -0.2692907 2.678256 -1.722816 -0.2692907 2.561317 -2.135022 -0.2692907 2.419293 -2.539271 -0.2692907 3.000781 -2.409479 -0.2692907 3.575245 -2.251476 -0.2692907 3.000781 -2.409479 -0.8716536 3.575245 -2.251476 -0.8716536 3.000781 -2.409479 -0.2692907 3.000781 -2.409479 -0.2692907 3.575245 -2.251476 -0.2692907 3.000781 -2.409479 -0.8716536 3.575245 -2.251476 -0.8716536 3.000781 -2.409479 -0.8716536 -3.473298 -3.446367 -0.8716536 -2.898833 -2.409479 -0.8716536 -3.473298 -2.251476 -0.8716536 -2.317344 -2.539271 -0.8716536 -1.730216 -2.640541 -0.8716536 3.575245 -3.446367 -0.8716536 -1.138848 -2.71305 -0.8716536 -0.5446457 -2.756624 -0.8716536 0.05097353 -2.771161 -0.8716536 0.6465936 -2.756624 -0.8716536 1.240796 -2.71305 -0.8716536 1.832165 -2.640541 -0.8716536 2.419293 -2.539271 -0.8716536 3.000781 -2.409479 -0.8716536 3.575245 -2.251476 -0.8716536 3.575245 -2.251476 -0.8716536 3.575245 -3.446367 -0.8716536 3.000781 -2.409479 -0.8716536 2.419293 -2.539271 -0.8716536 1.832165 -2.640541 -0.8716536 1.240796 -2.71305 -0.8716536 0.6465936 -2.756624 -0.8716536 0.05097353 -2.771161 -0.8716536 -0.5446457 -2.756624 -0.8716536 -1.138848 -2.71305 -0.8716536 -1.730216 -2.640541 -0.8716536 -3.473298 -3.446367 -0.8716536 -2.317344 -2.539271 -0.8716536 -2.898833 -2.409479 -0.8716536 -3.473298 -2.251476 -0.8716536 2.419293 -2.539271 -0.8716536 1.832165 -2.640541 -0.8716536 1.240796 -2.71305 -0.8716536 0.6465936 -2.756624 -0.8716536 0.05097353 -2.771161 -0.8716536 -0.5446457 -2.756624 -0.8716536 -1.138848 -2.71305 -0.8716536 -1.730216 -2.640541 -0.8716536 -2.317344 -2.539271 -0.8716536 -2.898833 -2.409479 -0.8716536 -3.473298 -2.251476 -0.8716536 -3.473298 -3.446367 -0.8716536 3.575245 -3.446367 -0.8716536 -3.473298 -3.446367 -2.088189 3.575245 -3.446367 -2.088189 -3.473298 -3.446367 -0.8716536 -3.473298 -3.446367 -0.8716536 3.575245 -3.446367 -0.8716536 -3.473298 -3.446367 -2.088189 3.575245 -3.446367 -2.088189 -3.473298 -3.446367 -2.088189 -3.473298 1.828605 -0.2692907 -3.473298 -2.251476 -0.8716536 -3.473298 -2.251476 -0.2692907 -3.473298 -3.446367 -2.088189 -3.473298 -3.446367 -0.8716536 -3.473298 -2.691334 -1.35533 -3.473298 1.970083 -1.35533 -3.473298 1.828605 -0.8716536 -3.473298 3.602176 -0.8716536 -3.473298 1.970083 -1.914384 -3.473298 -2.691334 -1.914384 -3.473298 3.602176 -2.088189 -3.473298 3.602176 -0.8716536 -3.473298 1.970083 -1.914384 -3.473298 3.602176 -2.088189 -3.473298 -2.691334 -1.914384 -3.473298 -2.691334 -1.35533 -3.473298 -3.446367 -2.088189 -3.473298 1.970083 -1.35533 -3.473298 1.828605 -0.8716536 -3.473298 1.828605 -0.2692907 -3.473298 -2.251476 -0.8716536 -3.473298 -3.446367 -0.8716536 -3.473298 -2.251476 -0.2692907 -3.473298 -2.251476 -0.2692907 -3.473298 1.828605 -0.2692907 -3.473298 1.970083 -1.914384 -3.473298 1.970083 -1.35533 -3.473298 -2.691334 -1.35533 -3.473298 -2.691334 -1.914384 -3.473298 1.828605 -0.2692907 -2.947823 2.172824 -0.8716536 -3.473298 1.828605 -0.8716536 -2.947823 2.172824 -0.2692907 -2.947823 2.172824 -0.2692907 -3.473298 1.828605 -0.2692907 -2.947823 2.172824 -0.8716536 -3.473298 1.828605 -0.8716536 -2.947823 2.172824 -0.2692907 -2.389039 2.459827 -0.8716536 -2.389039 2.459827 -0.2692907 -2.389039 2.459827 -0.2692907 -2.389039 2.459827 -0.8716536 -2.389039 2.459827 -0.2692907 -1.803153 2.686427 -0.8716536 -1.803153 2.686427 0.9196853 -2.389039 2.459827 0.9196853 -2.389039 2.459827 0.9196853 -1.803153 2.686427 0.9196853 -1.803153 2.686427 -0.8716536 -1.803153 2.686427 0.9196853 -2.389039 2.459827 0.9196853 -1.196672 2.850106 -0.8716536 -1.196672 2.850106 0.9196853 -1.196672 2.850106 0.9196853 -1.196672 2.850106 -0.8716536 -1.196672 2.850106 0.9196853 -0.5763335 2.949046 -0.8716536 -0.5763335 2.949046 0.9196853 -0.5763335 2.949046 0.9196853 -0.5763335 2.949046 -0.8716536 -0.5763335 2.949046 0.9196853 0.05097353 2.982149 -0.8716536 0.05097353 2.982149 0.9196853 0.05097353 2.982149 0.9196853 0.05097353 2.982149 -0.8716536 0.05097353 2.982149 0.9196853 0.6782804 2.949046 -0.8716536 0.6782804 2.949046 0.9196853 0.6782804 2.949046 0.9196853 0.6782804 2.949046 -0.8716536 0.6782804 2.949046 0.9196853 1.298621 2.850106 -0.8716536 1.298621 2.850106 0.9196853 1.298621 2.850106 0.9196853 1.298621 2.850106 -0.8716536 1.298621 2.850106 0.9196853 1.905102 2.686427 -0.8716536 1.905102 2.686427 0.9196853 1.905102 2.686427 0.9196853 1.905102 2.686427 -0.8716536 1.905102 2.686427 0.9196853 2.490988 2.459827 -0.8716536 2.419293 2.487556 -0.2692907 2.419293 2.487556 0.9196853 2.490988 2.459827 -0.2692907 2.419293 2.487556 -0.2692907 2.490988 2.459827 -0.8716536 2.490988 2.459827 -0.2692907 2.419293 2.487556 0.9196853 2.419293 2.487556 0.9196853 2.419293 2.487556 -0.2692907 2.561317 2.083307 0.9196853 2.561317 2.083307 -0.2692907 2.419293 2.487556 0.9196853 2.419293 2.487556 0.9196853 2.419293 2.487556 -0.2692907 2.561317 2.083307 0.9196853 2.561317 2.083307 -0.2692907 2.561317 2.083307 0.9196853 2.678256 1.671103 0.9196853 2.678256 1.671103 -0.2692907 2.678256 1.671103 0.9196853 2.678256 1.671103 -0.2692907 2.678256 1.671103 0.9196853 2.769671 1.252496 0.9196853 2.769671 1.252496 -0.2692907 2.769671 1.252496 0.9196853 2.769671 1.252496 -0.2692907 2.769671 1.252496 0.9196853 2.835214 0.8290672 0.9196853 2.835214 0.8290672 -0.2692907 2.835214 0.8290672 0.9196853 2.835214 0.8290672 -0.2692907 2.835214 0.8290672 0.9196853 2.874639 0.4024124 0.9196853 2.874639 0.4024124 -0.2692907 2.874639 0.4024124 0.9196853 2.874639 0.4024124 -0.2692907 2.874639 0.4024124 0.9196853 2.887797 -0.02585649 0.9196853 2.887797 -0.02585649 -0.2692907 2.887797 -0.02585649 0.9196853 2.887797 -0.02585649 -0.2692907 2.887797 -0.02585649 0.9196853 2.874639 -0.4541264 0.9196853 2.874639 -0.4541264 -0.2692907 2.874639 -0.4541264 0.9196853 2.874639 -0.4541264 -0.2692907 2.874639 -0.4541264 0.9196853 2.835214 -0.8807807 0.9196853 2.835214 -0.8807807 -0.2692907 2.835214 -0.8807807 0.9196853 2.835214 -0.8807807 -0.2692907 2.835214 -0.8807807 0.9196853 2.769671 -1.30421 0.9196853 2.769671 -1.30421 -0.2692907 2.769671 -1.30421 0.9196853 2.769671 -1.30421 -0.2692907 2.769671 -1.30421 0.9196853 2.678256 -1.722816 0.9196853 2.678256 -1.722816 -0.2692907 2.678256 -1.722816 0.9196853 2.678256 -1.722816 -0.2692907 2.678256 -1.722816 0.9196853 2.561317 -2.135022 0.9196853 2.561317 -2.135022 -0.2692907 2.561317 -2.135022 0.9196853 2.561317 -2.135022 -0.2692907 2.561317 -2.135022 0.9196853 2.419293 -2.539271 0.9196853 2.419293 -2.539271 -0.2692907 2.419293 -2.539271 0.9196853 2.419293 -2.539271 -0.2692907 2.419293 -2.539271 0.9196853 2.419293 -2.539271 -0.8716536 2.419293 -2.539271 -0.2692907 2.419293 -2.539271 -0.2692907 2.419293 -2.539271 -0.8716536 1.832165 -2.640541 -0.8716536 1.832165 -2.640541 0.9196853 2.419293 -2.539271 0.9196853 2.419293 -2.539271 0.9196853 1.832165 -2.640541 0.9196853 1.832165 -2.640541 -0.8716536 1.832165 -2.640541 0.9196853 1.240796 -2.71305 -0.8716536 1.240796 -2.71305 0.9196853 1.240796 -2.71305 0.9196853 1.240796 -2.71305 -0.8716536 1.240796 -2.71305 0.9196853 0.6465936 -2.756624 -0.8716536 0.6465936 -2.756624 0.9196853 0.6465936 -2.756624 0.9196853 0.6465936 -2.756624 -0.8716536 0.6465936 -2.756624 0.9196853 0.05097353 -2.771161 -0.8716536 0.05097353 -2.771161 0.9196853 0.05097353 -2.771161 0.9196853 0.05097353 -2.771161 -0.8716536 0.05097353 -2.771161 0.9196853 -0.5446457 -2.756624 -0.8716536 -0.5446457 -2.756624 0.9196853 -0.5446457 -2.756624 0.9196853 -0.5446457 -2.756624 -0.8716536 -0.5446457 -2.756624 0.9196853 -1.138848 -2.71305 -0.8716536 -1.138848 -2.71305 0.9196853 -1.138848 -2.71305 0.9196853 -1.138848 -2.71305 -0.8716536 -1.138848 -2.71305 0.9196853 -1.730216 -2.640541 -0.8716536 -1.730216 -2.640541 0.9196853 -1.730216 -2.640541 0.9196853 -1.730216 -2.640541 -0.8716536 -1.730216 -2.640541 0.9196853 -2.317344 -2.539271 -0.8716536 -2.317344 -2.539271 -0.2692907 -2.317344 -2.539271 0.9196853 -2.317344 -2.539271 0.9196853 -2.317344 -2.539271 -0.2692907 -2.317344 -2.539271 -0.8716536 -2.317344 -2.539271 0.9196853 -2.317344 -2.539271 -0.2692907 -2.898833 -2.409479 -0.8716536 -2.898833 -2.409479 -0.2692907 -2.898833 -2.409479 -0.2692907 -2.898833 -2.409479 -0.8716536 -2.898833 -2.409479 -0.2692907 -3.473298 -2.251476 -0.8716536 -3.473298 -2.251476 -0.2692907 -3.473298 -2.251476 -0.2692907 -3.473298 -2.251476 -0.8716536 -2.898833 -2.409479 -0.2692907 -2.790915 -0.4716287 -0.2692907 -2.809838 -0.04627037 -0.2692907 -2.746421 -0.8950777 -0.2692907 -2.676519 -1.31508 -0.2692907 -2.58146 -1.730112 -0.2692907 -2.46159 -2.138669 -0.2692907 -2.317344 -2.539271 -0.2692907 -3.473298 -2.251476 -0.2692907 -2.947823 2.172824 -0.2692907 -3.473298 1.828605 -0.2692907 -2.803121 0.3794565 -0.2692907 -2.770789 0.8040061 -0.2692907 -2.71296 1.225841 -0.2692907 -2.629842 1.643427 -0.2692907 -2.521739 2.055254 -0.2692907 -2.389039 2.459827 -0.2692907 -2.809838 -0.04627037 -0.2692907 -2.898833 -2.409479 -0.2692907 -2.803121 0.3794565 -0.2692907 -2.389039 2.459827 -0.2692907 -2.521739 2.055254 -0.2692907 -2.947823 2.172824 -0.2692907 -2.629842 1.643427 -0.2692907 -2.71296 1.225841 -0.2692907 -2.770789 0.8040061 -0.2692907 -3.473298 -2.251476 -0.2692907 -3.473298 1.828605 -0.2692907 -2.317344 -2.539271 -0.2692907 -2.46159 -2.138669 -0.2692907 -2.58146 -1.730112 -0.2692907 -2.676519 -1.31508 -0.2692907 -2.746421 -0.8950777 -0.2692907 -2.790915 -0.4716287 -0.2692907 -2.46159 -2.138669 -0.2692907 -2.58146 -1.730112 -0.2692907 -2.676519 -1.31508 -0.2692907 -2.746421 -0.8950777 -0.2692907 -2.790915 -0.4716287 -0.2692907 -2.809838 -0.04627037 -0.2692907 -2.803121 0.3794565 -0.2692907 -2.770789 0.8040061 -0.2692907 -2.71296 1.225841 -0.2692907 -2.629842 1.643427 -0.2692907 -2.521739 2.055254 -0.2692907 -2.58146 -1.730112 0.9196853 -2.649813 0.07790422 0.9196853 -2.676519 -1.31508 0.9196853 -2.557786 -0.6211104 0.9196853 -2.46159 -2.138669 0.9196853 -2.287976 -1.27249 0.9196853 -2.317344 -2.539271 0.9196853 -1.730216 -2.640541 0.9196853 -1.858771 -1.83184 0.9196853 -1.299419 -2.261047 0.9196853 -1.138848 -2.71305 0.9196853 -0.6480412 -2.530856 0.9196853 -0.5446457 -2.756624 0.9196853 0.05097353 -2.622883 0.9196853 0.05097353 -2.771161 0.9196853 0.6465936 -2.756624 0.9196853 0.7499901 -2.530856 0.9196853 1.240796 -2.71305 0.9196853 1.401368 -2.261047 0.9196853 1.832165 -2.640541 0.9196853 1.960719 -1.83184 0.9196853 2.419293 -2.539271 0.9196853 2.389925 -1.27249 0.9196853 2.659735 -0.6211104 0.9196853 2.561317 -2.135022 0.9196853 2.678256 -1.722816 0.9196853 2.751762 0.07790422 0.9196853 2.769671 -1.30421 0.9196853 -2.790915 -0.4716287 0.9196853 -2.803121 0.3794565 0.9196853 -2.809838 -0.04627037 0.9196853 -2.770789 0.8040061 0.9196853 -2.746421 -0.8950777 0.9196853 -2.71296 1.225841 0.9196853 -2.629842 1.643427 0.9196853 -2.557786 0.7769194 0.9196853 -2.521739 2.055254 0.9196853 -2.287976 1.428298 0.9196853 -2.389039 2.459827 0.9196853 -1.803153 2.686427 0.9196853 -1.858771 1.987649 0.9196853 -1.299419 2.416854 0.9196853 -1.196672 2.850106 0.9196853 -0.6480412 2.686664 0.9196853 -0.5763335 2.949046 0.9196853 0.05097353 2.778691 0.9196853 0.05097353 2.982149 0.9196853 0.7499901 2.686664 0.9196853 0.6782804 2.949046 0.9196853 1.298621 2.850106 0.9196853 1.401368 2.416854 0.9196853 1.905102 2.686427 0.9196853 1.960719 1.987649 0.9196853 2.419293 2.487556 0.9196853 2.389925 1.428298 0.9196853 2.659735 0.7769194 0.9196853 2.561317 2.083307 0.9196853 2.678256 1.671103 0.9196853 2.769671 1.252496 0.9196853 2.835214 -0.8807807 0.9196853 2.835214 0.8290672 0.9196853 2.874639 -0.4541264 0.9196853 2.874639 0.4024124 0.9196853 2.887797 -0.02585649 0.9196853 2.887797 -0.02585649 0.9196853 2.874639 -0.4541264 0.9196853 2.874639 0.4024124 0.9196853 2.835214 0.8290672 0.9196853 2.835214 -0.8807807 0.9196853 2.769671 1.252496 0.9196853 2.769671 -1.30421 0.9196853 2.751762 0.07790422 0.9196853 2.678256 1.671103 0.9196853 2.659735 0.7769194 0.9196853 2.561317 2.083307 0.9196853 2.419293 2.487556 0.9196853 2.389925 1.428298 0.9196853 1.960719 1.987649 0.9196853 1.905102 2.686427 0.9196853 1.401368 2.416854 0.9196853 1.298621 2.850106 0.9196853 0.7499901 2.686664 0.9196853 0.6782804 2.949046 0.9196853 0.05097353 2.982149 0.9196853 0.05097353 2.778691 0.9196853 -0.5763335 2.949046 0.9196853 -0.6480412 2.686664 0.9196853 -1.196672 2.850106 0.9196853 -1.299419 2.416854 0.9196853 -1.803153 2.686427 0.9196853 -1.858771 1.987649 0.9196853 -2.287976 1.428298 0.9196853 -2.389039 2.459827 0.9196853 -2.521739 2.055254 0.9196853 -2.557786 0.7769194 0.9196853 -2.629842 1.643427 0.9196853 -2.649813 0.07790422 0.9196853 -2.676519 -1.31508 0.9196853 -2.71296 1.225841 0.9196853 -2.746421 -0.8950777 0.9196853 -2.770789 0.8040061 0.9196853 -2.790915 -0.4716287 0.9196853 -2.803121 0.3794565 0.9196853 -2.809838 -0.04627037 0.9196853 2.678256 -1.722816 0.9196853 2.659735 -0.6211104 0.9196853 2.561317 -2.135022 0.9196853 2.419293 -2.539271 0.9196853 2.389925 -1.27249 0.9196853 1.960719 -1.83184 0.9196853 1.832165 -2.640541 0.9196853 1.401368 -2.261047 0.9196853 1.240796 -2.71305 0.9196853 0.7499901 -2.530856 0.9196853 0.6465936 -2.756624 0.9196853 0.05097353 -2.622883 0.9196853 0.05097353 -2.771161 0.9196853 -0.5446457 -2.756624 0.9196853 -0.6480412 -2.530856 0.9196853 -1.138848 -2.71305 0.9196853 -1.299419 -2.261047 0.9196853 -1.730216 -2.640541 0.9196853 -1.858771 -1.83184 0.9196853 -2.287976 -1.27249 0.9196853 -2.317344 -2.539271 0.9196853 -2.46159 -2.138669 0.9196853 -2.557786 -0.6211104 0.9196853 -2.58146 -1.730112 0.9196853 -2.521739 2.055254 0.9196853 -2.629842 1.643427 0.9196853 -2.71296 1.225841 0.9196853 -2.770789 0.8040061 0.9196853 -2.803121 0.3794565 0.9196853 -2.809838 -0.04627037 0.9196853 -2.790915 -0.4716287 0.9196853 -2.746421 -0.8950777 0.9196853 -2.676519 -1.31508 0.9196853 -2.58146 -1.730112 0.9196853 -2.46159 -2.138669 0.9196853 0.7499901 -2.530856 0.9196853 0.05097353 -2.622883 0.9196853 -0.6480412 -2.530856 0.9196853 -1.299419 -2.261047 0.9196853 -1.858771 -1.83184 0.9196853 -2.287976 -1.27249 0.9196853 -2.557786 -0.6211104 0.9196853 -2.649813 0.07790422 0.9196853 -2.557786 0.7769194 0.9196853 -2.287976 1.428298 0.9196853 -1.858771 1.987649 0.9196853 -1.299419 2.416854 0.9196853 -0.6480412 2.686664 0.9196853 0.05097353 2.778691 0.9196853 0.7499901 2.686664 0.9196853 1.401368 2.416854 0.9196853 1.960719 1.987649 0.9196853 2.389925 1.428298 0.9196853 2.659735 0.7769194 0.9196853 2.751762 0.07790422 0.9196853 2.659735 -0.6211104 0.9196853 2.389925 -1.27249 0.9196853 1.960719 -1.83184 0.9196853 1.401368 -2.261047 0.9196853 -2.389039 2.459827 0.9196853 -2.521739 2.055254 -0.2692907 -2.521739 2.055254 0.9196853 -2.389039 2.459827 -0.2692907 -2.389039 2.459827 -0.2692907 -2.389039 2.459827 0.9196853 -2.521739 2.055254 -0.2692907 -2.521739 2.055254 0.9196853 -2.46159 -2.138669 0.9196853 -2.317344 -2.539271 -0.2692907 -2.317344 -2.539271 0.9196853 -2.46159 -2.138669 -0.2692907 -2.46159 -2.138669 -0.2692907 -2.46159 -2.138669 0.9196853 -2.317344 -2.539271 -0.2692907 -2.317344 -2.539271 0.9196853 -2.58146 -1.730112 0.9196853 -2.58146 -1.730112 -0.2692907 -2.58146 -1.730112 -0.2692907 -2.58146 -1.730112 0.9196853 -2.676519 -1.31508 0.9196853 -2.676519 -1.31508 -0.2692907 -2.676519 -1.31508 -0.2692907 -2.676519 -1.31508 0.9196853 -2.746421 -0.8950777 0.9196853 -2.746421 -0.8950777 -0.2692907 -2.746421 -0.8950777 -0.2692907 -2.746421 -0.8950777 0.9196853 -2.790915 -0.4716287 0.9196853 -2.790915 -0.4716287 -0.2692907 -2.790915 -0.4716287 -0.2692907 -2.790915 -0.4716287 0.9196853 -2.809838 -0.04627037 0.9196853 -2.809838 -0.04627037 -0.2692907 -2.809838 -0.04627037 -0.2692907 -2.809838 -0.04627037 0.9196853 -2.803121 0.3794565 0.9196853 -2.803121 0.3794565 -0.2692907 -2.803121 0.3794565 -0.2692907 -2.803121 0.3794565 0.9196853 -2.770789 0.8040061 0.9196853 -2.770789 0.8040061 -0.2692907 -2.770789 0.8040061 -0.2692907 -2.770789 0.8040061 0.9196853 -2.71296 1.225841 0.9196853 -2.71296 1.225841 -0.2692907 -2.71296 1.225841 -0.2692907 -2.71296 1.225841 0.9196853 -2.629842 1.643427 0.9196853 -2.629842 1.643427 -0.2692907 -2.629842 1.643427 -0.2692907 -2.629842 1.643427 0.9196853 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 1 0 0 -1 0 0 0 1 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -2.3259e-7 0 1 1.25254e-7 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 -2.35773e-7 0 -1 4.37816e-7 0 -1 0.5031138 0.8642202 0 0.5479703 0.8364978 0 -0.5479703 -0.8364978 0 -0.5031138 -0.8642202 0 -1.85933e-7 0 1 0 0 1 0 0 1 0 0 1 -2.06217e-7 0 1 4.54774e-7 0 1 -1.87879e-7 0 1 0 0 1 1.87879e-7 0 -1 -6.06365e-7 0 -1 -1.47988e-7 0 -1 0 0 -1 -3.49995e-7 0 -1 0 0 -1 0.2651827 -0.9641982 0 0.2415876 -0.9703791 0 -0.2415876 0.9703791 0 -0.2651827 0.9641982 0 -1.73667e-7 0 1 1.83499e-7 0 1 -1.83499e-7 0 1 3.47335e-7 0 1 -1.73667e-7 0 -1 1.83499e-7 0 -1 -1.83499e-7 0 -1 1.73667e-7 0 -1 -1 5.22602e-7 0 -1 1.12966e-6 0 -1 -2.4016e-7 0 1 2.4016e-7 0 1 -5.64832e-7 0 1 -2.61301e-7 0 -0.5479703 0.8364978 0 -0.5031138 0.8642202 0 0.5031138 -0.8642202 0 0.5479703 -0.8364978 0 -0.4093556 0.912375 0 -0.3932709 0.9194227 0 0.3932709 -0.9194227 0 0.4093556 -0.912375 0 -0.3110501 0.9503936 0 -0.3607107 0.9326778 0 0.3607107 -0.9326778 0 0.3110501 -0.9503936 0 -0.2092977 0.977852 0 0.2092977 -0.977852 0 -0.1052281 0.9944481 0 0.1052281 -0.9944481 0 0.1052281 0.9944481 0 -0.1052281 -0.9944481 0 0.2092977 0.977852 0 -0.2092977 -0.977852 0 0.3110501 0.9503936 0 -0.3110501 -0.9503936 0 0.4093556 0.912375 0 0.3607107 0.9326778 0 -0.3607107 -0.9326778 0 -0.4093556 -0.912375 0 0.9434666 0.3314676 0 0.9532057 0.3023231 0 -0.9434666 -0.3314676 0 -0.9532057 -0.3023231 0 0.9699664 0.2432393 0 -0.9699664 -0.2432393 0 0.9830693 0.1832344 0 -0.9830693 -0.1832344 0 0.9924647 0.1225321 0 -0.9924647 -0.1225321 0 0.998115 0.06137311 0 -0.998115 -0.06137311 0 0.998115 -0.06137311 0 -0.998115 0.06137311 0 0.9924647 -0.1225321 0 -0.9924647 0.1225321 0 0.9830693 -0.1832344 0 -0.9830693 0.1832344 0 0.9699664 -0.2432393 0 -0.9699664 0.2432393 0 0.9532057 -0.3023231 0 -0.9532057 0.3023231 0 0.9434666 -0.3314676 0 -0.9434666 0.3314676 0 0.1939499 -0.9810115 0 0.1859816 -0.9825533 0 -0.1859816 0.9825533 0 -0.1939499 0.9810115 0 0.1458805 -0.9893022 0 0.169959 -0.9854512 0 -0.169959 0.9854512 0 -0.1458805 0.9893022 0 0.09744572 -0.9952409 0 -0.09744572 0.9952409 0 0.04877007 -0.9988101 0 -0.04877007 0.9988101 0 -0.04877007 -0.9988101 0 0.04877007 0.9988101 0 -0.09744572 -0.9952409 0 0.09744572 0.9952409 0 -0.1458805 -0.9893022 0 0.1458805 0.9893022 0 -0.1939499 -0.9810115 0 -0.1859816 -0.9825533 0 -0.169959 -0.9854512 0 0.169959 0.9854512 0 0.1859816 0.9825533 0 0.1939499 0.9810115 0 -0.2415876 -0.9703791 0 0.2415876 0.9703791 0 -0.2651827 -0.9641982 0 0.2651827 0.9641982 0 9.02289e-7 0 1 -3.50877e-7 0 1 0 0 1 0 0 1 3.7435e-7 0 1 -1.93728e-7 0 1 1.68578e-7 0 1 0 0 1 0 0 1 0 0 -1 -3.37155e-7 0 -1 -4.99134e-7 0 -1 3.50877e-7 0 -1 -1.44366e-6 0 -1 1.25388e-6 0 1 -3.43748e-7 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 2.37373e-7 0 1 0 0 1 0 0 1 3.40158e-7 0 1 -8.73536e-7 0 1 -8.90672e-7 0 1 5.46162e-6 0 1 7.3445e-7 0 1 9.16219e-7 0 1 3.70875e-7 0 1 -1.62414e-7 0 1 -2.42353e-7 0 1 0 0 1 -1.91444e-7 0 1 -2.0955e-7 0 1 1.83715e-7 0 1 0 0 1 1.21176e-7 0 1 1.62414e-7 0 1 -1.71157e-7 0 1 -1.63577e-6 0 1 -5.20699e-6 0 1 2.13414e-6 0 1 1.76841e-6 0 1 2.12743e-6 0 -1 -2.84552e-6 0 -1 5.20699e-6 0 -1 -1.26531e-7 0 -1 3.42315e-7 0 -1 -1.62414e-7 0 -1 -2.42353e-7 0 -1 0 0 -1 -1.91444e-7 0 -1 2.0955e-7 0 -1 -2.34213e-7 0 -1 1.21177e-7 0 -1 -7.4175e-7 0 -1 9.66452e-7 0 -1 -2.0853e-6 0 -1 0 0 -1 2.37373e-7 0 -1 -1.67184e-6 0 -1 2.01017e-6 0 -1 -0.9501922 0.3116645 0 -0.9591466 0.2829098 0 0.9501922 -0.3116645 0 0.9591466 -0.2829098 0 -0.9506424 -0.3102886 0 -0.9408723 -0.3387616 0 0.9506424 0.3102886 0 0.9408723 0.3387616 0 -0.9676014 -0.2524828 0 0.9676014 0.2524828 0 -0.9810417 -0.1937973 0 0.9810417 0.1937973 0 -0.9909304 -0.1343764 0 0.9909304 0.1343764 0 -0.9972212 -0.07449781 0 0.9972212 0.07449781 0 -0.9998976 -0.01431345 0 0.9998976 0.01431345 0 -0.9989475 0.04587 0 0.9989475 -0.04587 0 -0.9943766 0.1059016 0 0.9943766 -0.1059016 0 -0.9861986 0.1655668 0 0.9861986 -0.1655668 0 -0.9744396 0.22465 0 0.9744396 -0.22465 0 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 |

17 16 18 17 18 19 19 20 20 21 22 21 22 23 23 16 32 17 33 32 33 18 64 33 64 65 65 66 66 67 67 68 68 69 69 70 70 71 71 72 72 73 73 74 74 75 75 19 75 84 84 20 122 121 122 123 123 124 124 125 125 126 126 127 127 128 128 129 129 130 130 131 131 132 132 133 133 134 135 134 21 135 121 84 144 135 22 144 144 175 175 176 176 177 177 178 178 179 179 180 180 181 181 182 182 183 183 184 184 185 186 185 23 186 16 195 186 195 195 32 185 220 220 221 64 221 223 222 224 223 225 224 222 225 221 234 65 234 234 239 66 239 247 246 67 246 239 247 246 252 68 252 252 257 69 257 257 262 70 262 262 267 71 267 267 272 72 272 272 277 73 277 277 286 122 286 74 121 286 295 123 295 295 300 124 300 300 305 125 305 305 310 126 310 310 315 127 315 315 320 128 320 320 325 129 325 325 330 130 330 330 335 131 335 335 340 132 340 340 345 133 345 345 350 134 350 175 134 350 361 176 361 361 366 177 366 366 371 178 371 371 376 179 376 376 381 180 381 381 386 181 386 386 391 182 391 391 398 399 398 183 399 399 404 184 404 404 220 399 443 443 444 444 445 445 446 446 447 447 448 448 449 449 450 450 451 451 452 452 453 453 239 582 247 583 582 584 583 585 584 586 585 587 586 588 587 589 588 590 589 591 590 592 591 398 592 594 593 595 594 596 595 597 596 598 597 599 598 600 599 601 600 602 601 603 602 604 603 605 604 606 605 607 606 608 607 609 608 610 609 611 610 612 611 613 612 614 613 615 614 616 615 593 616 453 582 443 592 444 591 445 590 446 589 447 588 448 587 449 586 450 585 451 584 452 583

177 | 178 | 179 | 180 | 181 | 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 182 |

0 0 1 0 2 0 1 0 0 0 3 0 3 0 0 0 4 0 4 0 0 0 5 0 5 0 0 0 6 0 7 0 4 0 5 0 8 1 9 1 10 1 11 1 12 1 8 1 8 1 12 1 9 1 9 1 12 1 13 1 13 1 12 1 14 1 15 1 14 1 12 1 24 2 25 2 26 2 25 2 24 2 27 2 28 3 29 3 30 3 31 3 30 3 29 3 34 4 35 4 36 4 35 5 34 5 37 5 35 6 37 6 38 6 35 7 38 7 39 7 35 8 39 8 40 8 35 4 40 4 41 4 41 9 40 9 42 9 41 10 42 10 43 10 41 11 43 11 44 11 41 12 44 12 45 12 41 13 45 13 46 13 41 14 46 14 47 14 41 4 47 4 48 4 49 15 50 15 51 15 50 15 52 15 51 15 52 15 53 15 51 15 53 15 54 15 51 15 54 15 55 15 51 15 55 16 56 16 51 16 56 17 57 17 51 17 51 15 57 15 58 15 57 15 59 15 58 15 59 15 60 15 58 15 60 15 61 15 58 15 61 15 62 15 58 15 63 15 58 15 62 15 76 18 77 19 78 18 77 19 76 18 79 19 80 20 81 21 82 20 83 21 82 20 81 21 85 4 86 4 87 4 86 4 85 4 88 4 88 4 85 4 89 4 89 4 85 4 90 4 90 4 85 4 91 4 91 4 85 4 92 4 93 22 94 22 95 22 94 23 93 23 96 23 96 24 93 24 97 24 96 25 97 25 98 25 96 4 98 4 99 4 96 26 99 26 100 26 96 27 100 27 92 27 96 28 92 28 85 28 96 29 85 29 101 29 96 4 101 4 102 4 103 15 104 15 105 15 104 15 106 15 105 15 106 30 107 30 105 30 107 31 108 31 105 31 108 15 109 15 105 15 109 15 110 15 105 15 110 32 111 32 105 32 111 33 112 33 105 33 105 15 112 15 113 15 114 15 113 15 112 15 107 15 106 15 115 15 115 15 106 15 116 15 116 34 106 34 117 34 117 15 106 15 118 15 118 35 106 35 119 35 120 15 119 15 106 15 136 36 137 37 138 36 137 37 136 36 139 37 140 38 141 39 142 38 143 39 142 38 141 39 145 40 146 40 147 40 146 4 145 4 148 4 148 41 145 41 149 41 149 4 145 4 150 4 149 4 150 4 151 4 151 4 150 4 152 4 152 4 150 4 153 4 153 4 150 4 154 4 154 4 150 4 155 4 155 4 150 4 156 4 156 42 150 42 157 42 157 4 150 4 158 4 158 43 150 43 159 43 160 44 161 44 162 44 162 15 161 15 163 15 163 45 161 45 164 45 164 15 161 15 165 15 165 15 161 15 166 15 166 15 161 15 167 15 167 15 161 15 168 15 168 15 161 15 169 15 169 15 161 15 170 15 161 15 171 15 170 15 170 46 171 46 172 46 172 15 171 15 173 15 174 47 173 47 171 47 187 3 188 3 189 3 188 3 187 3 190 3 191 2 192 2 193 2 194 2 193 2 192 2 196 1 197 1 198 1 197 1 199 1 200 1 199 1 197 1 201 1 201 1 197 1 202 1 202 1 197 1 203 1 203 1 197 1 196 1 202 1 203 1 204 1 202 48 204 48 205 48 199 1 206 1 207 1 206 49 199 49 201 49 207 1 206 1 205 1 207 50 205 50 204 50 208 51 209 51 210 51 209 0 211 0 210 0 212 52 213 52 211 52 210 0 211 0 213 0 209 53 208 53 214 53 208 0 215 0 214 0 216 0 217 0 215 0 215 0 217 0 214 0 214 0 217 0 212 0 212 0 217 0 213 0 218 0 213 0 217 0 219 0 217 0 216 0 226 54 227 55 228 54 227 55 226 54 229 55 230 56 231 57 232 56 233 57 232 56 231 57 229 55 235 58 227 55 235 58 229 55 236 59 237 60 230 56 238 61 232 56 238 61 230 56 236 59 240 62 235 58 240 62 236 59 241 62 241 62 236 59 242 63 243 64 237 60 244 65 244 65 237 60 245 65 238 61 245 65 237 60 241 62 248 66 240 62 248 66 241 62 249 66 250 67 244 65 251 67 245 65 251 67 244 65 249 66 253 68 248 66 253 68 249 66 254 68 255 69 250 67 256 69 251 67 256 69 250 67 254 68 258 2 253 68 258 2 254 68 259 2 260 3 255 69 261 3 256 69 261 3 255 69 259 2 263 70 258 2 263 70 259 2 264 70 265 71 260 3 266 71 261 3 266 71 260 3 264 70 268 72 263 70 268 72 264 70 269 72 270 73 265 71 271 73 266 71 271 73 265 71 269 72 273 74 268 72 273 74 269 72 274 74 275 75 270 73 276 75 271 73 276 75 270 73 274 74 278 76 273 74 278 76 274 74 279 77 279 77 274 74 280 77 281 76 278 76 279 77 282 78 283 79 284 79 285 78 275 75 282 78 282 78 275 75 283 79 276 75 283 79 275 75 281 76 78 18 278 76 78 18 281 76 76 18 81 21 284 79 83 21 283 79 83 21 284 79 287 80 288 81 289 81 288 81 287 80 290 80 291 82 292 82 293 83 294 83 293 83 292 82 289 81 296 84 297 84 296 84 289 81 288 81 293 83 294 83 298 85 299 85 298 85 294 83 297 84 301 86 302 86 301 86 297 84 296 84 298 85 299 85 303 87 304 87 303 87 299 85 302 86 306 88 307 88 306 88 302 86 301 86 303 87 304 87 308 89 309 89 308 89 304 87 307 88 311 90 312 90 311 90 307 88 306 88 308 89 309 89 313 91 314 91 313 91 309 89 312 90 316 0 317 0 316 0 312 90 311 90 313 91 314 91 318 1 319 1 318 1 314 91 317 0 321 92 322 92 321 92 317 0 316 0 318 1 319 1 323 93 324 93 323 93 319 1 322 92 326 94 327 94 326 94 322 92 321 92 323 93 324 93 328 95 329 95 328 95 324 93 327 94 331 96 332 96 331 96 327 94 326 94 328 95 329 95 333 97 334 97 333 97 329 95 332 96 336 98 337 98 336 98 332 96 331 96 333 97 334 97 338 99 339 99 338 99 334 97 337 98 341 100 342 100 341 100 337 98 336 98 338 99 339 99 343 101 344 101 343 101 339 99 342 100 346 102 347 102 346 102 342 100 341 100 343 101 344 101 348 103 349 103 348 103 344 101 139 37 351 104 137 37 351 104 139 37 352 105 353 106 140 38 354 107 142 38 354 107 140 38 352 105 355 108 351 104 355 108 352 105 356 108 356 108 352 105 357 109 358 110 353 106 359 111 359 111 353 106 360 111 354 107 360 111 353 106 356 108 362 112 355 108 362 112 356 108 363 112 364 113 359 111 365 113 360 111 365 113 359 111 363 112 367 114 362 112 367 114 363 112 368 114 369 115 364 113 370 115 365 113 370 115 364 113 368 114 372 3 367 114 372 3 368 114 373 3 374 2 369 115 375 2 370 115 375 2 369 115 373 3 377 116 372 3 377 116 373 3 378 116 379 117 374 2 380 117 375 2 380 117 374 2 378 116 382 118 377 116 382 118 378 116 383 118 384 119 379 117 385 119 380 117 385 119 379 117 383 118 387 120 382 118 387 120 383 118 388 120 389 121 384 119 390 121 385 119 390 121 384 119 388 120 392 122 387 120 392 122 388 120 393 123 393 123 388 120 394 124 395 125 389 121 396 126 396 126 389 121 397 127 390 121 397 127 389 121 393 123 400 128 392 122 400 128 393 123 401 128 402 129 396 126 403 129 397 127 403 129 396 126 401 128 405 130 400 128 405 130 401 128 406 130 407 131 402 129 408 131 403 129 408 131 402 129 409 132 410 132 411 132 410 4 409 4 412 4 412 133 409 133 413 133 413 4 409 4 414 4 414 4 409 4 415 4 415 4 409 4 416 4 417 134 418 134 419 134 418 135 417 135 409 135 418 4 409 4 420 4 418 136 420 136 421 136 418 137 421 137 422 137 418 138 422 138 423 138 418 139 423 139 424 139 418 140 424 140 425 140 420 4 409 4 411 4 426 15 427 15 428 15 429 141 430 141 431 141 430 15 432 15 431 15 432 142 433 142 431 142 433 15 434 15 431 15 434 143 428 143 431 143 428 15 427 15 431 15 427 15 435 15 431 15 436 15 431 15 435 15 437 15 427 15 438 15 438 15 427 15 439 15 439 15 427 15 440 15 440 144 427 144 441 144 441 15 427 15 442 15 426 145 442 145 427 145 454 4 455 4 456 4 455 4 454 4 457 4 457 146 454 146 458 146 457 147 458 147 459 147 459 4 458 4 460 4 459 148 460 148 461 148 459 4 461 4 462 4 462 4 461 4 463 4 463 149 461 149 464 149 463 150 464 150 465 150 465 151 464 151 466 151 465 4 466 4 467 4 467 152 466 152 468 152 467 153 468 153 469 153 467 4 469 4 470 4 470 154 469 154 471 154 470 155 471 155 472 155 472 156 471 156 473 156 472 4 473 4 474 4 474 157 473 157 475 157 474 4 475 4 476 4 476 4 475 4 477 4 477 158 475 158 478 158 477 159 478 159 479 159 477 4 479 4 480 4 480 160 479 160 481 160 482 161 483 161 484 161 483 4 482 4 485 4 485 4 482 4 486 4 485 4 486 4 487 4 487 162 486 162 456 162 487 4 456 4 488 4 488 4 456 4 455 4 488 163 455 163 489 163 488 4 489 4 490 4 490 164 489 164 491 164 490 4 491 4 492 4 492 4 491 4 493 4 493 4 491 4 494 4 493 165 494 165 495 165 493 166 495 166 496 166 496 167 495 167 497 167 496 168 497 168 498 168 498 4 497 4 499 4 498 4 499 4 500 4 500 169 499 169 501 169 500 170 501 170 502 170 502 4 501 4 503 4 503 171 501 171 504 171 503 172 504 172 505 172 505 173 504 173 506 173 505 174 506 174 507 174 507 4 506 4 508 4 507 4 508 4 509 4 507 175 509 175 510 175 510 4 509 4 511 4 511 4 509 4 480 4 511 4 480 4 512 4 512 176 480 176 481 176 512 177 481 177 513 177 512 4 513 4 514 4 514 178 513 178 515 178 514 4 515 4 516 4 516 4 515 4 517 4 518 15 519 15 520 15 520 15 519 15 521 15 519 15 522 15 521 15 521 179 522 179 523 179 522 180 524 180 523 180 524 181 525 181 523 181 523 15 525 15 526 15 525 15 527 15 526 15 526 15 527 15 528 15 528 15 527 15 529 15 527 15 530 15 529 15 530 182 531 182 529 182 529 183 531 183 532 183 531 184 533 184 532 184 532 185 533 185 534 185 533 186 535 186 534 186 534 187 535 187 536 187 536 15 535 15 537 15 535 188 538 188 537 188 537 15 538 15 539 15 538 15 540 15 539 15 539 15 540 15 541 15 540 189 542 189 541 189 541 190 542 190 543 190 542 15 544 15 543 15 544 15 545 15 543 15 543 15 545 15 546 15 546 15 545 15 547 15 545 191 548 191 547 191 547 192 548 192 549 192 548 15 550 15 549 15 550 15 551 15 549 15 549 15 551 15 552 15 551 15 553 15 552 15 552 15 553 15 554 15 553 15 555 15 554 15 554 15 555 15 556 15 557 15 556 15 555 15 524 15 558 15 525 15 525 193 558 193 559 193 558 15 560 15 559 15 560 15 561 15 559 15 559 15 561 15 562 15 562 15 561 15 563 15 561 15 564 15 563 15 563 15 564 15 565 15 564 15 566 15 565 15 565 194 566 194 567 194 566 15 568 15 567 15 567 15 568 15 569 15 568 15 570 15 569 15 570 15 571 15 569 15 569 15 571 15 572 15 571 15 573 15 572 15 572 195 573 195 574 195 573 15 575 15 574 15 574 15 575 15 576 15 576 15 575 15 577 15 575 15 578 15 577 15 578 15 579 15 577 15 577 15 579 15 580 15 579 196 581 196 580 196 580 197 581 197 550 197 551 15 550 15 581 15 617 198 618 199 619 199 618 199 617 198 620 198 621 200 622 200 623 201 624 201 623 201 622 200 625 202 626 203 627 203 626 203 625 202 628 202 629 204 630 204 631 205 632 205 631 205 630 204 633 206 628 202 625 202 628 202 633 206 634 206 635 207 636 207 629 204 630 204 629 204 636 207 637 208 634 206 633 206 634 206 637 208 638 208 639 209 640 209 635 207 636 207 635 207 640 209 641 210 638 208 637 208 638 208 641 210 642 210 643 211 644 211 639 209 640 209 639 209 644 211 645 212 642 210 641 210 642 210 645 212 646 212 647 213 648 213 643 211 644 211 643 211 648 213 649 214 646 212 645 212 646 212 649 214 650 214 651 215 652 215 647 213 648 213 647 213 652 215 653 216 650 214 649 214 650 214 653 216 654 216 655 217 656 217 651 215 652 215 651 215 656 217 657 218 654 216 653 216 654 216 657 218 658 218 659 219 660 219 655 217 656 217 655 217 660 219 661 220 658 218 657 218 658 218 661 220 662 220 663 221 664 221 659 219 660 219 659 219 664 221 665 222 662 220 661 220 662 220 665 222 666 222 667 223 668 223 663 221 664 221 663 221 668 223 619 199 666 222 665 222 666 222 619 199 618 199 623 201 624 201 667 223 668 223 667 223 624 201

183 | 184 | 185 | 186 | 187 | 188 | 189 | -2.588787 -0.5685029 0 -2.508481 0.7079153 0 -2.629259 0.07477903 0 -2.38961 -1.181509 0 -2.234044 1.291124 0 -2.04424 -1.725723 0 -1.823191 1.787761 0 -1.009555 -2.477466 0 -1.301736 2.16662 0 -0.7024454 2.403896 0 -0.3852514 -2.63776 0 -0.06297624 2.48468 0 0.2593008 -2.63776 0 0.5764948 2.403896 0 0.8836047 -2.477466 0 1.175787 2.16662 0 1.448432 -2.16695 0 1.69724 1.787761 0 1.91829 -1.725723 0 2.108094 1.291124 0 2.263659 -1.181509 0 2.382531 0.7079153 0 2.462838 -0.5685029 0 2.503308 0.07477903 0 2.503308 0.07477903 0 2.462838 -0.5685029 0 2.382531 0.7079153 0 2.263659 -1.181509 0 2.108094 1.291124 0 1.91829 -1.725723 0 1.69724 1.787761 0 1.448432 -2.16695 0 1.175787 2.16662 0 0.8836047 -2.477466 0 0.5764948 2.403896 0 0.2593008 -2.63776 0 -0.06297624 2.48468 0 -0.3852514 -2.63776 0 -0.7024454 2.403896 0 -1.009555 -2.477466 0 -1.301736 2.16662 0 -1.823191 1.787761 0 -2.04424 -1.725723 0 -2.234044 1.291124 0 -2.38961 -1.181509 0 -2.508481 0.7079153 0 -2.588787 -0.5685029 0 -2.629259 0.07477903 0 -0.3852514 -2.63776 0 -1.009555 -2.477466 0 0.2593008 -2.63776 0 0.8836047 -2.477466 0 1.448432 -2.16695 0 1.91829 -1.725723 0 2.263659 -1.181509 0 2.462838 -0.5685029 0 2.503308 0.07477903 0 2.382531 0.7079153 0 2.108094 1.291124 0 1.69724 1.787761 0 1.175787 2.16662 0 0.5764948 2.403896 0 -0.06297624 2.48468 0 -0.7024454 2.403896 0 -1.301736 2.16662 0 -1.823191 1.787761 0 -2.234044 1.291124 0 -2.508481 0.7079153 0 -2.629259 0.07477903 0 -2.588787 -0.5685029 0 -2.38961 -1.181509 0 -2.04424 -1.725723 0 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 0 0 1 0 0 -1 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 |

49 48 48 50 50 51 51 52 52 53 53 54 54 55 55 56 56 57 57 58 58 59 59 60 60 61 61 62 62 63 63 64 64 65 65 66 66 67 67 68 68 69 69 70 70 71 49 71

214 | 215 | 216 | 217 | 218 | 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 219 |

0 0 1 0 2 0 1 0 0 0 3 0 1 0 3 0 4 0 4 0 3 0 5 0 4 0 5 0 6 0 6 0 5 0 7 0 6 0 7 0 8 0 8 0 7 0 9 0 9 0 7 0 10 0 9 0 10 0 11 0 11 0 10 0 12 0 11 0 12 0 13 0 13 0 12 0 14 0 13 0 14 0 15 0 15 0 14 0 16 0 15 0 16 0 17 0 17 0 16 0 18 0 17 0 18 0 19 0 19 0 18 0 20 0 19 0 20 0 21 0 21 0 20 0 22 0 21 0 22 0 23 0 24 1 25 1 26 1 25 1 27 1 26 1 26 1 27 1 28 1 27 1 29 1 28 1 28 1 29 1 30 1 29 1 31 1 30 1 30 1 31 1 32 1 31 1 33 1 32 1 32 1 33 1 34 1 33 1 35 1 34 1 34 1 35 1 36 1 35 1 37 1 36 1 36 1 37 1 38 1 37 1 39 1 38 1 38 1 39 1 40 1 40 1 39 1 41 1 39 1 42 1 41 1 41 1 42 1 43 1 42 1 44 1 43 1 43 1 44 1 45 1 44 1 46 1 45 1 47 1 45 1 46 1

220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 0.0254 0 0 0 0 0.0254 0 0 0 0 0.0254 0 0 0 0 1 229 | 230 | 1 0 0 -5.56359e-6 0 1 0 -5.49654e-6 0 0 1 0.02580245 0 0 0 1 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 1 0 0 -1.48988e-5 0 1 0 -2.85105e-9 0 0 1 0.02579595 0 0 0 1 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 1 0 0 3.64251e-7 0 1 0 9.33806e-7 0 0 1 0.02580476 0 0 0 1 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | simple_arm 4 | 0.0.0 5 | The simple_arm package 6 | 7 | 8 | karim 9 | Karim Chamaa 10 | 11 | 12 | TODO 13 | 14 | 15 | 16 | catkin 17 | message_generation 18 | 19 | controller_manager 20 | effort_controllers 21 | gazebo_plugins 22 | gazebo_ros 23 | gazebo_ros_control 24 | joint_state_controller 25 | joint_state_publisher 26 | robot_state_publisher 27 | message_runtime 28 | xacro 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /src/arm_mover.cpp: -------------------------------------------------------------------------------- 1 | #include "ros/ros.h" 2 | #include "simple_arm/GoToPosition.h" 3 | #include 4 | 5 | // Global joint publisher objects 6 | ros::Publisher joint1_pub, joint2_pub; 7 | 8 | // This function checks and clamps the joint angles to a safe zone 9 | std::vector clamp_at_boundaries(float requested_j1, float requested_j2) 10 | { 11 | // Define clamped joint angles and assign them to the requested ones 12 | float clamped_j1 = requested_j1; 13 | float clamped_j2 = requested_j2; 14 | 15 | // Get min and max joint parameters, and assign them to their respective variables 16 | float min_j1, max_j1, min_j2, max_j2; 17 | // Assign a new node handle since we have no access to the main one 18 | ros::NodeHandle n2; 19 | // Get node name 20 | std::string node_name = ros::this_node::getName(); 21 | // Get joints min and max parameters 22 | n2.getParam(node_name + "/min_joint_1_angle", min_j1); 23 | n2.getParam(node_name + "/max_joint_1_angle", max_j1); 24 | n2.getParam(node_name + "/min_joint_2_angle", min_j2); 25 | n2.getParam(node_name + "/max_joint_2_angle", max_j2); 26 | 27 | // Check if joint 1 falls in the safe zone, otherwise clamp it 28 | if (requested_j1 < min_j1 || requested_j1 > max_j1) { 29 | clamped_j1 = std::min(std::max(requested_j1, min_j1), max_j1); 30 | ROS_WARN("j1 is out of bounds, valid range (%1.2f,%1.2f), clamping to: %1.2f", min_j1, max_j1, clamped_j1); 31 | } 32 | // Check if joint 2 falls in the safe zone, otherwise clamp it 33 | if (requested_j2 < min_j2 || requested_j2 > max_j2) { 34 | clamped_j2 = std::min(std::max(requested_j2, min_j2), max_j2); 35 | ROS_WARN("j2 is out of bounds, valid range (%1.2f,%1.2f), clamping to: %1.2f", min_j2, max_j2, clamped_j2); 36 | } 37 | 38 | // Store clamped joint angles in a clamped_data vector 39 | std::vector clamped_data = { clamped_j1, clamped_j2 }; 40 | 41 | return clamped_data; 42 | } 43 | 44 | // This callback function executes whenever a safe_move service is requested 45 | bool handle_safe_move_request(simple_arm::GoToPosition::Request& req, 46 | simple_arm::GoToPosition::Response& res) 47 | { 48 | 49 | ROS_INFO("GoToPositionRequest received - j1:%1.2f, j2:%1.2f", (float)req.joint_1, (float)req.joint_2); 50 | 51 | // Check if requested joint angles are in the safe zone, otherwise clamp them 52 | std::vector joints_angles = clamp_at_boundaries(req.joint_1, req.joint_2); 53 | 54 | // Publish clamped joint angles to the arm 55 | std_msgs::Float64 joint1_angle, joint2_angle; 56 | 57 | joint1_angle.data = joints_angles[0]; 58 | joint2_angle.data = joints_angles[1]; 59 | 60 | joint1_pub.publish(joint1_angle); 61 | joint2_pub.publish(joint2_angle); 62 | 63 | // Wait 3 seconds for arm to settle 64 | ros::Duration(3).sleep(); 65 | 66 | // Return a response message 67 | res.msg_feedback = "Joint angles set - j1: " + std::to_string(joints_angles[0]) + " , j2: " + std::to_string(joints_angles[1]); 68 | ROS_INFO_STREAM(res.msg_feedback); 69 | 70 | return true; 71 | } 72 | 73 | int main(int argc, char** argv) 74 | { 75 | // Initialize the arm_mover node and create a handle to it 76 | ros::init(argc, argv, "arm_mover"); 77 | ros::NodeHandle n; 78 | 79 | // Define two publishers to publish std_msgs::Float64 messages on joints respective topics 80 | joint1_pub = n.advertise("/simple_arm/joint_1_position_controller/command", 10); 81 | joint2_pub = n.advertise("/simple_arm/joint_2_position_controller/command", 10); 82 | 83 | // Define a safe_move service with a handle_safe_move_request callback function 84 | ros::ServiceServer service = n.advertiseService("/arm_mover/safe_move", handle_safe_move_request); 85 | ROS_INFO("Ready to send joint commands"); 86 | 87 | // Handle ROS communication events 88 | ros::spin(); 89 | 90 | return 0; 91 | } 92 | -------------------------------------------------------------------------------- /src/look_away.cpp: -------------------------------------------------------------------------------- 1 | #include "ros/ros.h" 2 | #include "simple_arm/GoToPosition.h" 3 | #include 4 | #include 5 | 6 | // Define global vector of joints last position, moving state of the arm, and the client that can request services 7 | std::vector joints_last_position{ 0, 0 }; 8 | bool moving_state = false; 9 | ros::ServiceClient client; 10 | 11 | // This function calls the safe_move service to safely move the arm to the center position 12 | void move_arm_center() 13 | { 14 | ROS_INFO_STREAM("Moving the arm to the center"); 15 | 16 | // Request centered joint angles [1.57, 1.57] 17 | simple_arm::GoToPosition srv; 18 | srv.request.joint_1 = 1.57; 19 | srv.request.joint_2 = 1.57; 20 | 21 | // Call the safe_move service and pass the requested joint angles 22 | if (!client.call(srv)) 23 | ROS_ERROR("Failed to call service safe_move"); 24 | } 25 | 26 | // This callback function continuously executes and reads the arm joint angles position 27 | void joint_states_callback(const sensor_msgs::JointState js) 28 | { 29 | // Get joints current position 30 | std::vector joints_current_position = js.position; 31 | 32 | // Define a tolerance threshold to compare double values 33 | double tolerance = 0.0005; 34 | 35 | // Check if the arm is moving by comparing its current joints position to its latest 36 | if (fabs(joints_current_position[0] - joints_last_position[0]) < tolerance && fabs(joints_current_position[1] - joints_last_position[1]) < tolerance) 37 | moving_state = false; 38 | else { 39 | moving_state = true; 40 | joints_last_position = joints_current_position; 41 | } 42 | } 43 | 44 | // This callback function continuously executes and reads the image data 45 | void look_away_callback(const sensor_msgs::Image img) 46 | { 47 | 48 | bool uniform_image = true; 49 | 50 | // Loop through each pixel in the image and check if its equal to the first one 51 | for (int i = 0; i < img.height * img.step; i++) { 52 | if (img.data[i] - img.data[0] != 0) { 53 | uniform_image = false; 54 | break; 55 | } 56 | } 57 | 58 | // If the image is uniform and the arm is not moving, move the arm to the center 59 | if (uniform_image == true && moving_state == false) 60 | move_arm_center(); 61 | } 62 | 63 | int main(int argc, char** argv) 64 | { 65 | // Initialize the look_away node and create a handle to it 66 | ros::init(argc, argv, "look_away"); 67 | ros::NodeHandle n; 68 | 69 | // Define a client service capable of requesting services from safe_move 70 | client = n.serviceClient("/arm_mover/safe_move"); 71 | 72 | // Subscribe to /simple_arm/joint_states topic to read the arm joints position inside the joint_states_callback function 73 | ros::Subscriber sub1 = n.subscribe("/simple_arm/joint_states", 10, joint_states_callback); 74 | 75 | // Subscribe to rgb_camera/image_raw topic to read the image data inside the look_away_callback function 76 | ros::Subscriber sub2 = n.subscribe("rgb_camera/image_raw", 10, look_away_callback); 77 | 78 | // Handle ROS communication events 79 | ros::spin(); 80 | 81 | return 0; 82 | } 83 | -------------------------------------------------------------------------------- /src/simple_mover.cpp: -------------------------------------------------------------------------------- 1 | #include "ros/ros.h" 2 | #include "std_msgs/Float64.h" 3 | 4 | int main(int argc, char** argv) 5 | { 6 | // Initialize the arm_mover node 7 | ros::init(argc, argv, "arm_mover"); 8 | 9 | // Create a handle to the arm_mover node 10 | ros::NodeHandle n; 11 | 12 | // Create a publisher that can publish a std_msgs::Float64 message on the /simple_arm/joint_1_position_controller/command topic 13 | ros::Publisher joint1_pub = n.advertise("/simple_arm/joint_1_position_controller/command", 10); 14 | // Create a publisher that can publish a std_msgs::Float64 message on the /simple_arm/joint_2_position_controller/command topic 15 | ros::Publisher joint2_pub = n.advertise("/simple_arm/joint_2_position_controller/command", 10); 16 | 17 | // Set loop frequency of 10Hz 18 | ros::Rate loop_rate(10); 19 | 20 | int start_time, elapsed; 21 | 22 | // Get ROS start time 23 | while (not start_time) { 24 | start_time = ros::Time::now().toSec(); 25 | } 26 | 27 | while (ros::ok()) { 28 | // Get ROS elapsed time 29 | elapsed = ros::Time::now().toSec() - start_time; 30 | 31 | // Set the arm joint angles 32 | std_msgs::Float64 joint1_angle, joint2_angle; 33 | joint1_angle.data = sin(2 * M_PI * 0.1 * elapsed) * (M_PI / 2); 34 | joint2_angle.data = sin(2 * M_PI * 0.1 * elapsed) * (M_PI / 2); 35 | 36 | // Publish the arm joint angles 37 | joint1_pub.publish(joint1_angle); 38 | joint2_pub.publish(joint2_angle); 39 | 40 | // Sleep for the time remaining until 10Hz is reached 41 | loop_rate.sleep(); 42 | } 43 | 44 | return 0; 45 | } 46 | -------------------------------------------------------------------------------- /srv/GoToPosition.srv: -------------------------------------------------------------------------------- 1 | float64 joint_1 2 | float64 joint_2 3 | --- 4 | string msg_feedback 5 | 6 | -------------------------------------------------------------------------------- /urdf/simple_arm.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | /simple_arm 7 | gazebo_ros_control/DefaultRobotHWSim 8 | 9 | 10 | 11 | 12 | 13 | Gazebo/White 14 | 15 | 16 | 17 | 18 | 0.2 19 | 0.2 20 | Gazebo/Orange 21 | 22 | 23 | 24 | 25 | 0.2 26 | 0.2 27 | Gazebo/White 28 | 29 | 30 | 31 | 32 | Gazebo/Grey 33 | 34 | 35 | 36 | 37 | 38 | 30.0 39 | 40 | 1.4 41 | 42 | 640 43 | 480 44 | R8G8B8 45 | 46 | 47 | 0.02 48 | 300 49 | 50 | 51 | 52 | true 53 | 0.0 54 | rgb_camera 55 | image_raw 56 | camera_info 57 | camera_link 58 | 0.0 59 | 0.0 60 | 0.0 61 | 0.0 62 | 0.0 63 | 0.0 64 | 65 | 66 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /urdf/simple_arm.urdf.xacro: -------------------------------------------------------------------------------- 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 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | transmission_interface/SimpleTransmission 226 | 227 | hardware_interface/EffortJointInterface 228 | 229 | 230 | EffortJointInterface 231 | 1 232 | 233 | 234 | 235 | 236 | transmission_interface/SimpleTransmission 237 | 238 | hardware_interface/EffortJointInterface 239 | 240 | 241 | EffortJointInterface 242 | 1 243 | 244 | 245 | 246 | -------------------------------------------------------------------------------- /worlds/willow_garage.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 1 5 | 0 0 10 0 -0 0 6 | 0.8 0.8 0.8 1 7 | 0.2 0.2 0.2 1 8 | 9 | 1000 10 | 0.9 11 | 0.01 12 | 0.001 13 | 14 | -0.5 0.1 -0.9 15 | 16 | 0 0 -9.8 17 | 6e-06 2.3e-05 -4.2e-05 18 | 19 | 20 | 0.001 21 | 1 22 | 1000 23 | 24 | 25 | 0.4 0.4 0.4 1 26 | 0.7 0.7 0.7 1 27 | 1 28 | 29 | 30 | EARTH_WGS84 31 | 0 32 | 0 33 | 0 34 | 0 35 | 36 | 37 | 1 38 | -22.4148 -11.0977 0 0 -0 0 39 | 40 | 41 | 42 | 43 | model://willowgarage/meshes/willowgarage_collision.dae 44 | 1 1 1 45 | 46 | 47 | 10 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | model://willowgarage/meshes/willowgarage_visual.dae 65 | 1 1 1 66 | 67 | 68 | 0 69 | 70 | 0 71 | 0 72 | 73 | 74 | 75 | 261 178000000 76 | 14 329459633 77 | 1491855431 454637892 78 | 14283 79 | 80 | 0 0 0 0 -0 0 81 | 1 1 1 82 | 83 | 0 0 0 0 -0 0 84 | 0 0 0 0 -0 0 85 | 0 0 0 0 -0 0 86 | 0 0 0 0 -0 0 87 | 88 | 89 | 90 | -1 3.34 1.115 0 -0 0 91 | 0.5 0.5 0.5 92 | 93 | -1 3.34 1.115 0 -0 0 94 | 0 0 0 0 -0 0 95 | 0 0 0 0 -0 0 96 | 0 0 0 0 -0 0 97 | 98 | 99 | 100 | 0 3.34 1.11504 0 -0 0 101 | 0.5 0.5 0.5 102 | 103 | 0 3.34 1.11504 0 -0 0 104 | 0 0 0 0 -0 0 105 | 0 0 0 0 -0 0 106 | 0 0 0 0 -0 0 107 | 108 | 109 | 110 | 1 3.34 1.115 0 -0 0 111 | 0.5 0.5 0.5 112 | 113 | 1 3.34 1.115 0 -0 0 114 | 0 0 0 0 -0 0 115 | 0 0 0 0 -0 0 116 | 0 0 0 0 -0 0 117 | 118 | 119 | 120 | -27.6336 -12.8878 0 0 -0 0 121 | 1 1 1 122 | 123 | -27.6336 -12.8878 0 0 -0 0 124 | 0 0 0 0 -0 0 125 | 0 0 0 0 -0 0 126 | 0 0 0 0 -0 0 127 | 128 | 129 | 130 | 0 0 10 0 -0 0 131 | 132 | 133 | 134 | 135 | -2.744 -7.344 5.865 0 0.579 1.276 136 | orbit 137 | perspective 138 | 139 | 140 | 141 | 1 142 | 143 | 144 | 145 | 146 | 0 0 1 147 | 100 100 148 | 149 | 150 | 151 | 152 | 153 | 100 154 | 50 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 10 166 | 167 | 0 168 | 0 169 | 170 | -3.66073 4.19843 0 0 -0 0 171 | 172 | 173 | 0.163853 1.90396 0.4 0 -0 0 174 | 1 175 | 176 | 177 | 178 | 179 | model://number1/meshes/number.dae 180 | 0.5 0.5 0.5 181 | 182 | 183 | 184 | 189 | 190 | 191 | 0 192 | 0 193 | 194 | 195 | 196 | 1.8485 1.98789 0.4 0 -0 0 197 | 1 198 | 199 | 200 | 201 | 202 | model://number1/meshes/number.dae 203 | 0.5 0.5 0.5 204 | 205 | 206 | 207 | 212 | 213 | 214 | 0 215 | 0 216 | 217 | 218 | 219 | 3.35966 2.06456 0.4 0 -0 0 220 | 1 221 | 222 | 223 | 224 | 225 | model://number1/meshes/number.dae 226 | 0.5 0.5 0.5 227 | 228 | 229 | 230 | 235 | 236 | 237 | 0 238 | 0 239 | 240 | 241 | 242 | 243 | --------------------------------------------------------------------------------