diff --git a/kine_ctrl/main.py b/kine_ctrl/main.py index c6144a8..ebf9717 100644 --- a/kine_ctrl/main.py +++ b/kine_ctrl/main.py @@ -100,9 +100,12 @@ def main(): if d_p_ik < 0.01: result[0][1] += 1 - # robot_mjk.send_command(q) - # robot_mjk.wait_until_reached() - # robot_mjk.print_state() + while 1: + time.sleep(1) + + robot_mjk.send_command(q) + robot_mjk.wait_until_reached() + robot_mjk.print_state() else: fk_qp_p2 = robot_kine_qp.forward_kinematics(q, tool=tool_name) d_p_ik = cal_pose_deviation(pose1=t_p, pose2=fk_qp_p2) diff --git a/kine_ctrl/urdf_rm75/RM75-SCI.urdf b/kine_ctrl/urdf_rm75/RM75-SCI.urdf new file mode 100644 index 0000000..dfe3b6e --- /dev/null +++ b/kine_ctrl/urdf_rm75/RM75-SCI.urdf @@ -0,0 +1,496 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kine_ctrl/urdf_rm75/meshes/sci.stl b/kine_ctrl/urdf_rm75/meshes/sci.stl new file mode 100644 index 0000000..3a4ca52 Binary files /dev/null and b/kine_ctrl/urdf_rm75/meshes/sci.stl differ diff --git a/kine_ctrl/workspace_comfortable/Contour_plot.py b/kine_ctrl/workspace_comfortable/Contour_plot.py index d0fe24e..4d597af 100644 --- a/kine_ctrl/workspace_comfortable/Contour_plot.py +++ b/kine_ctrl/workspace_comfortable/Contour_plot.py @@ -8,7 +8,7 @@ import pandas as pd # -------------------------------------------------- # 1. Load the data # -------------------------------------------------- -file_name = "workspace minisci collision.csv" +file_name = "rm75b_comfort_workspace_v_minis_collision.csv" csv_path = Path(file_name) # The file has no column names, so header=None is important. diff --git a/kine_ctrl/workspace_comfortable/collision-1.png b/kine_ctrl/workspace_comfortable/collision-1.png deleted file mode 100644 index 419690e..0000000 Binary files a/kine_ctrl/workspace_comfortable/collision-1.png and /dev/null differ diff --git a/kine_ctrl/workspace_comfortable/collision-2.png b/kine_ctrl/workspace_comfortable/collision-2.png deleted file mode 100644 index 419690e..0000000 Binary files a/kine_ctrl/workspace_comfortable/collision-2.png and /dev/null differ diff --git a/kine_ctrl/workspace_comfortable/workspace minisci collision.csv b/kine_ctrl/workspace_comfortable/workspace minisci collision.csv deleted file mode 100644 index d952977..0000000 --- a/kine_ctrl/workspace_comfortable/workspace minisci collision.csv +++ /dev/null @@ -1,15979 +0,0 @@ --0.7,-0.7,-0.1,0 --0.7,-0.65,-0.1,0 --0.7,-0.6,-0.1,0 --0.7,-0.55,-0.1,0 --0.7,-0.5,-0.1,0 --0.7,-0.45,-0.1,0 --0.7,-0.4,-0.1,0 --0.7,-0.35,-0.1,0 --0.7,-0.3,-0.1,0 --0.7,-0.25,-0.1,0 --0.7,-0.2,-0.1,0 --0.7,-0.15,-0.1,0.00833 --0.7,-0.1,-0.1,0.00833 --0.7,-0.05,-0.1,0.025 --0.7,6.66E-16,-0.1,0.025 --0.7,0.05,-0.1,0.025 --0.7,0.1,-0.1,0.025 --0.7,0.15,-0.1,0.00833 --0.7,0.2,-0.1,0 --0.7,0.25,-0.1,0 --0.7,0.3,-0.1,0 --0.7,0.35,-0.1,0 --0.7,0.4,-0.1,0 --0.7,0.45,-0.1,0 --0.7,0.5,-0.1,0 --0.7,0.55,-0.1,0 --0.7,0.6,-0.1,0 --0.7,0.65,-0.1,0 --0.7,0.7,-0.1,0 --0.65,-0.7,-0.1,0 --0.65,-0.65,-0.1,0 --0.65,-0.6,-0.1,0 --0.65,-0.55,-0.1,0 --0.65,-0.5,-0.1,0 --0.65,-0.45,-0.1,0 --0.65,-0.4,-0.1,0 --0.65,-0.35,-0.1,0 --0.65,-0.3,-0.1,0.00833 --0.65,-0.25,-0.1,0.01667 --0.65,-0.2,-0.1,0.03333 --0.65,-0.15,-0.1,0.04167 --0.65,-0.1,-0.1,0.05 --0.65,-0.05,-0.1,0.05833 --0.65,6.66E-16,-0.1,0.05833 --0.65,0.05,-0.1,0.04167 --0.65,0.1,-0.1,0.04167 --0.65,0.15,-0.1,0.04167 --0.65,0.2,-0.1,0.025 --0.65,0.25,-0.1,0.00833 --0.65,0.3,-0.1,0 --0.65,0.35,-0.1,0 --0.65,0.4,-0.1,0 --0.65,0.45,-0.1,0 --0.65,0.5,-0.1,0 --0.65,0.55,-0.1,0 --0.65,0.6,-0.1,0 --0.65,0.65,-0.1,0 --0.65,0.7,-0.1,0 --0.6,-0.7,-0.1,0 --0.6,-0.65,-0.1,0 --0.6,-0.6,-0.1,0 --0.6,-0.55,-0.1,0 --0.6,-0.5,-0.1,0 --0.6,-0.45,-0.1,0 --0.6,-0.4,-0.1,0 --0.6,-0.35,-0.1,0.025 --0.6,-0.3,-0.1,0.05 --0.6,-0.25,-0.1,0.075 --0.6,-0.2,-0.1,0.09167 --0.6,-0.15,-0.1,0.1 --0.6,-0.1,-0.1,0.09167 --0.6,-0.05,-0.1,0.1 --0.6,6.66E-16,-0.1,0.10833 --0.6,0.05,-0.1,0.125 --0.6,0.1,-0.1,0.13333 --0.6,0.15,-0.1,0.10833 --0.6,0.2,-0.1,0.1 --0.6,0.25,-0.1,0.09167 --0.6,0.3,-0.1,0.06667 --0.6,0.35,-0.1,0.01667 --0.6,0.4,-0.1,0 --0.6,0.45,-0.1,0 --0.6,0.5,-0.1,0 --0.6,0.55,-0.1,0 --0.6,0.6,-0.1,0 --0.6,0.65,-0.1,0 --0.6,0.7,-0.1,0 --0.55,-0.7,-0.1,0 --0.55,-0.65,-0.1,0 --0.55,-0.6,-0.1,0 --0.55,-0.55,-0.1,0 --0.55,-0.5,-0.1,0 --0.55,-0.45,-0.1,0.01667 --0.55,-0.4,-0.1,0.03333 --0.55,-0.35,-0.1,0.05 --0.55,-0.3,-0.1,0.075 --0.55,-0.25,-0.1,0.09167 --0.55,-0.2,-0.1,0.10833 --0.55,-0.15,-0.1,0.10833 --0.55,-0.1,-0.1,0.13333 --0.55,-0.05,-0.1,0.15 --0.55,6.66E-16,-0.1,0.18333 --0.55,0.05,-0.1,0.175 --0.55,0.1,-0.1,0.15833 --0.55,0.15,-0.1,0.15833 --0.55,0.2,-0.1,0.125 --0.55,0.25,-0.1,0.125 --0.55,0.3,-0.1,0.10833 --0.55,0.35,-0.1,0.075 --0.55,0.4,-0.1,0.05 --0.55,0.45,-0.1,0 --0.55,0.5,-0.1,0 --0.55,0.55,-0.1,0 --0.55,0.6,-0.1,0 --0.55,0.65,-0.1,0 --0.55,0.7,-0.1,0 --0.5,-0.7,-0.1,0 --0.5,-0.65,-0.1,0 --0.5,-0.6,-0.1,0 --0.5,-0.55,-0.1,0 --0.5,-0.5,-0.1,0.01667 --0.5,-0.45,-0.1,0.03333 --0.5,-0.4,-0.1,0.04167 --0.5,-0.35,-0.1,0.08333 --0.5,-0.3,-0.1,0.1 --0.5,-0.25,-0.1,0.125 --0.5,-0.2,-0.1,0.14167 --0.5,-0.15,-0.1,0.15833 --0.5,-0.1,-0.1,0.19167 --0.5,-0.05,-0.1,0.21667 --0.5,6.66E-16,-0.1,0.21667 --0.5,0.05,-0.1,0.18333 --0.5,0.1,-0.1,0.175 --0.5,0.15,-0.1,0.15833 --0.5,0.2,-0.1,0.15 --0.5,0.25,-0.1,0.13333 --0.5,0.3,-0.1,0.125 --0.5,0.35,-0.1,0.10833 --0.5,0.4,-0.1,0.075 --0.5,0.45,-0.1,0.05 --0.5,0.5,-0.1,0.01667 --0.5,0.55,-0.1,0 --0.5,0.6,-0.1,0 --0.5,0.65,-0.1,0 --0.5,0.7,-0.1,0 --0.45,-0.7,-0.1,0 --0.45,-0.65,-0.1,0 --0.45,-0.6,-0.1,0 --0.45,-0.55,-0.1,0.01667 --0.45,-0.5,-0.1,0.025 --0.45,-0.45,-0.1,0.04167 --0.45,-0.4,-0.1,0.09167 --0.45,-0.35,-0.1,0.11667 --0.45,-0.3,-0.1,0.14167 --0.45,-0.25,-0.1,0.16667 --0.45,-0.2,-0.1,0.175 --0.45,-0.15,-0.1,0.20833 --0.45,-0.1,-0.1,0.225 --0.45,-0.05,-0.1,0.225 --0.45,6.66E-16,-0.1,0.24167 --0.45,0.05,-0.1,0.23333 --0.45,0.1,-0.1,0.21667 --0.45,0.15,-0.1,0.19167 --0.45,0.2,-0.1,0.175 --0.45,0.25,-0.1,0.16667 --0.45,0.3,-0.1,0.15 --0.45,0.35,-0.1,0.13333 --0.45,0.4,-0.1,0.1 --0.45,0.45,-0.1,0.05833 --0.45,0.5,-0.1,0.05 --0.45,0.55,-0.1,0.01667 --0.45,0.6,-0.1,0 --0.45,0.65,-0.1,0 --0.45,0.7,-0.1,0 --0.4,-0.7,-0.1,0 --0.4,-0.65,-0.1,0 --0.4,-0.6,-0.1,0 --0.4,-0.55,-0.1,0.01667 --0.4,-0.5,-0.1,0.05 --0.4,-0.45,-0.1,0.09167 --0.4,-0.4,-0.1,0.13333 --0.4,-0.35,-0.1,0.15833 --0.4,-0.3,-0.1,0.18333 --0.4,-0.25,-0.1,0.19167 --0.4,-0.2,-0.1,0.2 --0.4,-0.15,-0.1,0.225 --0.4,-0.1,-0.1,0.25 --0.4,-0.05,-0.1,0.25833 --0.4,6.66E-16,-0.1,0.24167 --0.4,0.05,-0.1,0.24167 --0.4,0.1,-0.1,0.25 --0.4,0.15,-0.1,0.23333 --0.4,0.2,-0.1,0.2 --0.4,0.25,-0.1,0.19167 --0.4,0.3,-0.1,0.15833 --0.4,0.35,-0.1,0.15833 --0.4,0.4,-0.1,0.125 --0.4,0.45,-0.1,0.09167 --0.4,0.5,-0.1,0.05833 --0.4,0.55,-0.1,0.04167 --0.4,0.6,-0.1,0 --0.4,0.65,-0.1,0 --0.4,0.7,-0.1,0 --0.35,-0.7,-0.1,0 --0.35,-0.65,-0.1,0 --0.35,-0.6,-0.1,0.01667 --0.35,-0.55,-0.1,0.04167 --0.35,-0.5,-0.1,0.08333 --0.35,-0.45,-0.1,0.14167 --0.35,-0.4,-0.1,0.15833 --0.35,-0.35,-0.1,0.16667 --0.35,-0.3,-0.1,0.19167 --0.35,-0.25,-0.1,0.20833 --0.35,-0.2,-0.1,0.25833 --0.35,-0.15,-0.1,0.275 --0.35,-0.1,-0.1,0.26667 --0.35,-0.05,-0.1,0.25 --0.35,6.66E-16,-0.1,0.275 --0.35,0.05,-0.1,0.26667 --0.35,0.1,-0.1,0.25 --0.35,0.15,-0.1,0.24167 --0.35,0.2,-0.1,0.23333 --0.35,0.25,-0.1,0.21667 --0.35,0.3,-0.1,0.20833 --0.35,0.35,-0.1,0.19167 --0.35,0.4,-0.1,0.15 --0.35,0.45,-0.1,0.11667 --0.35,0.5,-0.1,0.075 --0.35,0.55,-0.1,0.05833 --0.35,0.6,-0.1,0.025 --0.35,0.65,-0.1,0 --0.35,0.7,-0.1,0 --0.3,-0.7,-0.1,0 --0.3,-0.65,-0.1,0 --0.3,-0.6,-0.1,0.03333 --0.3,-0.55,-0.1,0.09167 --0.3,-0.5,-0.1,0.10833 --0.3,-0.45,-0.1,0.14167 --0.3,-0.4,-0.1,0.19167 --0.3,-0.35,-0.1,0.2 --0.3,-0.3,-0.1,0.225 --0.3,-0.25,-0.1,0.26667 --0.3,-0.2,-0.1,0.28333 --0.3,-0.15,-0.1,0.29167 --0.3,-0.1,-0.1,0.29167 --0.3,-0.05,-0.1,0.3 --0.3,6.66E-16,-0.1,0.3 --0.3,0.05,-0.1,0.3 --0.3,0.1,-0.1,0.25 --0.3,0.15,-0.1,0.225 --0.3,0.2,-0.1,0.2 --0.3,0.25,-0.1,0.225 --0.3,0.3,-0.1,0.20833 --0.3,0.35,-0.1,0.20833 --0.3,0.4,-0.1,0.18333 --0.3,0.45,-0.1,0.15 --0.3,0.5,-0.1,0.1 --0.3,0.55,-0.1,0.06667 --0.3,0.6,-0.1,0.05 --0.3,0.65,-0.1,0 --0.3,0.7,-0.1,0 --0.25,-0.7,-0.1,0 --0.25,-0.65,-0.1,0.01667 --0.25,-0.6,-0.1,0.075 --0.25,-0.55,-0.1,0.09167 --0.25,-0.5,-0.1,0.13333 --0.25,-0.45,-0.1,0.175 --0.25,-0.4,-0.1,0.20833 --0.25,-0.35,-0.1,0.225 --0.25,-0.3,-0.1,0.26667 --0.25,-0.25,-0.1,0.275 --0.25,-0.2,-0.1,0.31667 --0.25,-0.15,-0.1,0.325 --0.25,-0.1,-0.1,0.31667 --0.25,-0.05,-0.1,0.33333 --0.25,6.66E-16,-0.1,0.35 --0.25,0.05,-0.1,0.31667 --0.25,0.1,-0.1,0.25833 --0.25,0.15,-0.1,0.23333 --0.25,0.2,-0.1,0.2 --0.25,0.25,-0.1,0.2 --0.25,0.3,-0.1,0.23333 --0.25,0.35,-0.1,0.21667 --0.25,0.4,-0.1,0.2 --0.25,0.45,-0.1,0.175 --0.25,0.5,-0.1,0.11667 --0.25,0.55,-0.1,0.09167 --0.25,0.6,-0.1,0.05 --0.25,0.65,-0.1,0.01667 --0.25,0.7,-0.1,0 --0.2,-0.7,-0.1,0 --0.2,-0.65,-0.1,0.03333 --0.2,-0.6,-0.1,0.09167 --0.2,-0.55,-0.1,0.125 --0.2,-0.5,-0.1,0.15833 --0.2,-0.45,-0.1,0.18333 --0.2,-0.4,-0.1,0.21667 --0.2,-0.35,-0.1,0.23333 --0.2,-0.3,-0.1,0.3 --0.2,-0.25,-0.1,0.31667 --0.2,-0.2,-0.1,0.29167 --0.2,-0.15,-0.1,0.34167 --0.2,-0.1,-0.1,0.33333 --0.2,-0.05,-0.1,0.36667 --0.2,6.66E-16,-0.1,0.375 --0.2,0.05,-0.1,0.35 --0.2,0.1,-0.1,0.34167 --0.2,0.15,-0.1,0.31667 --0.2,0.2,-0.1,0.24167 --0.2,0.25,-0.1,0.225 --0.2,0.3,-0.1,0.20833 --0.2,0.35,-0.1,0.225 --0.2,0.4,-0.1,0.19167 --0.2,0.45,-0.1,0.16667 --0.2,0.5,-0.1,0.13333 --0.2,0.55,-0.1,0.10833 --0.2,0.6,-0.1,0.08333 --0.2,0.65,-0.1,0.025 --0.2,0.7,-0.1,0 --0.15,-0.7,-0.1,0.01667 --0.15,-0.65,-0.1,0.05 --0.15,-0.6,-0.1,0.09167 --0.15,-0.55,-0.1,0.14167 --0.15,-0.5,-0.1,0.16667 --0.15,-0.45,-0.1,0.2 --0.15,-0.4,-0.1,0.225 --0.15,-0.35,-0.1,0.26667 --0.15,-0.3,-0.1,0.26667 --0.15,-0.25,-0.1,0.33333 --0.15,-0.2,-0.1,0.33333 --0.15,-0.15,-0.1,0.36667 --0.15,-0.1,-0.1,0.38333 --0.15,-0.05,-0.1,0.39167 --0.15,6.66E-16,-0.1,0.39167 --0.15,0.05,-0.1,0.375 --0.15,0.1,-0.1,0.35 --0.15,0.15,-0.1,0.33333 --0.15,0.2,-0.1,0.31667 --0.15,0.25,-0.1,0.25833 --0.15,0.3,-0.1,0.24167 --0.15,0.35,-0.1,0.23333 --0.15,0.4,-0.1,0.20833 --0.15,0.45,-0.1,0.175 --0.15,0.5,-0.1,0.14167 --0.15,0.55,-0.1,0.10833 --0.15,0.6,-0.1,0.1 --0.15,0.65,-0.1,0.05 --0.15,0.7,-0.1,0.00833 --0.1,-0.7,-0.1,0.025 --0.1,-0.65,-0.1,0.05833 --0.1,-0.6,-0.1,0.10833 --0.1,-0.55,-0.1,0.15 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--0.6,0.2,0.15,0.20833 --0.6,0.25,0.15,0.18333 --0.6,0.3,0.15,0.15833 --0.6,0.35,0.15,0.11667 --0.6,0.4,0.15,0.08333 --0.6,0.45,0.15,0.05833 --0.6,0.5,0.15,0.03333 --0.6,0.55,0.15,0 --0.6,0.6,0.15,0 --0.6,0.65,0.15,0 --0.6,0.7,0.15,0 --0.55,-0.7,0.15,0 --0.55,-0.65,0.15,0 --0.55,-0.6,0.15,0 --0.55,-0.55,0.15,0.025 --0.55,-0.5,0.15,0.08333 --0.55,-0.45,0.15,0.125 --0.55,-0.4,0.15,0.125 --0.55,-0.35,0.15,0.175 --0.55,-0.3,0.15,0.2 --0.55,-0.25,0.15,0.225 --0.55,-0.2,0.15,0.23333 --0.55,-0.15,0.15,0.23333 --0.55,-0.1,0.15,0.24167 --0.55,-0.05,0.15,0.275 --0.55,6.66E-16,0.15,0.29167 --0.55,0.05,0.15,0.3 --0.55,0.1,0.15,0.29167 --0.55,0.15,0.15,0.275 --0.55,0.2,0.15,0.25833 --0.55,0.25,0.15,0.24167 --0.55,0.3,0.15,0.20833 --0.55,0.35,0.15,0.16667 --0.55,0.4,0.15,0.15 --0.55,0.45,0.15,0.09167 --0.55,0.5,0.15,0.05 --0.55,0.55,0.15,0.03333 --0.55,0.6,0.15,0 --0.55,0.65,0.15,0 --0.55,0.7,0.15,0 --0.5,-0.7,0.15,0 --0.5,-0.65,0.15,0 --0.5,-0.6,0.15,0.025 --0.5,-0.55,0.15,0.06667 --0.5,-0.5,0.15,0.125 --0.5,-0.45,0.15,0.14167 --0.5,-0.4,0.15,0.18333 --0.5,-0.35,0.15,0.20833 --0.5,-0.3,0.15,0.225 --0.5,-0.25,0.15,0.275 --0.5,-0.2,0.15,0.26667 --0.5,-0.15,0.15,0.28333 --0.5,-0.1,0.15,0.3 --0.5,-0.05,0.15,0.3 --0.5,6.66E-16,0.15,0.3 --0.5,0.05,0.15,0.3 --0.5,0.1,0.15,0.31667 --0.5,0.15,0.15,0.30833 --0.5,0.2,0.15,0.29167 --0.5,0.25,0.15,0.25833 --0.5,0.3,0.15,0.24167 --0.5,0.35,0.15,0.2 --0.5,0.4,0.15,0.175 --0.5,0.45,0.15,0.14167 --0.5,0.5,0.15,0.11667 --0.5,0.55,0.15,0.05 --0.5,0.6,0.15,0.01667 --0.5,0.65,0.15,0 --0.5,0.7,0.15,0 --0.45,-0.7,0.15,0 --0.45,-0.65,0.15,0.00833 --0.45,-0.6,0.15,0.05833 --0.45,-0.55,0.15,0.11667 --0.45,-0.5,0.15,0.16667 --0.45,-0.45,0.15,0.20833 --0.45,-0.4,0.15,0.23333 --0.45,-0.35,0.15,0.275 --0.45,-0.3,0.15,0.28333 --0.45,-0.25,0.15,0.31667 --0.45,-0.2,0.15,0.33333 --0.45,-0.15,0.15,0.325 --0.45,-0.1,0.15,0.325 --0.45,-0.05,0.15,0.29167 --0.45,6.66E-16,0.15,0.26667 --0.45,0.05,0.15,0.3 --0.45,0.1,0.15,0.3 --0.45,0.15,0.15,0.275 --0.45,0.2,0.15,0.31667 --0.45,0.25,0.15,0.3 --0.45,0.3,0.15,0.26667 --0.45,0.35,0.15,0.23333 --0.45,0.4,0.15,0.21667 --0.45,0.45,0.15,0.18333 --0.45,0.5,0.15,0.14167 --0.45,0.55,0.15,0.09167 --0.45,0.6,0.15,0.04167 --0.45,0.65,0.15,0 --0.45,0.7,0.15,0 --0.4,-0.7,0.15,0 --0.4,-0.65,0.15,0.05 --0.4,-0.6,0.15,0.09167 --0.4,-0.55,0.15,0.16667 --0.4,-0.5,0.15,0.2 --0.4,-0.45,0.15,0.24167 --0.4,-0.4,0.15,0.29167 --0.4,-0.35,0.15,0.31667 --0.4,-0.3,0.15,0.325 --0.4,-0.25,0.15,0.325 --0.4,-0.2,0.15,0.30833 --0.4,-0.15,0.15,0.33333 --0.4,-0.1,0.15,0.30833 --0.4,-0.05,0.15,0.3 --0.4,6.66E-16,0.15,0.33333 --0.4,0.05,0.15,0.29167 --0.4,0.1,0.15,0.30833 --0.4,0.15,0.15,0.29167 --0.4,0.2,0.15,0.3 --0.4,0.25,0.15,0.29167 --0.4,0.3,0.15,0.28333 --0.4,0.35,0.15,0.25 --0.4,0.4,0.15,0.21667 --0.4,0.45,0.15,0.19167 --0.4,0.5,0.15,0.15833 --0.4,0.55,0.15,0.11667 --0.4,0.6,0.15,0.075 --0.4,0.65,0.15,0.025 --0.4,0.7,0.15,0 --0.35,-0.7,0.15,0.025 --0.35,-0.65,0.15,0.05 --0.35,-0.6,0.15,0.14167 --0.35,-0.55,0.15,0.19167 --0.35,-0.5,0.15,0.225 --0.35,-0.45,0.15,0.28333 --0.35,-0.4,0.15,0.31667 --0.35,-0.35,0.15,0.31667 --0.35,-0.3,0.15,0.34167 --0.35,-0.25,0.15,0.30833 --0.35,-0.2,0.15,0.325 --0.35,-0.15,0.15,0.31667 --0.35,-0.1,0.15,0.33333 --0.35,-0.05,0.15,0.35 --0.35,6.66E-16,0.15,0.35833 --0.35,0.05,0.15,0.33333 --0.35,0.1,0.15,0.34167 --0.35,0.15,0.15,0.38333 --0.35,0.2,0.15,0.35833 --0.35,0.25,0.15,0.34167 --0.35,0.3,0.15,0.31667 --0.35,0.35,0.15,0.30833 --0.35,0.4,0.15,0.28333 --0.35,0.45,0.15,0.24167 --0.35,0.5,0.15,0.175 --0.35,0.55,0.15,0.14167 --0.35,0.6,0.15,0.1 --0.35,0.65,0.15,0.025 --0.35,0.7,0.15,0 --0.3,-0.7,0.15,0.03333 --0.3,-0.65,0.15,0.1 --0.3,-0.6,0.15,0.15833 --0.3,-0.55,0.15,0.225 --0.3,-0.5,0.15,0.25833 --0.3,-0.45,0.15,0.30833 --0.3,-0.4,0.15,0.33333 --0.3,-0.35,0.15,0.34167 --0.3,-0.3,0.15,0.36667 --0.3,-0.25,0.15,0.35833 --0.3,-0.2,0.15,0.35 --0.3,-0.15,0.15,0.38333 --0.3,-0.1,0.15,0.36667 --0.3,-0.05,0.15,0.4 --0.3,6.66E-16,0.15,0.4 --0.3,0.05,0.15,0.39167 --0.3,0.1,0.15,0.375 --0.3,0.15,0.15,0.375 --0.3,0.2,0.15,0.35 --0.3,0.25,0.15,0.35833 --0.3,0.3,0.15,0.35833 --0.3,0.35,0.15,0.33333 --0.3,0.4,0.15,0.3 --0.3,0.45,0.15,0.26667 --0.3,0.5,0.15,0.225 --0.3,0.55,0.15,0.18333 --0.3,0.6,0.15,0.11667 --0.3,0.65,0.15,0.05833 --0.3,0.7,0.15,0.00833 --0.25,-0.7,0.15,0.05 --0.25,-0.65,0.15,0.125 --0.25,-0.6,0.15,0.18333 --0.25,-0.55,0.15,0.24167 --0.25,-0.5,0.15,0.26667 --0.25,-0.45,0.15,0.34167 --0.25,-0.4,0.15,0.35 --0.25,-0.35,0.15,0.375 --0.25,-0.3,0.15,0.4 --0.25,-0.25,0.15,0.40833 --0.25,-0.2,0.15,0.425 --0.25,-0.15,0.15,0.44167 --0.25,-0.1,0.15,0.4 --0.25,-0.05,0.15,0.43333 --0.25,6.66E-16,0.15,0.45833 --0.25,0.05,0.15,0.44167 --0.25,0.1,0.15,0.375 --0.25,0.15,0.15,0.38333 --0.25,0.2,0.15,0.36667 --0.25,0.25,0.15,0.35 --0.25,0.3,0.15,0.325 --0.25,0.35,0.15,0.33333 --0.25,0.4,0.15,0.33333 --0.25,0.45,0.15,0.3 --0.25,0.5,0.15,0.24167 --0.25,0.55,0.15,0.2 --0.25,0.6,0.15,0.16667 --0.25,0.65,0.15,0.06667 --0.25,0.7,0.15,0.01667 --0.2,-0.7,0.15,0.08333 --0.2,-0.65,0.15,0.13333 --0.2,-0.6,0.15,0.19167 --0.2,-0.55,0.15,0.25833 --0.2,-0.5,0.15,0.3 --0.2,-0.45,0.15,0.36667 --0.2,-0.4,0.15,0.36667 --0.2,-0.35,0.15,0.375 --0.2,-0.3,0.15,0.39167 --0.2,-0.25,0.15,0.46667 --0.2,-0.2,0.15,0.475 --0.2,-0.15,0.15,0.49167 --0.2,-0.1,0.15,0.49167 --0.2,-0.05,0.15,0.50833 --0.2,6.66E-16,0.15,0.525 --0.2,0.05,0.15,0.5 --0.2,0.1,0.15,0.45 --0.2,0.15,0.15,0.39167 --0.2,0.2,0.15,0.4 --0.2,0.25,0.15,0.35833 --0.2,0.3,0.15,0.33333 --0.2,0.35,0.15,0.33333 --0.2,0.4,0.15,0.35 --0.2,0.45,0.15,0.31667 --0.2,0.5,0.15,0.275 --0.2,0.55,0.15,0.225 --0.2,0.6,0.15,0.18333 --0.2,0.65,0.15,0.10833 --0.2,0.7,0.15,0.025 --0.15,-0.7,0.15,0.1 --0.15,-0.65,0.15,0.15 --0.15,-0.6,0.15,0.19167 --0.15,-0.55,0.15,0.275 --0.15,-0.5,0.15,0.31667 --0.15,-0.45,0.15,0.36667 --0.15,-0.4,0.15,0.4 --0.15,-0.35,0.15,0.375 --0.15,-0.3,0.15,0.4 --0.15,-0.25,0.15,0.49167 --0.15,-0.2,0.15,0.50833 --0.15,-0.15,0.15,0.56667 --0.15,-0.1,0.15,0.56667 --0.15,-0.05,0.15,0.6 --0.15,6.66E-16,0.15,0.6 --0.15,0.05,0.15,0.625 --0.15,0.1,0.15,0.50833 --0.15,0.15,0.15,0.45833 --0.15,0.2,0.15,0.425 --0.15,0.25,0.15,0.38333 --0.15,0.3,0.15,0.35 --0.15,0.35,0.15,0.35 --0.15,0.4,0.15,0.35833 --0.15,0.45,0.15,0.325 --0.15,0.5,0.15,0.29167 --0.15,0.55,0.15,0.23333 --0.15,0.6,0.15,0.225 --0.15,0.65,0.15,0.125 --0.15,0.7,0.15,0.04167 --0.1,-0.7,0.15,0.09167 --0.1,-0.65,0.15,0.16667 --0.1,-0.6,0.15,0.20833 --0.1,-0.55,0.15,0.275 --0.1,-0.5,0.15,0.35833 --0.1,-0.45,0.15,0.38333 --0.1,-0.4,0.15,0.36667 --0.1,-0.35,0.15,0.35833 --0.1,-0.3,0.15,0.40833 --0.1,-0.25,0.15,0.43333 --0.1,-0.2,0.15,0.54167 --0.1,-0.15,0.15,0.58333 --0.1,-0.1,0.15,0.65 --0.1,-0.05,0.15,0.68333 --0.1,6.66E-16,0.15,0.71667 --0.1,0.05,0.15,0.7 --0.1,0.1,0.15,0.6 --0.1,0.15,0.15,0.55833 --0.1,0.2,0.15,0.475 --0.1,0.25,0.15,0.425 --0.1,0.3,0.15,0.39167 --0.1,0.35,0.15,0.38333 --0.1,0.4,0.15,0.36667 --0.1,0.45,0.15,0.325 --0.1,0.5,0.15,0.28333 --0.1,0.55,0.15,0.25833 --0.1,0.6,0.15,0.2 --0.1,0.65,0.15,0.13333 --0.1,0.7,0.15,0.05833 --0.05,-0.7,0.15,0.1 --0.05,-0.65,0.15,0.175 --0.05,-0.6,0.15,0.225 --0.05,-0.55,0.15,0.25833 --0.05,-0.5,0.15,0.35 --0.05,-0.45,0.15,0.36667 --0.05,-0.4,0.15,0.36667 --0.05,-0.35,0.15,0.38333 --0.05,-0.3,0.15,0.43333 --0.05,-0.25,0.15,0.43333 --0.05,-0.2,0.15,0.525 --0.05,-0.15,0.15,0.64167 --0.05,-0.1,0.15,0.65833 --0.05,-0.05,0.15,0.69167 --0.05,6.66E-16,0.15,0.775 --0.05,0.05,0.15,0.71667 --0.05,0.1,0.15,0.7 --0.05,0.15,0.15,0.6 --0.05,0.2,0.15,0.48333 --0.05,0.25,0.15,0.41667 --0.05,0.3,0.15,0.38333 --0.05,0.35,0.15,0.38333 --0.05,0.4,0.15,0.35833 --0.05,0.45,0.15,0.35833 --0.05,0.5,0.15,0.29167 --0.05,0.55,0.15,0.275 --0.05,0.6,0.15,0.2 --0.05,0.65,0.15,0.10833 --0.05,0.7,0.15,0.05833 -6.66E-16,-0.7,0.15,0.11667 -6.66E-16,-0.65,0.15,0.16667 -6.66E-16,-0.6,0.15,0.225 -6.66E-16,-0.55,0.15,0.26667 -6.66E-16,-0.5,0.15,0.34167 -6.66E-16,-0.45,0.15,0.33333 -6.66E-16,-0.4,0.15,0.35 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--0.55,0.4,0.2,0.15833 --0.55,0.45,0.2,0.1 --0.55,0.5,0.2,0.05833 --0.55,0.55,0.2,0.04167 --0.55,0.6,0.2,0 --0.55,0.65,0.2,0 --0.55,0.7,0.2,0 --0.5,-0.7,0.2,0 --0.5,-0.65,0.2,0 --0.5,-0.6,0.2,0.025 --0.5,-0.55,0.2,0.1 --0.5,-0.5,0.2,0.125 --0.5,-0.45,0.2,0.15833 --0.5,-0.4,0.2,0.19167 --0.5,-0.35,0.2,0.21667 --0.5,-0.3,0.2,0.23333 --0.5,-0.25,0.2,0.26667 --0.5,-0.2,0.2,0.275 --0.5,-0.15,0.2,0.26667 --0.5,-0.1,0.2,0.3 --0.5,-0.05,0.2,0.30833 --0.5,6.66E-16,0.2,0.3 --0.5,0.05,0.2,0.3 --0.5,0.1,0.2,0.31667 --0.5,0.15,0.2,0.31667 --0.5,0.2,0.2,0.29167 --0.5,0.25,0.2,0.275 --0.5,0.3,0.2,0.25 --0.5,0.35,0.2,0.21667 --0.5,0.4,0.2,0.18333 --0.5,0.45,0.2,0.15833 --0.5,0.5,0.2,0.1 --0.5,0.55,0.2,0.06667 --0.5,0.6,0.2,0.01667 --0.5,0.65,0.2,0 --0.5,0.7,0.2,0 --0.45,-0.7,0.2,0 --0.45,-0.65,0.2,0.01667 --0.45,-0.6,0.2,0.075 --0.45,-0.55,0.2,0.14167 --0.45,-0.5,0.2,0.16667 --0.45,-0.45,0.2,0.20833 --0.45,-0.4,0.2,0.225 --0.45,-0.35,0.2,0.25833 --0.45,-0.3,0.2,0.28333 --0.45,-0.25,0.2,0.30833 --0.45,-0.2,0.2,0.275 --0.45,-0.15,0.2,0.26667 --0.45,-0.1,0.2,0.29167 --0.45,-0.05,0.2,0.26667 --0.45,6.66E-16,0.2,0.28333 --0.45,0.05,0.2,0.28333 --0.45,0.1,0.2,0.275 --0.45,0.15,0.2,0.28333 --0.45,0.2,0.2,0.28333 --0.45,0.25,0.2,0.3 --0.45,0.3,0.2,0.275 --0.45,0.35,0.2,0.23333 --0.45,0.4,0.2,0.20833 --0.45,0.45,0.2,0.18333 --0.45,0.5,0.2,0.15 --0.45,0.55,0.2,0.075 --0.45,0.6,0.2,0.075 --0.45,0.65,0.2,0.00833 --0.45,0.7,0.2,0 --0.4,-0.7,0.2,0 --0.4,-0.65,0.2,0.05 --0.4,-0.6,0.2,0.125 --0.4,-0.55,0.2,0.15833 --0.4,-0.5,0.2,0.2 --0.4,-0.45,0.2,0.225 --0.4,-0.4,0.2,0.275 --0.4,-0.35,0.2,0.30833 --0.4,-0.3,0.2,0.33333 --0.4,-0.25,0.2,0.28333 --0.4,-0.2,0.2,0.275 --0.4,-0.15,0.2,0.30833 --0.4,-0.1,0.2,0.31667 --0.4,-0.05,0.2,0.30833 --0.4,6.66E-16,0.2,0.3 --0.4,0.05,0.2,0.29167 --0.4,0.1,0.2,0.28333 --0.4,0.15,0.2,0.3 --0.4,0.2,0.2,0.3 --0.4,0.25,0.2,0.30833 --0.4,0.3,0.2,0.275 --0.4,0.35,0.2,0.25833 --0.4,0.4,0.2,0.225 --0.4,0.45,0.2,0.2 --0.4,0.5,0.2,0.18333 --0.4,0.55,0.2,0.10833 --0.4,0.6,0.2,0.075 --0.4,0.65,0.2,0.025 --0.4,0.7,0.2,0 --0.35,-0.7,0.2,0.025 --0.35,-0.65,0.2,0.08333 --0.35,-0.6,0.2,0.125 --0.35,-0.55,0.2,0.18333 --0.35,-0.5,0.2,0.225 --0.35,-0.45,0.2,0.275 --0.35,-0.4,0.2,0.31667 --0.35,-0.35,0.2,0.325 --0.35,-0.3,0.2,0.31667 --0.35,-0.25,0.2,0.29167 --0.35,-0.2,0.2,0.30833 --0.35,-0.15,0.2,0.325 --0.35,-0.1,0.2,0.31667 --0.35,-0.05,0.2,0.33333 --0.35,6.66E-16,0.2,0.34167 --0.35,0.05,0.2,0.31667 --0.35,0.1,0.2,0.31667 --0.35,0.15,0.2,0.35 --0.35,0.2,0.2,0.35 --0.35,0.25,0.2,0.33333 --0.35,0.3,0.2,0.325 --0.35,0.35,0.2,0.31667 --0.35,0.4,0.2,0.275 --0.35,0.45,0.2,0.25 --0.35,0.5,0.2,0.19167 --0.35,0.55,0.2,0.15833 --0.35,0.6,0.2,0.1 --0.35,0.65,0.2,0.05 --0.35,0.7,0.2,0.00833 --0.3,-0.7,0.2,0.05833 --0.3,-0.65,0.2,0.09167 --0.3,-0.6,0.2,0.15833 --0.3,-0.55,0.2,0.20833 --0.3,-0.5,0.2,0.25833 --0.3,-0.45,0.2,0.28333 --0.3,-0.4,0.2,0.35 --0.3,-0.35,0.2,0.36667 --0.3,-0.3,0.2,0.35833 --0.3,-0.25,0.2,0.35 --0.3,-0.2,0.2,0.38333 --0.3,-0.15,0.2,0.36667 --0.3,-0.1,0.2,0.375 --0.3,-0.05,0.2,0.38333 --0.3,6.66E-16,0.2,0.375 --0.3,0.05,0.2,0.38333 --0.3,0.1,0.2,0.36667 --0.3,0.15,0.2,0.36667 --0.3,0.2,0.2,0.35 --0.3,0.25,0.2,0.34167 --0.3,0.3,0.2,0.34167 --0.3,0.35,0.2,0.325 --0.3,0.4,0.2,0.3 --0.3,0.45,0.2,0.275 --0.3,0.5,0.2,0.23333 --0.3,0.55,0.2,0.2 --0.3,0.6,0.2,0.10833 --0.3,0.65,0.2,0.05 --0.3,0.7,0.2,0.01667 --0.25,-0.7,0.2,0.06667 --0.25,-0.65,0.2,0.13333 --0.25,-0.6,0.2,0.16667 --0.25,-0.55,0.2,0.225 --0.25,-0.5,0.2,0.28333 --0.25,-0.45,0.2,0.325 --0.25,-0.4,0.2,0.35833 --0.25,-0.35,0.2,0.35833 --0.25,-0.3,0.2,0.35833 --0.25,-0.25,0.2,0.34167 --0.25,-0.2,0.2,0.40833 --0.25,-0.15,0.2,0.41667 --0.25,-0.1,0.2,0.45 --0.25,-0.05,0.2,0.45 --0.25,6.66E-16,0.2,0.43333 --0.25,0.05,0.2,0.43333 --0.25,0.1,0.2,0.41667 --0.25,0.15,0.2,0.4 --0.25,0.2,0.2,0.39167 --0.25,0.25,0.2,0.35833 --0.25,0.3,0.2,0.35 --0.25,0.35,0.2,0.34167 --0.25,0.4,0.2,0.33333 --0.25,0.45,0.2,0.3 --0.25,0.5,0.2,0.26667 --0.25,0.55,0.2,0.21667 --0.25,0.6,0.2,0.16667 --0.25,0.65,0.2,0.06667 --0.25,0.7,0.2,0.025 --0.2,-0.7,0.2,0.09167 --0.2,-0.65,0.2,0.13333 --0.2,-0.6,0.2,0.18333 --0.2,-0.55,0.2,0.25833 --0.2,-0.5,0.2,0.325 --0.2,-0.45,0.2,0.36667 --0.2,-0.4,0.2,0.35 --0.2,-0.35,0.2,0.39167 --0.2,-0.3,0.2,0.39167 --0.2,-0.25,0.2,0.4 --0.2,-0.2,0.2,0.425 --0.2,-0.15,0.2,0.46667 --0.2,-0.1,0.2,0.49167 --0.2,-0.05,0.2,0.5 --0.2,6.66E-16,0.2,0.50833 --0.2,0.05,0.2,0.48333 --0.2,0.1,0.2,0.475 --0.2,0.15,0.2,0.425 --0.2,0.2,0.2,0.39167 --0.2,0.25,0.2,0.35833 --0.2,0.3,0.2,0.36667 --0.2,0.35,0.2,0.375 --0.2,0.4,0.2,0.33333 --0.2,0.45,0.2,0.3 --0.2,0.5,0.2,0.28333 --0.2,0.55,0.2,0.25 --0.2,0.6,0.2,0.18333 --0.2,0.65,0.2,0.1 --0.2,0.7,0.2,0.03333 --0.15,-0.7,0.2,0.11667 --0.15,-0.65,0.2,0.13333 --0.15,-0.6,0.2,0.2 --0.15,-0.55,0.2,0.275 --0.15,-0.5,0.2,0.325 --0.15,-0.45,0.2,0.35 --0.15,-0.4,0.2,0.38333 --0.15,-0.35,0.2,0.38333 --0.15,-0.3,0.2,0.38333 --0.15,-0.25,0.2,0.40833 --0.15,-0.2,0.2,0.48333 --0.15,-0.15,0.2,0.525 --0.15,-0.1,0.2,0.56667 --0.15,-0.05,0.2,0.61667 --0.15,6.66E-16,0.2,0.60833 --0.15,0.05,0.2,0.59167 --0.15,0.1,0.2,0.50833 --0.15,0.15,0.2,0.46667 --0.15,0.2,0.2,0.41667 --0.15,0.25,0.2,0.36667 --0.15,0.3,0.2,0.375 --0.15,0.35,0.2,0.38333 --0.15,0.4,0.2,0.36667 --0.15,0.45,0.2,0.31667 --0.15,0.5,0.2,0.275 --0.15,0.55,0.2,0.25 --0.15,0.6,0.2,0.21667 --0.15,0.65,0.2,0.11667 --0.15,0.7,0.2,0.05 --0.1,-0.7,0.2,0.1 --0.1,-0.65,0.2,0.16667 --0.1,-0.6,0.2,0.21667 --0.1,-0.55,0.2,0.28333 --0.1,-0.5,0.2,0.33333 --0.1,-0.45,0.2,0.35833 --0.1,-0.4,0.2,0.375 --0.1,-0.35,0.2,0.35833 --0.1,-0.3,0.2,0.39167 --0.1,-0.25,0.2,0.43333 --0.1,-0.2,0.2,0.51667 --0.1,-0.15,0.2,0.56667 --0.1,-0.1,0.2,0.60833 --0.1,-0.05,0.2,0.65833 --0.1,6.66E-16,0.2,0.64167 --0.1,0.05,0.2,0.65 --0.1,0.1,0.2,0.575 --0.1,0.15,0.2,0.54167 --0.1,0.2,0.2,0.51667 --0.1,0.25,0.2,0.475 --0.1,0.3,0.2,0.4 --0.1,0.35,0.2,0.4 --0.1,0.4,0.2,0.375 --0.1,0.45,0.2,0.33333 --0.1,0.5,0.2,0.29167 --0.1,0.55,0.2,0.25833 --0.1,0.6,0.2,0.20833 --0.1,0.65,0.2,0.13333 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--0.65,-0.2,0.25,0.175 --0.65,-0.15,0.25,0.19167 --0.65,-0.1,0.25,0.19167 --0.65,-0.05,0.25,0.20833 --0.65,6.66E-16,0.25,0.18333 --0.65,0.05,0.25,0.18333 --0.65,0.1,0.25,0.18333 --0.65,0.15,0.25,0.175 --0.65,0.2,0.25,0.15 --0.65,0.25,0.25,0.11667 --0.65,0.3,0.25,0.1 --0.65,0.35,0.25,0.09167 --0.65,0.4,0.25,0.05833 --0.65,0.45,0.25,0.03333 --0.65,0.5,0.25,0 --0.65,0.55,0.25,0 --0.65,0.6,0.25,0 --0.65,0.65,0.25,0 --0.65,0.7,0.25,0 --0.6,-0.7,0.25,0 --0.6,-0.65,0.25,0 --0.6,-0.6,0.25,0 --0.6,-0.55,0.25,0 --0.6,-0.5,0.25,0.05 --0.6,-0.45,0.25,0.1 --0.6,-0.4,0.25,0.11667 --0.6,-0.35,0.25,0.14167 --0.6,-0.3,0.25,0.16667 --0.6,-0.25,0.25,0.175 --0.6,-0.2,0.25,0.2 --0.6,-0.15,0.25,0.20833 --0.6,-0.1,0.25,0.21667 --0.6,-0.05,0.25,0.21667 --0.6,6.66E-16,0.25,0.23333 --0.6,0.05,0.25,0.23333 --0.6,0.1,0.25,0.21667 --0.6,0.15,0.25,0.21667 --0.6,0.2,0.25,0.20833 --0.6,0.25,0.25,0.175 --0.6,0.3,0.25,0.14167 --0.6,0.35,0.25,0.125 --0.6,0.4,0.25,0.1 --0.6,0.45,0.25,0.06667 --0.6,0.5,0.25,0.04167 --0.6,0.55,0.25,0 --0.6,0.6,0.25,0 --0.6,0.65,0.25,0 --0.6,0.7,0.25,0 --0.55,-0.7,0.25,0 --0.55,-0.65,0.25,0 --0.55,-0.6,0.25,0 --0.55,-0.55,0.25,0.05 --0.55,-0.5,0.25,0.10833 --0.55,-0.45,0.25,0.125 --0.55,-0.4,0.25,0.16667 --0.55,-0.35,0.25,0.175 --0.55,-0.3,0.25,0.20833 --0.55,-0.25,0.25,0.225 --0.55,-0.2,0.25,0.24167 --0.55,-0.15,0.25,0.24167 --0.55,-0.1,0.25,0.23333 --0.55,-0.05,0.25,0.25 --0.55,6.66E-16,0.25,0.26667 --0.55,0.05,0.25,0.28333 --0.55,0.1,0.25,0.275 --0.55,0.15,0.25,0.28333 --0.55,0.2,0.25,0.275 --0.55,0.25,0.25,0.25833 --0.55,0.3,0.25,0.21667 --0.55,0.35,0.25,0.18333 --0.55,0.4,0.25,0.13333 --0.55,0.45,0.25,0.10833 --0.55,0.5,0.25,0.06667 --0.55,0.55,0.25,0.05 --0.55,0.6,0.25,0 --0.55,0.65,0.25,0 --0.55,0.7,0.25,0 --0.5,-0.7,0.25,0 --0.5,-0.65,0.25,0 --0.5,-0.6,0.25,0.025 --0.5,-0.55,0.25,0.10833 --0.5,-0.5,0.25,0.13333 --0.5,-0.45,0.25,0.175 --0.5,-0.4,0.25,0.19167 --0.5,-0.35,0.25,0.21667 --0.5,-0.3,0.25,0.24167 --0.5,-0.25,0.25,0.26667 --0.5,-0.2,0.25,0.275 --0.5,-0.15,0.25,0.28333 --0.5,-0.1,0.25,0.29167 --0.5,-0.05,0.25,0.3 --0.5,6.66E-16,0.25,0.29167 --0.5,0.05,0.25,0.325 --0.5,0.1,0.25,0.33333 --0.5,0.15,0.25,0.3 --0.5,0.2,0.25,0.29167 --0.5,0.25,0.25,0.28333 --0.5,0.3,0.25,0.25833 --0.5,0.35,0.25,0.2 --0.5,0.4,0.25,0.18333 --0.5,0.45,0.25,0.14167 --0.5,0.5,0.25,0.09167 --0.5,0.55,0.25,0.075 --0.5,0.6,0.25,0.025 --0.5,0.65,0.25,0 --0.5,0.7,0.25,0 --0.45,-0.7,0.25,0 --0.45,-0.65,0.25,0.00833 --0.45,-0.6,0.25,0.08333 --0.45,-0.55,0.25,0.15 --0.45,-0.5,0.25,0.16667 --0.45,-0.45,0.25,0.19167 --0.45,-0.4,0.25,0.21667 --0.45,-0.35,0.25,0.25833 --0.45,-0.3,0.25,0.25 --0.45,-0.25,0.25,0.29167 --0.45,-0.2,0.25,0.24167 --0.45,-0.15,0.25,0.26667 --0.45,-0.1,0.25,0.275 --0.45,-0.05,0.25,0.29167 --0.45,6.66E-16,0.25,0.29167 --0.45,0.05,0.25,0.3 --0.45,0.1,0.25,0.28333 --0.45,0.15,0.25,0.29167 --0.45,0.2,0.25,0.28333 --0.45,0.25,0.25,0.29167 --0.45,0.3,0.25,0.28333 --0.45,0.35,0.25,0.25 --0.45,0.4,0.25,0.2 --0.45,0.45,0.25,0.18333 --0.45,0.5,0.25,0.15 --0.45,0.55,0.25,0.075 --0.45,0.6,0.25,0.075 --0.45,0.65,0.25,0.00833 --0.45,0.7,0.25,0 --0.4,-0.7,0.25,0 --0.4,-0.65,0.25,0.05833 --0.4,-0.6,0.25,0.11667 --0.4,-0.55,0.25,0.15833 --0.4,-0.5,0.25,0.18333 --0.4,-0.45,0.25,0.21667 --0.4,-0.4,0.25,0.23333 --0.4,-0.35,0.25,0.28333 --0.4,-0.3,0.25,0.3 --0.4,-0.25,0.25,0.26667 --0.4,-0.2,0.25,0.25833 --0.4,-0.15,0.25,0.28333 --0.4,-0.1,0.25,0.31667 --0.4,-0.05,0.25,0.30833 --0.4,6.66E-16,0.25,0.30833 --0.4,0.05,0.25,0.275 --0.4,0.1,0.25,0.275 --0.4,0.15,0.25,0.29167 --0.4,0.2,0.25,0.3 --0.4,0.25,0.25,0.28333 --0.4,0.3,0.25,0.275 --0.4,0.35,0.25,0.275 --0.4,0.4,0.25,0.23333 --0.4,0.45,0.25,0.20833 --0.4,0.5,0.25,0.175 --0.4,0.55,0.25,0.11667 --0.4,0.6,0.25,0.075 --0.4,0.65,0.25,0.05 --0.4,0.7,0.25,0 --0.35,-0.7,0.25,0.03333 --0.35,-0.65,0.25,0.1 --0.35,-0.6,0.25,0.125 --0.35,-0.55,0.25,0.18333 --0.35,-0.5,0.25,0.225 --0.35,-0.45,0.25,0.25 --0.35,-0.4,0.25,0.28333 --0.35,-0.35,0.25,0.35 --0.35,-0.3,0.25,0.33333 --0.35,-0.25,0.25,0.30833 --0.35,-0.2,0.25,0.34167 --0.35,-0.15,0.25,0.36667 --0.35,-0.1,0.25,0.375 --0.35,-0.05,0.25,0.325 --0.35,6.66E-16,0.25,0.3 --0.35,0.05,0.25,0.3 --0.35,0.1,0.25,0.30833 --0.35,0.15,0.25,0.31667 --0.35,0.2,0.25,0.325 --0.35,0.25,0.25,0.30833 --0.35,0.3,0.25,0.31667 --0.35,0.35,0.25,0.31667 --0.35,0.4,0.25,0.275 --0.35,0.45,0.25,0.225 --0.35,0.5,0.25,0.2 --0.35,0.55,0.25,0.13333 --0.35,0.6,0.25,0.08333 --0.35,0.65,0.25,0.05 --0.35,0.7,0.25,0.01667 --0.3,-0.7,0.25,0.05833 --0.3,-0.65,0.25,0.1 --0.3,-0.6,0.25,0.15 --0.3,-0.55,0.25,0.2 --0.3,-0.5,0.25,0.24167 --0.3,-0.45,0.25,0.29167 --0.3,-0.4,0.25,0.31667 --0.3,-0.35,0.25,0.33333 --0.3,-0.3,0.25,0.325 --0.3,-0.25,0.25,0.325 --0.3,-0.2,0.25,0.34167 --0.3,-0.15,0.25,0.36667 --0.3,-0.1,0.25,0.38333 --0.3,-0.05,0.25,0.36667 --0.3,6.66E-16,0.25,0.35 --0.3,0.05,0.25,0.33333 --0.3,0.1,0.25,0.36667 --0.3,0.15,0.25,0.31667 --0.3,0.2,0.25,0.34167 --0.3,0.25,0.25,0.325 --0.3,0.3,0.25,0.31667 --0.3,0.35,0.25,0.33333 --0.3,0.4,0.25,0.3 --0.3,0.45,0.25,0.26667 --0.3,0.5,0.25,0.23333 --0.3,0.55,0.25,0.19167 --0.3,0.6,0.25,0.11667 --0.3,0.65,0.25,0.05833 --0.3,0.7,0.25,0.025 --0.25,-0.7,0.25,0.08333 --0.25,-0.65,0.25,0.125 --0.25,-0.6,0.25,0.16667 --0.25,-0.55,0.25,0.21667 --0.25,-0.5,0.25,0.28333 --0.25,-0.45,0.25,0.31667 --0.25,-0.4,0.25,0.325 --0.25,-0.35,0.25,0.35 --0.25,-0.3,0.25,0.375 --0.25,-0.25,0.25,0.34167 --0.25,-0.2,0.25,0.4 --0.25,-0.15,0.25,0.41667 --0.25,-0.1,0.25,0.40833 --0.25,-0.05,0.25,0.41667 --0.25,6.66E-16,0.25,0.39167 --0.25,0.05,0.25,0.4 --0.25,0.1,0.25,0.40833 --0.25,0.15,0.25,0.36667 --0.25,0.2,0.25,0.39167 --0.25,0.25,0.25,0.35 --0.25,0.3,0.25,0.35 --0.25,0.35,0.25,0.31667 --0.25,0.4,0.25,0.31667 --0.25,0.45,0.25,0.30833 --0.25,0.5,0.25,0.25 --0.25,0.55,0.25,0.21667 --0.25,0.6,0.25,0.15833 --0.25,0.65,0.25,0.075 --0.25,0.7,0.25,0.04167 --0.2,-0.7,0.25,0.1 --0.2,-0.65,0.25,0.14167 --0.2,-0.6,0.25,0.15833 --0.2,-0.55,0.25,0.25833 --0.2,-0.5,0.25,0.3 --0.2,-0.45,0.25,0.33333 --0.2,-0.4,0.25,0.36667 --0.2,-0.35,0.25,0.35833 --0.2,-0.3,0.25,0.35 --0.2,-0.25,0.25,0.375 --0.2,-0.2,0.25,0.40833 --0.2,-0.15,0.25,0.46667 --0.2,-0.1,0.25,0.45 --0.2,-0.05,0.25,0.45 --0.2,6.66E-16,0.25,0.5 --0.2,0.05,0.25,0.49167 --0.2,0.1,0.25,0.45 --0.2,0.15,0.25,0.425 --0.2,0.2,0.25,0.43333 --0.2,0.25,0.25,0.38333 --0.2,0.3,0.25,0.38333 --0.2,0.35,0.25,0.36667 --0.2,0.4,0.25,0.325 --0.2,0.45,0.25,0.29167 --0.2,0.5,0.25,0.28333 --0.2,0.55,0.25,0.23333 --0.2,0.6,0.25,0.18333 --0.2,0.65,0.25,0.1 --0.2,0.7,0.25,0.04167 --0.15,-0.7,0.25,0.1 --0.15,-0.65,0.25,0.13333 --0.15,-0.6,0.25,0.20833 --0.15,-0.55,0.25,0.25 --0.15,-0.5,0.25,0.33333 --0.15,-0.45,0.25,0.325 --0.15,-0.4,0.25,0.34167 --0.15,-0.35,0.25,0.39167 --0.15,-0.3,0.25,0.375 --0.15,-0.25,0.25,0.38333 --0.15,-0.2,0.25,0.40833 --0.15,-0.15,0.25,0.48333 --0.15,-0.1,0.25,0.51667 --0.15,-0.05,0.25,0.55833 --0.15,6.66E-16,0.25,0.6 --0.15,0.05,0.25,0.56667 --0.15,0.1,0.25,0.51667 --0.15,0.15,0.25,0.475 --0.15,0.2,0.25,0.45 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--0.7,0.4,0.3,0.00833 --0.7,0.45,0.3,0 --0.7,0.5,0.3,0 --0.7,0.55,0.3,0 --0.7,0.6,0.3,0 --0.7,0.65,0.3,0 --0.7,0.7,0.3,0 --0.65,-0.7,0.3,0 --0.65,-0.65,0.3,0 --0.65,-0.6,0.3,0 --0.65,-0.55,0.3,0 --0.65,-0.5,0.3,0 --0.65,-0.45,0.3,0.04167 --0.65,-0.4,0.3,0.09167 --0.65,-0.35,0.3,0.125 --0.65,-0.3,0.3,0.14167 --0.65,-0.25,0.3,0.15833 --0.65,-0.2,0.3,0.175 --0.65,-0.15,0.3,0.18333 --0.65,-0.1,0.3,0.19167 --0.65,-0.05,0.3,0.19167 --0.65,6.66E-16,0.3,0.175 --0.65,0.05,0.3,0.18333 --0.65,0.1,0.3,0.2 --0.65,0.15,0.3,0.18333 --0.65,0.2,0.3,0.15833 --0.65,0.25,0.3,0.11667 --0.65,0.3,0.3,0.10833 --0.65,0.35,0.3,0.08333 --0.65,0.4,0.3,0.06667 --0.65,0.45,0.3,0.03333 --0.65,0.5,0.3,0 --0.65,0.55,0.3,0 --0.65,0.6,0.3,0 --0.65,0.65,0.3,0 --0.65,0.7,0.3,0 --0.6,-0.7,0.3,0 --0.6,-0.65,0.3,0 --0.6,-0.6,0.3,0 --0.6,-0.55,0.3,0 --0.6,-0.5,0.3,0.04167 --0.6,-0.45,0.3,0.1 --0.6,-0.4,0.3,0.11667 --0.6,-0.35,0.3,0.125 --0.6,-0.3,0.3,0.15 --0.6,-0.25,0.3,0.175 --0.6,-0.2,0.3,0.18333 --0.6,-0.15,0.3,0.2 --0.6,-0.1,0.3,0.21667 --0.6,-0.05,0.3,0.225 --0.6,6.66E-16,0.3,0.24167 --0.6,0.05,0.3,0.225 --0.6,0.1,0.3,0.21667 --0.6,0.15,0.3,0.20833 --0.6,0.2,0.3,0.2 --0.6,0.25,0.3,0.175 --0.6,0.3,0.3,0.13333 --0.6,0.35,0.3,0.125 --0.6,0.4,0.3,0.1 --0.6,0.45,0.3,0.06667 --0.6,0.5,0.3,0.05 --0.6,0.55,0.3,0 --0.6,0.6,0.3,0 --0.6,0.65,0.3,0 --0.6,0.7,0.3,0 --0.55,-0.7,0.3,0 --0.55,-0.65,0.3,0 --0.55,-0.6,0.3,0 --0.55,-0.55,0.3,0.05833 --0.55,-0.5,0.3,0.10833 --0.55,-0.45,0.3,0.13333 --0.55,-0.4,0.3,0.15833 --0.55,-0.35,0.3,0.175 --0.55,-0.3,0.3,0.2 --0.55,-0.25,0.3,0.20833 --0.55,-0.2,0.3,0.23333 --0.55,-0.15,0.3,0.23333 --0.55,-0.1,0.3,0.225 --0.55,-0.05,0.3,0.25 --0.55,6.66E-16,0.3,0.25 --0.55,0.05,0.3,0.26667 --0.55,0.1,0.3,0.26667 --0.55,0.15,0.3,0.26667 --0.55,0.2,0.3,0.25833 --0.55,0.25,0.3,0.225 --0.55,0.3,0.3,0.18333 --0.55,0.35,0.3,0.15833 --0.55,0.4,0.3,0.14167 --0.55,0.45,0.3,0.11667 --0.55,0.5,0.3,0.06667 --0.55,0.55,0.3,0.05 --0.55,0.6,0.3,0 --0.55,0.65,0.3,0 --0.55,0.7,0.3,0 --0.5,-0.7,0.3,0 --0.5,-0.65,0.3,0 --0.5,-0.6,0.3,0.03333 --0.5,-0.55,0.3,0.1 --0.5,-0.5,0.3,0.13333 --0.5,-0.45,0.3,0.15833 --0.5,-0.4,0.3,0.19167 --0.5,-0.35,0.3,0.225 --0.5,-0.3,0.3,0.225 --0.5,-0.25,0.3,0.25833 --0.5,-0.2,0.3,0.26667 --0.5,-0.15,0.3,0.275 --0.5,-0.1,0.3,0.29167 --0.5,-0.05,0.3,0.26667 --0.5,6.66E-16,0.3,0.31667 --0.5,0.05,0.3,0.31667 --0.5,0.1,0.3,0.325 --0.5,0.15,0.3,0.3 --0.5,0.2,0.3,0.29167 --0.5,0.25,0.3,0.28333 --0.5,0.3,0.3,0.24167 --0.5,0.35,0.3,0.2 --0.5,0.4,0.3,0.15833 --0.5,0.45,0.3,0.13333 --0.5,0.5,0.3,0.10833 --0.5,0.55,0.3,0.075 --0.5,0.6,0.3,0.025 --0.5,0.65,0.3,0 --0.5,0.7,0.3,0 --0.45,-0.7,0.3,0 --0.45,-0.65,0.3,0.00833 --0.45,-0.6,0.3,0.09167 --0.45,-0.55,0.3,0.14167 --0.45,-0.5,0.3,0.175 --0.45,-0.45,0.3,0.18333 --0.45,-0.4,0.3,0.19167 --0.45,-0.35,0.3,0.24167 --0.45,-0.3,0.3,0.25 --0.45,-0.25,0.3,0.26667 --0.45,-0.2,0.3,0.25 --0.45,-0.15,0.3,0.25 --0.45,-0.1,0.3,0.275 --0.45,-0.05,0.3,0.33333 --0.45,6.66E-16,0.3,0.325 --0.45,0.05,0.3,0.30833 --0.45,0.1,0.3,0.30833 --0.45,0.15,0.3,0.3 --0.45,0.2,0.3,0.28333 --0.45,0.25,0.3,0.30833 --0.45,0.3,0.3,0.275 --0.45,0.35,0.3,0.23333 --0.45,0.4,0.3,0.2 --0.45,0.45,0.3,0.16667 --0.45,0.5,0.3,0.13333 --0.45,0.55,0.3,0.09167 --0.45,0.6,0.3,0.075 --0.45,0.65,0.3,0.00833 --0.45,0.7,0.3,0 --0.4,-0.7,0.3,0 --0.4,-0.65,0.3,0.05 --0.4,-0.6,0.3,0.11667 --0.4,-0.55,0.3,0.15833 --0.4,-0.5,0.3,0.175 --0.4,-0.45,0.3,0.2 --0.4,-0.4,0.3,0.225 --0.4,-0.35,0.3,0.26667 --0.4,-0.3,0.3,0.275 --0.4,-0.25,0.3,0.275 --0.4,-0.2,0.3,0.26667 --0.4,-0.15,0.3,0.29167 --0.4,-0.1,0.3,0.31667 --0.4,-0.05,0.3,0.3 --0.4,6.66E-16,0.3,0.30833 --0.4,0.05,0.3,0.29167 --0.4,0.1,0.3,0.28333 --0.4,0.15,0.3,0.30833 --0.4,0.2,0.3,0.275 --0.4,0.25,0.3,0.29167 --0.4,0.3,0.3,0.30833 --0.4,0.35,0.3,0.26667 --0.4,0.4,0.3,0.23333 --0.4,0.45,0.3,0.2 --0.4,0.5,0.3,0.15 --0.4,0.55,0.3,0.10833 --0.4,0.6,0.3,0.08333 --0.4,0.65,0.3,0.04167 --0.4,0.7,0.3,0 --0.35,-0.7,0.3,0.03333 --0.35,-0.65,0.3,0.1 --0.35,-0.6,0.3,0.11667 --0.35,-0.55,0.3,0.15833 --0.35,-0.5,0.3,0.20833 --0.35,-0.45,0.3,0.25 --0.35,-0.4,0.3,0.275 --0.35,-0.35,0.3,0.30833 --0.35,-0.3,0.3,0.325 --0.35,-0.25,0.3,0.3 --0.35,-0.2,0.3,0.30833 --0.35,-0.15,0.3,0.375 --0.35,-0.1,0.3,0.35 --0.35,-0.05,0.3,0.31667 --0.35,6.66E-16,0.3,0.29167 --0.35,0.05,0.3,0.33333 --0.35,0.1,0.3,0.30833 --0.35,0.15,0.3,0.29167 --0.35,0.2,0.3,0.325 --0.35,0.25,0.3,0.275 --0.35,0.3,0.3,0.28333 --0.35,0.35,0.3,0.30833 --0.35,0.4,0.3,0.25 --0.35,0.45,0.3,0.225 --0.35,0.5,0.3,0.19167 --0.35,0.55,0.3,0.125 --0.35,0.6,0.3,0.1 --0.35,0.65,0.3,0.05 --0.35,0.7,0.3,0.01667 --0.3,-0.7,0.3,0.075 --0.3,-0.65,0.3,0.1 --0.3,-0.6,0.3,0.125 --0.3,-0.55,0.3,0.19167 --0.3,-0.5,0.3,0.24167 --0.3,-0.45,0.3,0.275 --0.3,-0.4,0.3,0.29167 --0.3,-0.35,0.3,0.325 --0.3,-0.3,0.3,0.33333 --0.3,-0.25,0.3,0.325 --0.3,-0.2,0.3,0.34167 --0.3,-0.15,0.3,0.4 --0.3,-0.1,0.3,0.43333 --0.3,-0.05,0.3,0.375 --0.3,6.66E-16,0.3,0.34167 --0.3,0.05,0.3,0.33333 --0.3,0.1,0.3,0.33333 --0.3,0.15,0.3,0.325 --0.3,0.2,0.3,0.33333 --0.3,0.25,0.3,0.29167 --0.3,0.3,0.3,0.3 --0.3,0.35,0.3,0.30833 --0.3,0.4,0.3,0.275 --0.3,0.45,0.3,0.25833 --0.3,0.5,0.3,0.21667 --0.3,0.55,0.3,0.15833 --0.3,0.6,0.3,0.10833 --0.3,0.65,0.3,0.05833 --0.3,0.7,0.3,0.04167 --0.25,-0.7,0.3,0.075 --0.25,-0.65,0.3,0.10833 --0.25,-0.6,0.3,0.14167 --0.25,-0.55,0.3,0.225 --0.25,-0.5,0.3,0.25 --0.25,-0.45,0.3,0.3 --0.25,-0.4,0.3,0.3 --0.25,-0.35,0.3,0.33333 --0.25,-0.3,0.3,0.34167 --0.25,-0.25,0.3,0.35 --0.25,-0.2,0.3,0.375 --0.25,-0.15,0.3,0.425 --0.25,-0.1,0.3,0.45 --0.25,-0.05,0.3,0.425 --0.25,6.66E-16,0.3,0.4 --0.25,0.05,0.3,0.39167 --0.25,0.1,0.3,0.375 --0.25,0.15,0.3,0.35833 --0.25,0.2,0.3,0.39167 --0.25,0.25,0.3,0.35833 --0.25,0.3,0.3,0.34167 --0.25,0.35,0.3,0.325 --0.25,0.4,0.3,0.275 --0.25,0.45,0.3,0.275 --0.25,0.5,0.3,0.25 --0.25,0.55,0.3,0.175 --0.25,0.6,0.3,0.13333 --0.25,0.65,0.3,0.075 --0.25,0.7,0.3,0.04167 --0.2,-0.7,0.3,0.09167 --0.2,-0.65,0.3,0.125 --0.2,-0.6,0.3,0.16667 --0.2,-0.55,0.3,0.24167 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--0.55,-0.65,0.35,0 --0.55,-0.6,0.35,0 --0.55,-0.55,0.35,0.04167 --0.55,-0.5,0.35,0.09167 --0.55,-0.45,0.35,0.13333 --0.55,-0.4,0.35,0.15 --0.55,-0.35,0.35,0.16667 --0.55,-0.3,0.35,0.2 --0.55,-0.25,0.35,0.2 --0.55,-0.2,0.35,0.225 --0.55,-0.15,0.35,0.23333 --0.55,-0.1,0.35,0.23333 --0.55,-0.05,0.35,0.25 --0.55,6.66E-16,0.35,0.25 --0.55,0.05,0.35,0.26667 --0.55,0.1,0.35,0.24167 --0.55,0.15,0.35,0.24167 --0.55,0.2,0.35,0.23333 --0.55,0.25,0.35,0.20833 --0.55,0.3,0.35,0.175 --0.55,0.35,0.35,0.15833 --0.55,0.4,0.35,0.15 --0.55,0.45,0.35,0.10833 --0.55,0.5,0.35,0.06667 --0.55,0.55,0.35,0.025 --0.55,0.6,0.35,0 --0.55,0.65,0.35,0 --0.55,0.7,0.35,0 --0.5,-0.7,0.35,0 --0.5,-0.65,0.35,0 --0.5,-0.6,0.35,0.025 --0.5,-0.55,0.35,0.08333 --0.5,-0.5,0.35,0.14167 --0.5,-0.45,0.35,0.15833 --0.5,-0.4,0.35,0.18333 --0.5,-0.35,0.35,0.2 --0.5,-0.3,0.35,0.225 --0.5,-0.25,0.35,0.24167 --0.5,-0.2,0.35,0.25833 --0.5,-0.15,0.35,0.26667 --0.5,-0.1,0.35,0.28333 --0.5,-0.05,0.35,0.28333 --0.5,6.66E-16,0.35,0.29167 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--0.4,-0.7,0.35,0 --0.4,-0.65,0.35,0.05833 --0.4,-0.6,0.35,0.10833 --0.4,-0.55,0.35,0.15 --0.4,-0.5,0.35,0.175 --0.4,-0.45,0.35,0.19167 --0.4,-0.4,0.35,0.20833 --0.4,-0.35,0.35,0.25833 --0.4,-0.3,0.35,0.26667 --0.4,-0.25,0.35,0.275 --0.4,-0.2,0.35,0.29167 --0.4,-0.15,0.35,0.29167 --0.4,-0.1,0.35,0.31667 --0.4,-0.05,0.35,0.35 --0.4,6.66E-16,0.35,0.33333 --0.4,0.05,0.35,0.35 --0.4,0.1,0.35,0.325 --0.4,0.15,0.35,0.30833 --0.4,0.2,0.35,0.28333 --0.4,0.25,0.35,0.3 --0.4,0.3,0.35,0.28333 --0.4,0.35,0.35,0.25 --0.4,0.4,0.35,0.21667 --0.4,0.45,0.35,0.18333 --0.4,0.5,0.35,0.14167 --0.4,0.55,0.35,0.1 --0.4,0.6,0.35,0.09167 --0.4,0.65,0.35,0.04167 --0.4,0.7,0.35,0 --0.35,-0.7,0.35,0.01667 --0.35,-0.65,0.35,0.09167 --0.35,-0.6,0.35,0.11667 --0.35,-0.55,0.35,0.15833 --0.35,-0.5,0.35,0.18333 --0.35,-0.45,0.35,0.25 --0.35,-0.4,0.35,0.25833 --0.35,-0.35,0.35,0.30833 --0.35,-0.3,0.35,0.28333 --0.35,-0.25,0.35,0.3 --0.35,-0.2,0.35,0.30833 --0.35,-0.15,0.35,0.34167 --0.35,-0.1,0.35,0.35 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--0.7,0.5,0.4,0 --0.7,0.55,0.4,0 --0.7,0.6,0.4,0 --0.7,0.65,0.4,0 --0.7,0.7,0.4,0 --0.65,-0.7,0.4,0 --0.65,-0.65,0.4,0 --0.65,-0.6,0.4,0 --0.65,-0.55,0.4,0 --0.65,-0.5,0.4,0 --0.65,-0.45,0.4,0.00833 --0.65,-0.4,0.4,0.05833 --0.65,-0.35,0.4,0.1 --0.65,-0.3,0.4,0.10833 --0.65,-0.25,0.4,0.10833 --0.65,-0.2,0.4,0.15833 --0.65,-0.15,0.4,0.15833 --0.65,-0.1,0.4,0.175 --0.65,-0.05,0.4,0.16667 --0.65,6.66E-16,0.4,0.175 --0.65,0.05,0.4,0.18333 --0.65,0.1,0.4,0.18333 --0.65,0.15,0.4,0.16667 --0.65,0.2,0.4,0.14167 --0.65,0.25,0.4,0.125 --0.65,0.3,0.4,0.10833 --0.65,0.35,0.4,0.075 --0.65,0.4,0.4,0.04167 --0.65,0.45,0.4,0 --0.65,0.5,0.4,0 --0.65,0.55,0.4,0 --0.65,0.6,0.4,0 --0.65,0.65,0.4,0 --0.65,0.7,0.4,0 --0.6,-0.7,0.4,0 --0.6,-0.65,0.4,0 --0.6,-0.6,0.4,0 --0.6,-0.55,0.4,0 --0.6,-0.5,0.4,0.025 --0.6,-0.45,0.4,0.06667 --0.6,-0.4,0.4,0.11667 --0.6,-0.35,0.4,0.125 --0.6,-0.3,0.4,0.13333 --0.6,-0.25,0.4,0.16667 --0.6,-0.2,0.4,0.175 --0.6,-0.15,0.4,0.19167 --0.6,-0.1,0.4,0.20833 --0.6,-0.05,0.4,0.21667 --0.6,6.66E-16,0.4,0.21667 --0.6,0.05,0.4,0.20833 --0.6,0.1,0.4,0.20833 --0.6,0.15,0.4,0.2 --0.6,0.2,0.4,0.18333 --0.6,0.25,0.4,0.15833 --0.6,0.3,0.4,0.13333 --0.6,0.35,0.4,0.11667 --0.6,0.4,0.4,0.1 --0.6,0.45,0.4,0.05833 --0.6,0.5,0.4,0.01667 --0.6,0.55,0.4,0 --0.6,0.6,0.4,0 --0.6,0.65,0.4,0 --0.6,0.7,0.4,0 --0.55,-0.7,0.4,0 --0.55,-0.65,0.4,0 --0.55,-0.6,0.4,0 --0.55,-0.55,0.4,0.025 --0.55,-0.5,0.4,0.06667 --0.55,-0.45,0.4,0.13333 --0.55,-0.4,0.4,0.14167 --0.55,-0.35,0.4,0.15833 --0.55,-0.3,0.4,0.18333 --0.55,-0.25,0.4,0.2 --0.55,-0.2,0.4,0.20833 --0.55,-0.15,0.4,0.225 --0.55,-0.1,0.4,0.225 --0.55,-0.05,0.4,0.24167 --0.55,6.66E-16,0.4,0.24167 --0.55,0.05,0.4,0.26667 --0.55,0.1,0.4,0.24167 --0.55,0.15,0.4,0.24167 --0.55,0.2,0.4,0.23333 --0.55,0.25,0.4,0.20833 --0.55,0.3,0.4,0.16667 --0.55,0.35,0.4,0.15 --0.55,0.4,0.4,0.13333 --0.55,0.45,0.4,0.10833 --0.55,0.5,0.4,0.06667 --0.55,0.55,0.4,0.01667 --0.55,0.6,0.4,0 --0.55,0.65,0.4,0 --0.55,0.7,0.4,0 --0.5,-0.7,0.4,0 --0.5,-0.65,0.4,0 --0.5,-0.6,0.4,0.01667 --0.5,-0.55,0.4,0.06667 --0.5,-0.5,0.4,0.13333 --0.5,-0.45,0.4,0.15833 --0.5,-0.4,0.4,0.16667 --0.5,-0.35,0.4,0.19167 --0.5,-0.3,0.4,0.225 --0.5,-0.25,0.4,0.21667 --0.5,-0.2,0.4,0.25 --0.5,-0.15,0.4,0.25833 --0.5,-0.1,0.4,0.29167 --0.5,-0.05,0.4,0.28333 --0.5,6.66E-16,0.4,0.3 --0.5,0.05,0.4,0.29167 --0.5,0.1,0.4,0.28333 --0.5,0.15,0.4,0.25833 --0.5,0.2,0.4,0.25833 --0.5,0.25,0.4,0.23333 --0.5,0.3,0.4,0.2 --0.5,0.35,0.4,0.175 --0.5,0.4,0.4,0.15 --0.5,0.45,0.4,0.125 --0.5,0.5,0.4,0.10833 --0.5,0.55,0.4,0.06667 --0.5,0.6,0.4,0.025 --0.5,0.65,0.4,0 --0.5,0.7,0.4,0 --0.45,-0.7,0.4,0 --0.45,-0.65,0.4,0 --0.45,-0.6,0.4,0.05 --0.45,-0.55,0.4,0.10833 --0.45,-0.5,0.4,0.15833 --0.45,-0.45,0.4,0.18333 --0.45,-0.4,0.4,0.19167 --0.45,-0.35,0.4,0.20833 --0.45,-0.3,0.4,0.23333 --0.45,-0.25,0.4,0.25833 --0.45,-0.2,0.4,0.275 --0.45,-0.15,0.4,0.3 --0.45,-0.1,0.4,0.30833 --0.45,-0.05,0.4,0.3 --0.45,6.66E-16,0.4,0.31667 --0.45,0.05,0.4,0.3 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--0.65,-0.35,0.5,0.05 --0.65,-0.3,0.5,0.06667 --0.65,-0.25,0.5,0.08333 --0.65,-0.2,0.5,0.1 --0.65,-0.15,0.5,0.09167 --0.65,-0.1,0.5,0.10833 --0.65,-0.05,0.5,0.11667 --0.65,6.66E-16,0.5,0.15 --0.65,0.05,0.5,0.13333 --0.65,0.1,0.5,0.11667 --0.65,0.15,0.5,0.1 --0.65,0.2,0.5,0.08333 --0.65,0.25,0.5,0.075 --0.65,0.3,0.5,0.05 --0.65,0.35,0.5,0.00833 --0.65,0.4,0.5,0 --0.65,0.45,0.5,0 --0.65,0.5,0.5,0 --0.65,0.55,0.5,0 --0.65,0.6,0.5,0 --0.65,0.65,0.5,0 --0.65,0.7,0.5,0 --0.6,-0.7,0.5,0 --0.6,-0.65,0.5,0 --0.6,-0.6,0.5,0 --0.6,-0.55,0.5,0 --0.6,-0.5,0.5,0 --0.6,-0.45,0.5,0.01667 --0.6,-0.4,0.5,0.06667 --0.6,-0.35,0.5,0.08333 --0.6,-0.3,0.5,0.10833 --0.6,-0.25,0.5,0.11667 --0.6,-0.2,0.5,0.125 --0.6,-0.15,0.5,0.14167 --0.6,-0.1,0.5,0.16667 --0.6,-0.05,0.5,0.19167 --0.6,6.66E-16,0.5,0.175 --0.6,0.05,0.5,0.18333 --0.6,0.1,0.5,0.18333 --0.6,0.15,0.5,0.16667 --0.6,0.2,0.5,0.14167 --0.6,0.25,0.5,0.13333 --0.6,0.3,0.5,0.10833 --0.6,0.35,0.5,0.08333 --0.6,0.4,0.5,0.05833 --0.6,0.45,0.5,0.00833 --0.6,0.5,0.5,0 --0.6,0.55,0.5,0 --0.6,0.6,0.5,0 --0.6,0.65,0.5,0 --0.6,0.7,0.5,0 --0.55,-0.7,0.5,0 --0.55,-0.65,0.5,0 --0.55,-0.6,0.5,0 --0.55,-0.55,0.5,0 --0.55,-0.5,0.5,0.025 --0.55,-0.45,0.5,0.06667 --0.55,-0.4,0.5,0.09167 --0.55,-0.35,0.5,0.125 --0.55,-0.3,0.5,0.14167 --0.55,-0.25,0.5,0.14167 --0.55,-0.2,0.5,0.175 --0.55,-0.15,0.5,0.19167 --0.55,-0.1,0.5,0.2 --0.55,-0.05,0.5,0.2 --0.55,6.66E-16,0.5,0.23333 --0.55,0.05,0.5,0.225 --0.55,0.1,0.5,0.23333 --0.55,0.15,0.5,0.21667 --0.55,0.2,0.5,0.19167 --0.55,0.25,0.5,0.175 --0.55,0.3,0.5,0.13333 --0.55,0.35,0.5,0.125 --0.55,0.4,0.5,0.10833 --0.55,0.45,0.5,0.06667 --0.55,0.5,0.5,0.025 --0.55,0.55,0.5,0 --0.55,0.6,0.5,0 --0.55,0.65,0.5,0 --0.55,0.7,0.5,0 --0.5,-0.7,0.5,0 --0.5,-0.65,0.5,0 --0.5,-0.6,0.5,0 --0.5,-0.55,0.5,0.025 --0.5,-0.5,0.5,0.05 --0.5,-0.45,0.5,0.1 --0.5,-0.4,0.5,0.15 --0.5,-0.35,0.5,0.15833 --0.5,-0.3,0.5,0.16667 --0.5,-0.25,0.5,0.2 --0.5,-0.2,0.5,0.21667 --0.5,-0.15,0.5,0.24167 --0.5,-0.1,0.5,0.24167 --0.5,-0.05,0.5,0.275 --0.5,6.66E-16,0.5,0.26667 --0.5,0.05,0.5,0.26667 --0.5,0.1,0.5,0.25833 --0.5,0.15,0.5,0.25833 --0.5,0.2,0.5,0.225 --0.5,0.25,0.5,0.2 --0.5,0.3,0.5,0.18333 --0.5,0.35,0.5,0.15833 --0.5,0.4,0.5,0.125 --0.5,0.45,0.5,0.10833 --0.5,0.5,0.5,0.06667 --0.5,0.55,0.5,0.03333 --0.5,0.6,0.5,0 --0.5,0.65,0.5,0 --0.5,0.7,0.5,0 --0.45,-0.7,0.5,0 --0.45,-0.65,0.5,0 --0.45,-0.6,0.5,0.01667 --0.45,-0.55,0.5,0.05833 --0.45,-0.5,0.5,0.1 --0.45,-0.45,0.5,0.16667 --0.45,-0.4,0.5,0.175 --0.45,-0.35,0.5,0.18333 --0.45,-0.3,0.5,0.20833 --0.45,-0.25,0.5,0.23333 --0.45,-0.2,0.5,0.28333 --0.45,-0.15,0.5,0.26667 --0.45,-0.1,0.5,0.30833 --0.45,-0.05,0.5,0.30833 --0.45,6.66E-16,0.5,0.30833 --0.45,0.05,0.5,0.28333 --0.45,0.1,0.5,0.29167 --0.45,0.15,0.5,0.26667 --0.45,0.2,0.5,0.25833 --0.45,0.25,0.5,0.21667 --0.45,0.3,0.5,0.18333 --0.45,0.35,0.5,0.16667 --0.45,0.4,0.5,0.14167 --0.45,0.45,0.5,0.13333 --0.45,0.5,0.5,0.10833 --0.45,0.55,0.5,0.06667 --0.45,0.6,0.5,0.03333 --0.45,0.65,0.5,0 --0.45,0.7,0.5,0 --0.4,-0.7,0.5,0 --0.4,-0.65,0.5,0 --0.4,-0.6,0.5,0.05 --0.4,-0.55,0.5,0.09167 --0.4,-0.5,0.5,0.14167 --0.4,-0.45,0.5,0.175 --0.4,-0.4,0.5,0.2 --0.4,-0.35,0.5,0.225 --0.4,-0.3,0.5,0.25833 --0.4,-0.25,0.5,0.28333 --0.4,-0.2,0.5,0.31667 --0.4,-0.15,0.5,0.33333 --0.4,-0.1,0.5,0.35 --0.4,-0.05,0.5,0.34167 --0.4,6.66E-16,0.5,0.325 --0.4,0.05,0.5,0.31667 --0.4,0.1,0.5,0.3 --0.4,0.15,0.5,0.29167 --0.4,0.2,0.5,0.28333 --0.4,0.25,0.5,0.24167 --0.4,0.3,0.5,0.20833 --0.4,0.35,0.5,0.19167 --0.4,0.4,0.5,0.15833 --0.4,0.45,0.5,0.14167 --0.4,0.5,0.5,0.11667 --0.4,0.55,0.5,0.075 --0.4,0.6,0.5,0.05833 --0.4,0.65,0.5,0.01667 --0.4,0.7,0.5,0 --0.35,-0.7,0.5,0 --0.35,-0.65,0.5,0.05 --0.35,-0.6,0.5,0.075 --0.35,-0.55,0.5,0.10833 --0.35,-0.5,0.5,0.16667 --0.35,-0.45,0.5,0.2 --0.35,-0.4,0.5,0.21667 --0.35,-0.35,0.5,0.23333 --0.35,-0.3,0.5,0.25833 --0.35,-0.25,0.5,0.3 --0.35,-0.2,0.5,0.31667 --0.35,-0.15,0.5,0.375 --0.35,-0.1,0.5,0.39167 --0.35,-0.05,0.5,0.38333 --0.35,6.66E-16,0.5,0.35833 --0.35,0.05,0.5,0.35 --0.35,0.1,0.5,0.30833 --0.35,0.15,0.5,0.3 --0.35,0.2,0.5,0.29167 --0.35,0.25,0.5,0.26667 --0.35,0.3,0.5,0.21667 --0.35,0.35,0.5,0.19167 --0.35,0.4,0.5,0.16667 --0.35,0.45,0.5,0.14167 --0.35,0.5,0.5,0.13333 --0.35,0.55,0.5,0.10833 --0.35,0.6,0.5,0.06667 --0.35,0.65,0.5,0.05 --0.35,0.7,0.5,0 --0.3,-0.7,0.5,0.00833 --0.3,-0.65,0.5,0.05833 --0.3,-0.6,0.5,0.08333 --0.3,-0.55,0.5,0.14167 --0.3,-0.5,0.5,0.175 --0.3,-0.45,0.5,0.20833 --0.3,-0.4,0.5,0.23333 --0.3,-0.35,0.5,0.24167 --0.3,-0.3,0.5,0.28333 --0.3,-0.25,0.5,0.3 --0.3,-0.2,0.5,0.35 --0.3,-0.15,0.5,0.4 --0.3,-0.1,0.5,0.39167 --0.3,-0.05,0.5,0.39167 --0.3,6.66E-16,0.5,0.38333 --0.3,0.05,0.5,0.35833 --0.3,0.1,0.5,0.35 --0.3,0.15,0.5,0.30833 --0.3,0.2,0.5,0.275 --0.3,0.25,0.5,0.25 --0.3,0.3,0.5,0.225 --0.3,0.35,0.5,0.21667 --0.3,0.4,0.5,0.16667 --0.3,0.45,0.5,0.14167 --0.3,0.5,0.5,0.13333 --0.3,0.55,0.5,0.11667 --0.3,0.6,0.5,0.08333 --0.3,0.65,0.5,0.05833 --0.3,0.7,0.5,0.00833 --0.25,-0.7,0.5,0.04167 --0.25,-0.65,0.5,0.075 --0.25,-0.6,0.5,0.10833 --0.25,-0.55,0.5,0.15 --0.25,-0.5,0.5,0.19167 --0.25,-0.45,0.5,0.23333 --0.25,-0.4,0.5,0.25 --0.25,-0.35,0.5,0.26667 --0.25,-0.3,0.5,0.29167 --0.25,-0.25,0.5,0.31667 --0.25,-0.2,0.5,0.38333 --0.25,-0.15,0.5,0.40833 --0.25,-0.1,0.5,0.4 --0.25,-0.05,0.5,0.425 --0.25,6.66E-16,0.5,0.39167 --0.25,0.05,0.5,0.38333 --0.25,0.1,0.5,0.34167 --0.25,0.15,0.5,0.30833 --0.25,0.2,0.5,0.28333 --0.25,0.25,0.5,0.25833 --0.25,0.3,0.5,0.20833 --0.25,0.35,0.5,0.20833 --0.25,0.4,0.5,0.19167 --0.25,0.45,0.5,0.14167 --0.25,0.5,0.5,0.13333 --0.25,0.55,0.5,0.11667 --0.25,0.6,0.5,0.08333 --0.25,0.65,0.5,0.075 --0.25,0.7,0.5,0.025 --0.2,-0.7,0.5,0.05 --0.2,-0.65,0.5,0.075 --0.2,-0.6,0.5,0.11667 --0.2,-0.55,0.5,0.15 --0.2,-0.5,0.5,0.19167 --0.2,-0.45,0.5,0.24167 --0.2,-0.4,0.5,0.25833 --0.2,-0.35,0.5,0.25833 --0.2,-0.3,0.5,0.29167 --0.2,-0.25,0.5,0.325 --0.2,-0.2,0.5,0.39167 --0.2,-0.15,0.5,0.40833 --0.2,-0.1,0.5,0.44167 --0.2,-0.05,0.5,0.45 --0.2,6.66E-16,0.5,0.41667 --0.2,0.05,0.5,0.40833 --0.2,0.1,0.5,0.35833 --0.2,0.15,0.5,0.325 --0.2,0.2,0.5,0.33333 --0.2,0.25,0.5,0.29167 --0.2,0.3,0.5,0.25 --0.2,0.35,0.5,0.25 --0.2,0.4,0.5,0.225 --0.2,0.45,0.5,0.16667 --0.2,0.5,0.5,0.14167 --0.2,0.55,0.5,0.10833 --0.2,0.6,0.5,0.08333 --0.2,0.65,0.5,0.075 --0.2,0.7,0.5,0.04167 --0.15,-0.7,0.5,0.05833 --0.15,-0.65,0.5,0.10833 --0.15,-0.6,0.5,0.125 --0.15,-0.55,0.5,0.15833 --0.15,-0.5,0.5,0.18333 --0.15,-0.45,0.5,0.225 --0.15,-0.4,0.5,0.26667 --0.15,-0.35,0.5,0.30833 --0.15,-0.3,0.5,0.33333 --0.15,-0.25,0.5,0.34167 --0.15,-0.2,0.5,0.40833 --0.15,-0.15,0.5,0.41667 --0.15,-0.1,0.5,0.46667 --0.15,-0.05,0.5,0.45 --0.15,6.66E-16,0.5,0.46667 --0.15,0.05,0.5,0.45 --0.15,0.1,0.5,0.38333 --0.15,0.15,0.5,0.39167 --0.15,0.2,0.5,0.35 --0.15,0.25,0.5,0.29167 --0.15,0.3,0.5,0.26667 --0.15,0.35,0.5,0.26667 --0.15,0.4,0.5,0.25 --0.15,0.45,0.5,0.21667 --0.15,0.5,0.5,0.19167 --0.15,0.55,0.5,0.11667 --0.15,0.6,0.5,0.08333 --0.15,0.65,0.5,0.075 --0.15,0.7,0.5,0.04167 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--0.7,0.3,0.55,0 --0.7,0.35,0.55,0 --0.7,0.4,0.55,0 --0.7,0.45,0.55,0 --0.7,0.5,0.55,0 --0.7,0.55,0.55,0 --0.7,0.6,0.55,0 --0.7,0.65,0.55,0 --0.7,0.7,0.55,0 --0.65,-0.7,0.55,0 --0.65,-0.65,0.55,0 --0.65,-0.6,0.55,0 --0.65,-0.55,0.55,0 --0.65,-0.5,0.55,0 --0.65,-0.45,0.55,0 --0.65,-0.4,0.55,0 --0.65,-0.35,0.55,0 --0.65,-0.3,0.55,0.04167 --0.65,-0.25,0.55,0.05833 --0.65,-0.2,0.55,0.075 --0.65,-0.15,0.55,0.08333 --0.65,-0.1,0.55,0.08333 --0.65,-0.05,0.55,0.09167 --0.65,6.66E-16,0.55,0.075 --0.65,0.05,0.55,0.06667 --0.65,0.1,0.55,0.06667 --0.65,0.15,0.55,0.03333 --0.65,0.2,0.55,0.05 --0.65,0.25,0.55,0.01667 --0.65,0.3,0.55,0.01667 --0.65,0.35,0.55,0 --0.65,0.4,0.55,0 --0.65,0.45,0.55,0 --0.65,0.5,0.55,0 --0.65,0.55,0.55,0 --0.65,0.6,0.55,0 --0.65,0.65,0.55,0 --0.65,0.7,0.55,0 --0.6,-0.7,0.55,0 --0.6,-0.65,0.55,0 --0.6,-0.6,0.55,0 --0.6,-0.55,0.55,0 --0.6,-0.5,0.55,0 --0.6,-0.45,0.55,0 --0.6,-0.4,0.55,0.03333 --0.6,-0.35,0.55,0.06667 --0.6,-0.3,0.55,0.08333 --0.6,-0.25,0.55,0.1 --0.6,-0.2,0.55,0.10833 --0.6,-0.15,0.55,0.11667 --0.6,-0.1,0.55,0.11667 --0.6,-0.05,0.55,0.125 --0.6,6.66E-16,0.55,0.14167 --0.6,0.05,0.55,0.15 --0.6,0.1,0.55,0.13333 --0.6,0.15,0.55,0.11667 --0.6,0.2,0.55,0.10833 --0.6,0.25,0.55,0.09167 --0.6,0.3,0.55,0.06667 --0.6,0.35,0.55,0.05 --0.6,0.4,0.55,0.01667 --0.6,0.45,0.55,0 --0.6,0.5,0.55,0 --0.6,0.55,0.55,0 --0.6,0.6,0.55,0 --0.6,0.65,0.55,0 --0.6,0.7,0.55,0 --0.55,-0.7,0.55,0 --0.55,-0.65,0.55,0 --0.55,-0.6,0.55,0 --0.55,-0.55,0.55,0 --0.55,-0.5,0.55,0 --0.55,-0.45,0.55,0.03333 --0.55,-0.4,0.55,0.06667 --0.55,-0.35,0.55,0.09167 --0.55,-0.3,0.55,0.10833 --0.55,-0.25,0.55,0.125 --0.55,-0.2,0.55,0.13333 --0.55,-0.15,0.55,0.14167 --0.55,-0.1,0.55,0.15833 --0.55,-0.05,0.55,0.175 --0.55,6.66E-16,0.55,0.2 --0.55,0.05,0.55,0.20833 --0.55,0.1,0.55,0.21667 --0.55,0.15,0.55,0.19167 --0.55,0.2,0.55,0.175 --0.55,0.25,0.55,0.15 --0.55,0.3,0.55,0.125 --0.55,0.35,0.55,0.10833 --0.55,0.4,0.55,0.08333 --0.55,0.45,0.55,0.03333 --0.55,0.5,0.55,0.00833 --0.55,0.55,0.55,0 --0.55,0.6,0.55,0 --0.55,0.65,0.55,0 --0.55,0.7,0.55,0 --0.5,-0.7,0.55,0 --0.5,-0.65,0.55,0 --0.5,-0.6,0.55,0 --0.5,-0.55,0.55,0.00833 --0.5,-0.5,0.55,0.03333 --0.5,-0.45,0.55,0.075 --0.5,-0.4,0.55,0.1 --0.5,-0.35,0.55,0.13333 --0.5,-0.3,0.55,0.15 --0.5,-0.25,0.55,0.15833 --0.5,-0.2,0.55,0.175 --0.5,-0.15,0.55,0.2 --0.5,-0.1,0.55,0.20833 --0.5,-0.05,0.55,0.24167 --0.5,6.66E-16,0.55,0.25833 --0.5,0.05,0.55,0.25833 --0.5,0.1,0.55,0.24167 --0.5,0.15,0.55,0.23333 --0.5,0.2,0.55,0.19167 --0.5,0.25,0.55,0.18333 --0.5,0.3,0.55,0.15833 --0.5,0.35,0.55,0.14167 --0.5,0.4,0.55,0.11667 --0.5,0.45,0.55,0.08333 --0.5,0.5,0.55,0.05833 --0.5,0.55,0.55,0.01667 --0.5,0.6,0.55,0 --0.5,0.65,0.55,0 --0.5,0.7,0.55,0 --0.45,-0.7,0.55,0 --0.45,-0.65,0.55,0 --0.45,-0.6,0.55,0 --0.45,-0.55,0.55,0.03333 --0.45,-0.5,0.55,0.075 --0.45,-0.45,0.55,0.1 --0.45,-0.4,0.55,0.13333 --0.45,-0.35,0.55,0.15833 --0.45,-0.3,0.55,0.175 --0.45,-0.25,0.55,0.18333 --0.45,-0.2,0.55,0.24167 --0.45,-0.15,0.55,0.25 --0.45,-0.1,0.55,0.28333 --0.45,-0.05,0.55,0.3 --0.45,6.66E-16,0.55,0.3 --0.45,0.05,0.55,0.29167 --0.45,0.1,0.55,0.28333 --0.45,0.15,0.55,0.25 --0.45,0.2,0.55,0.23333 --0.45,0.25,0.55,0.2 --0.45,0.3,0.55,0.175 --0.45,0.35,0.55,0.15 --0.45,0.4,0.55,0.13333 --0.45,0.45,0.55,0.125 --0.45,0.5,0.55,0.06667 --0.45,0.55,0.55,0.05833 --0.45,0.6,0.55,0 --0.45,0.65,0.55,0 --0.45,0.7,0.55,0 --0.4,-0.7,0.55,0 --0.4,-0.65,0.55,0 --0.4,-0.6,0.55,0.025 --0.4,-0.55,0.55,0.05833 --0.4,-0.5,0.55,0.09167 --0.4,-0.45,0.55,0.13333 --0.4,-0.4,0.55,0.18333 --0.4,-0.35,0.55,0.20833 --0.4,-0.3,0.55,0.225 --0.4,-0.25,0.55,0.25 --0.4,-0.2,0.55,0.29167 --0.4,-0.15,0.55,0.30833 --0.4,-0.1,0.55,0.33333 --0.4,-0.05,0.55,0.35 --0.4,6.66E-16,0.55,0.31667 --0.4,0.05,0.55,0.31667 --0.4,0.1,0.55,0.30833 --0.4,0.15,0.55,0.275 --0.4,0.2,0.55,0.26667 --0.4,0.25,0.55,0.21667 --0.4,0.3,0.55,0.2 --0.4,0.35,0.55,0.16667 --0.4,0.4,0.55,0.14167 --0.4,0.45,0.55,0.125 --0.4,0.5,0.55,0.10833 --0.4,0.55,0.55,0.06667 --0.4,0.6,0.55,0.05 --0.4,0.65,0.55,0 --0.4,0.7,0.55,0 --0.35,-0.7,0.55,0 --0.35,-0.65,0.55,0.01667 --0.35,-0.6,0.55,0.05 --0.35,-0.55,0.55,0.075 --0.35,-0.5,0.55,0.13333 --0.35,-0.45,0.55,0.175 --0.35,-0.4,0.55,0.21667 --0.35,-0.35,0.55,0.23333 --0.35,-0.3,0.55,0.23333 --0.35,-0.25,0.55,0.29167 --0.35,-0.2,0.55,0.3 --0.35,-0.15,0.55,0.35 --0.35,-0.1,0.55,0.38333 --0.35,-0.05,0.55,0.36667 --0.35,6.66E-16,0.55,0.35833 --0.35,0.05,0.55,0.34167 --0.35,0.1,0.55,0.325 --0.35,0.15,0.55,0.29167 --0.35,0.2,0.55,0.275 --0.35,0.25,0.55,0.24167 --0.35,0.3,0.55,0.20833 --0.35,0.35,0.55,0.175 --0.35,0.4,0.55,0.15 --0.35,0.45,0.55,0.13333 --0.35,0.5,0.55,0.125 --0.35,0.55,0.55,0.075 --0.35,0.6,0.55,0.06667 --0.35,0.65,0.55,0.01667 --0.35,0.7,0.55,0 --0.3,-0.7,0.55,0 --0.3,-0.65,0.55,0.03333 --0.3,-0.6,0.55,0.05833 --0.3,-0.55,0.55,0.10833 --0.3,-0.5,0.55,0.15 --0.3,-0.45,0.55,0.18333 --0.3,-0.4,0.55,0.225 --0.3,-0.35,0.55,0.23333 --0.3,-0.3,0.55,0.25 --0.3,-0.25,0.55,0.29167 --0.3,-0.2,0.55,0.325 --0.3,-0.15,0.55,0.36667 --0.3,-0.1,0.55,0.39167 --0.3,-0.05,0.55,0.38333 --0.3,6.66E-16,0.55,0.38333 --0.3,0.05,0.55,0.34167 --0.3,0.1,0.55,0.325 --0.3,0.15,0.55,0.3 --0.3,0.2,0.55,0.28333 --0.3,0.25,0.55,0.24167 --0.3,0.3,0.55,0.225 --0.3,0.35,0.55,0.2 --0.3,0.4,0.55,0.15 --0.3,0.45,0.55,0.13333 --0.3,0.5,0.55,0.125 --0.3,0.55,0.55,0.09167 --0.3,0.6,0.55,0.08333 --0.3,0.65,0.55,0.05 --0.3,0.7,0.55,0 --0.25,-0.7,0.55,0.01667 --0.25,-0.65,0.55,0.05 --0.25,-0.6,0.55,0.1 --0.25,-0.55,0.55,0.11667 --0.25,-0.5,0.55,0.15 --0.25,-0.45,0.55,0.2 --0.25,-0.4,0.55,0.23333 --0.25,-0.35,0.55,0.25833 --0.25,-0.3,0.55,0.275 --0.25,-0.25,0.55,0.30833 --0.25,-0.2,0.55,0.34167 --0.25,-0.15,0.55,0.39167 --0.25,-0.1,0.55,0.4 --0.25,-0.05,0.55,0.4 --0.25,6.66E-16,0.55,0.4 --0.25,0.05,0.55,0.38333 --0.25,0.1,0.55,0.34167 --0.25,0.15,0.55,0.33333 --0.25,0.2,0.55,0.28333 --0.25,0.25,0.55,0.24167 --0.25,0.3,0.55,0.23333 --0.25,0.35,0.55,0.20833 --0.25,0.4,0.55,0.175 --0.25,0.45,0.55,0.13333 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--0.5,0.7,0.7,0 --0.45,-0.7,0.7,0 --0.45,-0.65,0.7,0 --0.45,-0.6,0.7,0 --0.45,-0.55,0.7,0 --0.45,-0.5,0.7,0 --0.45,-0.45,0.7,0.00833 --0.45,-0.4,0.7,0.025 --0.45,-0.35,0.7,0.03333 --0.45,-0.3,0.7,0.05 --0.45,-0.25,0.7,0.08333 --0.45,-0.2,0.7,0.10833 --0.45,-0.15,0.7,0.125 --0.45,-0.1,0.7,0.11667 --0.45,-0.05,0.7,0.10833 --0.45,6.66E-16,0.7,0.10833 --0.45,0.05,0.7,0.11667 --0.45,0.1,0.7,0.1 --0.45,0.15,0.7,0.1 --0.45,0.2,0.7,0.1 --0.45,0.25,0.7,0.09167 --0.45,0.3,0.7,0.08333 --0.45,0.35,0.7,0.075 --0.45,0.4,0.7,0.05833 --0.45,0.45,0.7,0.03333 --0.45,0.5,0.7,0 --0.45,0.55,0.7,0 --0.45,0.6,0.7,0 --0.45,0.65,0.7,0 --0.45,0.7,0.7,0 --0.4,-0.7,0.7,0 --0.4,-0.65,0.7,0 --0.4,-0.6,0.7,0 --0.4,-0.55,0.7,0 --0.4,-0.5,0.7,0.00833 --0.4,-0.45,0.7,0.01667 --0.4,-0.4,0.7,0.04167 --0.4,-0.35,0.7,0.06667 --0.4,-0.3,0.7,0.08333 --0.4,-0.25,0.7,0.10833 --0.4,-0.2,0.7,0.14167 --0.4,-0.15,0.7,0.15 --0.4,-0.1,0.7,0.15 --0.4,-0.05,0.7,0.13333 --0.4,6.66E-16,0.7,0.16667 --0.4,0.05,0.7,0.14167 --0.4,0.1,0.7,0.15833 --0.4,0.15,0.7,0.14167 --0.4,0.2,0.7,0.125 --0.4,0.25,0.7,0.1 --0.4,0.3,0.7,0.08333 --0.4,0.35,0.7,0.08333 --0.4,0.4,0.7,0.08333 --0.4,0.45,0.7,0.06667 --0.4,0.5,0.7,0.03333 --0.4,0.55,0.7,0 --0.4,0.6,0.7,0 --0.4,0.65,0.7,0 --0.4,0.7,0.7,0 --0.35,-0.7,0.7,0 --0.35,-0.65,0.7,0 --0.35,-0.6,0.7,0 --0.35,-0.55,0.7,0 --0.35,-0.5,0.7,0.01667 --0.35,-0.45,0.7,0.04167 --0.35,-0.4,0.7,0.06667 --0.35,-0.35,0.7,0.1 --0.35,-0.3,0.7,0.125 --0.35,-0.25,0.7,0.13333 --0.35,-0.2,0.7,0.175 --0.35,-0.15,0.7,0.175 --0.35,-0.1,0.7,0.18333 --0.35,-0.05,0.7,0.20833 --0.35,6.66E-16,0.7,0.18333 --0.35,0.05,0.7,0.2 --0.35,0.1,0.7,0.175 --0.35,0.15,0.7,0.15833 --0.35,0.2,0.7,0.15833 --0.35,0.25,0.7,0.14167 --0.35,0.3,0.7,0.1 --0.35,0.35,0.7,0.09167 --0.35,0.4,0.7,0.08333 --0.35,0.45,0.7,0.075 --0.35,0.5,0.7,0.05833 --0.35,0.55,0.7,0.01667 --0.35,0.6,0.7,0 --0.35,0.65,0.7,0 --0.35,0.7,0.7,0 --0.3,-0.7,0.7,0 --0.3,-0.65,0.7,0 --0.3,-0.6,0.7,0 --0.3,-0.55,0.7,0.01667 --0.3,-0.5,0.7,0.03333 --0.3,-0.45,0.7,0.06667 --0.3,-0.4,0.7,0.1 --0.3,-0.35,0.7,0.125 --0.3,-0.3,0.7,0.15 --0.3,-0.25,0.7,0.15833 --0.3,-0.2,0.7,0.2 --0.3,-0.15,0.7,0.19167 --0.3,-0.1,0.7,0.20833 --0.3,-0.05,0.7,0.225 --0.3,6.66E-16,0.7,0.21667 --0.3,0.05,0.7,0.225 --0.3,0.1,0.7,0.175 --0.3,0.15,0.7,0.175 --0.3,0.2,0.7,0.175 --0.3,0.25,0.7,0.15833 --0.3,0.3,0.7,0.13333 --0.3,0.35,0.7,0.10833 --0.3,0.4,0.7,0.1 --0.3,0.45,0.7,0.09167 --0.3,0.5,0.7,0.06667 --0.3,0.55,0.7,0.05 --0.3,0.6,0.7,0 --0.3,0.65,0.7,0 --0.3,0.7,0.7,0 --0.25,-0.7,0.7,0 --0.25,-0.65,0.7,0 --0.25,-0.6,0.7,0.00833 --0.25,-0.55,0.7,0.03333 --0.25,-0.5,0.7,0.05833 --0.25,-0.45,0.7,0.10833 --0.25,-0.4,0.7,0.11667 --0.25,-0.35,0.7,0.14167 --0.25,-0.3,0.7,0.15833 --0.25,-0.25,0.7,0.18333 --0.25,-0.2,0.7,0.21667 --0.25,-0.15,0.7,0.20833 --0.25,-0.1,0.7,0.21667 --0.25,-0.05,0.7,0.23333 --0.25,6.66E-16,0.7,0.23333 --0.25,0.05,0.7,0.225 --0.25,0.1,0.7,0.2 --0.25,0.15,0.7,0.175 --0.25,0.2,0.7,0.175 --0.25,0.25,0.7,0.15833 --0.25,0.3,0.7,0.13333 --0.25,0.35,0.7,0.125 --0.25,0.4,0.7,0.1 --0.25,0.45,0.7,0.09167 --0.25,0.5,0.7,0.08333 --0.25,0.55,0.7,0.05833 --0.25,0.6,0.7,0.025 --0.25,0.65,0.7,0 --0.25,0.7,0.7,0 --0.2,-0.7,0.7,0 --0.2,-0.65,0.7,0 --0.2,-0.6,0.7,0.01667 --0.2,-0.55,0.7,0.05 --0.2,-0.5,0.7,0.075 --0.2,-0.45,0.7,0.10833 --0.2,-0.4,0.7,0.125 --0.2,-0.35,0.7,0.15 --0.2,-0.3,0.7,0.18333 --0.2,-0.25,0.7,0.19167 --0.2,-0.2,0.7,0.20833 --0.2,-0.15,0.7,0.23333 --0.2,-0.1,0.7,0.225 --0.2,-0.05,0.7,0.24167 --0.2,6.66E-16,0.7,0.225 --0.2,0.05,0.7,0.24167 --0.2,0.1,0.7,0.21667 --0.2,0.15,0.7,0.19167 --0.2,0.2,0.7,0.18333 --0.2,0.25,0.7,0.175 --0.2,0.3,0.7,0.15 --0.2,0.35,0.7,0.14167 --0.2,0.4,0.7,0.125 --0.2,0.45,0.7,0.09167 --0.2,0.5,0.7,0.08333 --0.2,0.55,0.7,0.075 --0.2,0.6,0.7,0.03333 --0.2,0.65,0.7,0 --0.2,0.7,0.7,0 --0.15,-0.7,0.7,0 --0.15,-0.65,0.7,0 --0.15,-0.6,0.7,0.03333 --0.15,-0.55,0.7,0.05833 --0.15,-0.5,0.7,0.075 --0.15,-0.45,0.7,0.11667 --0.15,-0.4,0.7,0.14167 --0.15,-0.35,0.7,0.14167 --0.15,-0.3,0.7,0.175 --0.15,-0.25,0.7,0.18333 --0.15,-0.2,0.7,0.20833 --0.15,-0.15,0.7,0.225 --0.15,-0.1,0.7,0.23333 --0.15,-0.05,0.7,0.23333 --0.15,6.66E-16,0.7,0.21667 --0.15,0.05,0.7,0.19167 --0.15,0.1,0.7,0.16667 --0.15,0.15,0.7,0.175 --0.15,0.2,0.7,0.16667 --0.15,0.25,0.7,0.16667 --0.15,0.3,0.7,0.15833 --0.15,0.35,0.7,0.15833 --0.15,0.4,0.7,0.125 --0.15,0.45,0.7,0.10833 --0.15,0.5,0.7,0.08333 --0.15,0.55,0.7,0.08333 --0.15,0.6,0.7,0.04167 --0.15,0.65,0.7,0 --0.15,0.7,0.7,0 --0.1,-0.7,0.7,0 --0.1,-0.65,0.7,0 --0.1,-0.6,0.7,0.04167 --0.1,-0.55,0.7,0.05833 --0.1,-0.5,0.7,0.09167 --0.1,-0.45,0.7,0.11667 --0.1,-0.4,0.7,0.14167 --0.1,-0.35,0.7,0.16667 --0.1,-0.3,0.7,0.175 --0.1,-0.25,0.7,0.18333 --0.1,-0.2,0.7,0.21667 --0.1,-0.15,0.7,0.21667 --0.1,-0.1,0.7,0.2 --0.1,-0.05,0.7,0.23333 --0.1,6.66E-16,0.7,0.21667 --0.1,0.05,0.7,0.20833 --0.1,0.1,0.7,0.20833 --0.1,0.15,0.7,0.18333 --0.1,0.2,0.7,0.18333 --0.1,0.25,0.7,0.18333 --0.1,0.3,0.7,0.175 --0.1,0.35,0.7,0.16667 --0.1,0.4,0.7,0.14167 --0.1,0.45,0.7,0.125 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--0.6,-0.2,0.75,0 --0.6,-0.15,0.75,0.00833 --0.6,-0.1,0.75,0.00833 --0.6,-0.05,0.75,0.00833 --0.6,6.66E-16,0.75,0 --0.6,0.05,0.75,0 --0.6,0.1,0.75,0 --0.6,0.15,0.75,0 --0.6,0.2,0.75,0 --0.6,0.25,0.75,0 --0.6,0.3,0.75,0 --0.6,0.35,0.75,0 --0.6,0.4,0.75,0 --0.6,0.45,0.75,0 --0.6,0.5,0.75,0 --0.6,0.55,0.75,0 --0.6,0.6,0.75,0 --0.6,0.65,0.75,0 --0.6,0.7,0.75,0 --0.55,-0.7,0.75,0 --0.55,-0.65,0.75,0 --0.55,-0.6,0.75,0 --0.55,-0.55,0.75,0 --0.55,-0.5,0.75,0 --0.55,-0.45,0.75,0 --0.55,-0.4,0.75,0 --0.55,-0.35,0.75,0 --0.55,-0.3,0.75,0 --0.55,-0.25,0.75,0.00833 --0.55,-0.2,0.75,0.00833 --0.55,-0.15,0.75,0.00833 --0.55,-0.1,0.75,0.00833 --0.55,-0.05,0.75,0.01667 --0.55,6.66E-16,0.75,0.01667 --0.55,0.05,0.75,0.025 --0.55,0.1,0.75,0.025 --0.55,0.15,0.75,0.01667 --0.55,0.2,0.75,0.01667 --0.55,0.25,0.75,0.00833 --0.55,0.3,0.75,0 --0.55,0.35,0.75,0 --0.55,0.4,0.75,0 --0.55,0.45,0.75,0 --0.55,0.5,0.75,0 --0.55,0.55,0.75,0 --0.55,0.6,0.75,0 --0.55,0.65,0.75,0 --0.55,0.7,0.75,0 --0.5,-0.7,0.75,0 --0.5,-0.65,0.75,0 --0.5,-0.6,0.75,0 --0.5,-0.55,0.75,0 --0.5,-0.5,0.75,0 --0.5,-0.45,0.75,0 --0.5,-0.4,0.75,0 --0.5,-0.35,0.75,0 --0.5,-0.3,0.75,0.00833 --0.5,-0.25,0.75,0.00833 --0.5,-0.2,0.75,0.00833 --0.5,-0.15,0.75,0.00833 --0.5,-0.1,0.75,0.025 --0.5,-0.05,0.75,0.025 --0.5,6.66E-16,0.75,0.04167 --0.5,0.05,0.75,0.04167 --0.5,0.1,0.75,0.03333 --0.5,0.15,0.75,0.03333 --0.5,0.2,0.75,0.025 --0.5,0.25,0.75,0.025 --0.5,0.3,0.75,0.00833 --0.5,0.35,0.75,0.00833 --0.5,0.4,0.75,0 --0.5,0.45,0.75,0 --0.5,0.5,0.75,0 --0.5,0.55,0.75,0 --0.5,0.6,0.75,0 --0.5,0.65,0.75,0 --0.5,0.7,0.75,0 --0.45,-0.7,0.75,0 --0.45,-0.65,0.75,0 --0.45,-0.6,0.75,0 --0.45,-0.55,0.75,0 --0.45,-0.5,0.75,0 --0.45,-0.45,0.75,0 --0.45,-0.4,0.75,0 --0.45,-0.35,0.75,0.00833 --0.45,-0.3,0.75,0.01667 --0.45,-0.25,0.75,0.025 --0.45,-0.2,0.75,0.025 --0.45,-0.15,0.75,0.03333 --0.45,-0.1,0.75,0.04167 --0.45,-0.05,0.75,0.04167 --0.45,6.66E-16,0.75,0.04167 --0.45,0.05,0.75,0.05 --0.45,0.1,0.75,0.05 --0.45,0.15,0.75,0.06667 --0.45,0.2,0.75,0.06667 --0.45,0.25,0.75,0.05833 --0.45,0.3,0.75,0.05833 --0.45,0.35,0.75,0.04167 --0.45,0.4,0.75,0.01667 --0.45,0.45,0.75,0 --0.45,0.5,0.75,0 --0.45,0.55,0.75,0 --0.45,0.6,0.75,0 --0.45,0.65,0.75,0 --0.45,0.7,0.75,0 --0.4,-0.7,0.75,0 --0.4,-0.65,0.75,0 --0.4,-0.6,0.75,0 --0.4,-0.55,0.75,0 --0.4,-0.5,0.75,0 --0.4,-0.45,0.75,0 --0.4,-0.4,0.75,0.00833 --0.4,-0.35,0.75,0.025 --0.4,-0.3,0.75,0.03333 --0.4,-0.25,0.75,0.05 --0.4,-0.2,0.75,0.05 --0.4,-0.15,0.75,0.06667 --0.4,-0.1,0.75,0.075 --0.4,-0.05,0.75,0.075 --0.4,6.66E-16,0.75,0.075 --0.4,0.05,0.75,0.08333 --0.4,0.1,0.75,0.1 --0.4,0.15,0.75,0.1 --0.4,0.2,0.75,0.09167 --0.4,0.25,0.75,0.08333 --0.4,0.3,0.75,0.075 --0.4,0.35,0.75,0.06667 --0.4,0.4,0.75,0.05833 --0.4,0.45,0.75,0.025 --0.4,0.5,0.75,0 --0.4,0.55,0.75,0 --0.4,0.6,0.75,0 --0.4,0.65,0.75,0 --0.4,0.7,0.75,0 --0.35,-0.7,0.75,0 --0.35,-0.65,0.75,0 --0.35,-0.6,0.75,0 --0.35,-0.55,0.75,0 --0.35,-0.5,0.75,0 --0.35,-0.45,0.75,0.01667 --0.35,-0.4,0.75,0.025 --0.35,-0.35,0.75,0.05 --0.35,-0.3,0.75,0.06667 --0.35,-0.25,0.75,0.06667 --0.35,-0.2,0.75,0.1 --0.35,-0.15,0.75,0.11667 --0.35,-0.1,0.75,0.11667 --0.35,-0.05,0.75,0.10833 --0.35,6.66E-16,0.75,0.1 --0.35,0.05,0.75,0.11667 --0.35,0.1,0.75,0.11667 --0.35,0.15,0.75,0.11667 --0.35,0.2,0.75,0.10833 --0.35,0.25,0.75,0.09167 --0.35,0.3,0.75,0.08333 --0.35,0.35,0.75,0.075 --0.35,0.4,0.75,0.06667 --0.35,0.45,0.75,0.06667 --0.35,0.5,0.75,0.01667 --0.35,0.55,0.75,0 --0.35,0.6,0.75,0 --0.35,0.65,0.75,0 --0.35,0.7,0.75,0 --0.3,-0.7,0.75,0 --0.3,-0.65,0.75,0 --0.3,-0.6,0.75,0 --0.3,-0.55,0.75,0 --0.3,-0.5,0.75,0.00833 --0.3,-0.45,0.75,0.025 --0.3,-0.4,0.75,0.05833 --0.3,-0.35,0.75,0.075 --0.3,-0.3,0.75,0.09167 --0.3,-0.25,0.75,0.1 --0.3,-0.2,0.75,0.13333 --0.3,-0.15,0.75,0.13333 --0.3,-0.1,0.75,0.13333 --0.3,-0.05,0.75,0.14167 --0.3,6.66E-16,0.75,0.14167 --0.3,0.05,0.75,0.125 --0.3,0.1,0.75,0.11667 --0.3,0.15,0.75,0.11667 --0.3,0.2,0.75,0.125 --0.3,0.25,0.75,0.125 --0.3,0.3,0.75,0.1 --0.3,0.35,0.75,0.075 --0.3,0.4,0.75,0.06667 --0.3,0.45,0.75,0.06667 --0.3,0.5,0.75,0.05833 --0.3,0.55,0.75,0.00833 --0.3,0.6,0.75,0 --0.3,0.65,0.75,0 --0.3,0.7,0.75,0 --0.25,-0.7,0.75,0 --0.25,-0.65,0.75,0 --0.25,-0.6,0.75,0 --0.25,-0.55,0.75,0.00833 --0.25,-0.5,0.75,0.04167 --0.25,-0.45,0.75,0.05 --0.25,-0.4,0.75,0.075 --0.25,-0.35,0.75,0.09167 --0.25,-0.3,0.75,0.1 --0.25,-0.25,0.75,0.10833 --0.25,-0.2,0.75,0.13333 --0.25,-0.15,0.75,0.15 --0.25,-0.1,0.75,0.15 --0.25,-0.05,0.75,0.14167 --0.25,6.66E-16,0.75,0.14167 --0.25,0.05,0.75,0.13333 --0.25,0.1,0.75,0.11667 --0.25,0.15,0.75,0.13333 --0.25,0.2,0.75,0.13333 --0.25,0.25,0.75,0.13333 --0.25,0.3,0.75,0.125 --0.25,0.35,0.75,0.11667 --0.25,0.4,0.75,0.075 --0.25,0.45,0.75,0.075 --0.25,0.5,0.75,0.05833 --0.25,0.55,0.75,0.025 --0.25,0.6,0.75,0 --0.25,0.65,0.75,0 --0.25,0.7,0.75,0 --0.2,-0.7,0.75,0 --0.2,-0.65,0.75,0 --0.2,-0.6,0.75,0 --0.2,-0.55,0.75,0.01667 --0.2,-0.5,0.75,0.05 --0.2,-0.45,0.75,0.05833 --0.2,-0.4,0.75,0.075 --0.2,-0.35,0.75,0.10833 --0.2,-0.3,0.75,0.11667 --0.2,-0.25,0.75,0.125 --0.2,-0.2,0.75,0.11667 --0.2,-0.15,0.75,0.13333 --0.2,-0.1,0.75,0.14167 --0.2,-0.05,0.75,0.14167 --0.2,6.66E-16,0.75,0.15833 --0.2,0.05,0.75,0.14167 --0.2,0.1,0.75,0.15833 --0.2,0.15,0.75,0.15 --0.2,0.2,0.75,0.15833 --0.2,0.25,0.75,0.14167 --0.2,0.3,0.75,0.14167 --0.2,0.35,0.75,0.11667 --0.2,0.4,0.75,0.09167 --0.2,0.45,0.75,0.075 --0.2,0.5,0.75,0.06667 --0.2,0.55,0.75,0.025 --0.2,0.6,0.75,0 --0.2,0.65,0.75,0 --0.2,0.7,0.75,0 --0.15,-0.7,0.75,0 --0.15,-0.65,0.75,0 --0.15,-0.6,0.75,0 --0.15,-0.55,0.75,0.04167 --0.15,-0.5,0.75,0.05 --0.15,-0.45,0.75,0.06667 --0.15,-0.4,0.75,0.08333 --0.15,-0.35,0.75,0.11667 --0.15,-0.3,0.75,0.13333 --0.15,-0.25,0.75,0.14167 --0.15,-0.2,0.75,0.125 --0.15,-0.15,0.75,0.15 --0.15,-0.1,0.75,0.15833 --0.15,-0.05,0.75,0.15 --0.15,6.66E-16,0.75,0.175 --0.15,0.05,0.75,0.16667 --0.15,0.1,0.75,0.16667 --0.15,0.15,0.75,0.15833 --0.15,0.2,0.75,0.16667 --0.15,0.25,0.75,0.15833 --0.15,0.3,0.75,0.15833 --0.15,0.35,0.75,0.13333 --0.15,0.4,0.75,0.10833 --0.15,0.45,0.75,0.075 --0.15,0.5,0.75,0.06667 --0.15,0.55,0.75,0.04167 --0.15,0.6,0.75,0.00833 --0.15,0.65,0.75,0 --0.15,0.7,0.75,0 --0.1,-0.7,0.75,0 --0.1,-0.65,0.75,0 --0.1,-0.6,0.75,0.00833 --0.1,-0.55,0.75,0.04167 --0.1,-0.5,0.75,0.04167 --0.1,-0.45,0.75,0.08333 --0.1,-0.4,0.75,0.1 --0.1,-0.35,0.75,0.10833 --0.1,-0.3,0.75,0.11667 --0.1,-0.25,0.75,0.13333 --0.1,-0.2,0.75,0.125 --0.1,-0.15,0.75,0.13333 --0.1,-0.1,0.75,0.15833 --0.1,-0.05,0.75,0.16667 --0.1,6.66E-16,0.75,0.19167 --0.1,0.05,0.75,0.18333 --0.1,0.1,0.75,0.175 --0.1,0.15,0.75,0.175 --0.1,0.2,0.75,0.175 --0.1,0.25,0.75,0.15833 --0.1,0.3,0.75,0.15 --0.1,0.35,0.75,0.14167 --0.1,0.4,0.75,0.11667 --0.1,0.45,0.75,0.1 --0.1,0.5,0.75,0.06667 --0.1,0.55,0.75,0.03333 --0.1,0.6,0.75,0.00833 --0.1,0.65,0.75,0 --0.1,0.7,0.75,0 --0.05,-0.7,0.75,0 --0.05,-0.65,0.75,0 --0.05,-0.6,0.75,0.025 --0.05,-0.55,0.75,0.04167 --0.05,-0.5,0.75,0.04167 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--0.7,-0.1,0.8,0 --0.7,-0.05,0.8,0 --0.7,6.66E-16,0.8,0 --0.7,0.05,0.8,0 --0.7,0.1,0.8,0 --0.7,0.15,0.8,0 --0.7,0.2,0.8,0 --0.7,0.25,0.8,0 --0.7,0.3,0.8,0 --0.7,0.35,0.8,0 --0.7,0.4,0.8,0 --0.7,0.45,0.8,0 --0.7,0.5,0.8,0 --0.7,0.55,0.8,0 --0.7,0.6,0.8,0 --0.7,0.65,0.8,0 --0.7,0.7,0.8,0 --0.65,-0.7,0.8,0 --0.65,-0.65,0.8,0 --0.65,-0.6,0.8,0 --0.65,-0.55,0.8,0 --0.65,-0.5,0.8,0 --0.65,-0.45,0.8,0 --0.65,-0.4,0.8,0 --0.65,-0.35,0.8,0 --0.65,-0.3,0.8,0 --0.65,-0.25,0.8,0 --0.65,-0.2,0.8,0 --0.65,-0.15,0.8,0 --0.65,-0.1,0.8,0 --0.65,-0.05,0.8,0 --0.65,6.66E-16,0.8,0 --0.65,0.05,0.8,0 --0.65,0.1,0.8,0 --0.65,0.15,0.8,0 --0.65,0.2,0.8,0 --0.65,0.25,0.8,0 --0.65,0.3,0.8,0 --0.65,0.35,0.8,0 --0.65,0.4,0.8,0 --0.65,0.45,0.8,0 --0.65,0.5,0.8,0 --0.65,0.55,0.8,0 --0.65,0.6,0.8,0 --0.65,0.65,0.8,0 --0.65,0.7,0.8,0 --0.6,-0.7,0.8,0 --0.6,-0.65,0.8,0 --0.6,-0.6,0.8,0 --0.6,-0.55,0.8,0 --0.6,-0.5,0.8,0 --0.6,-0.45,0.8,0 --0.6,-0.4,0.8,0 --0.6,-0.35,0.8,0 --0.6,-0.3,0.8,0 --0.6,-0.25,0.8,0 --0.6,-0.2,0.8,0 --0.6,-0.15,0.8,0 --0.6,-0.1,0.8,0 --0.6,-0.05,0.8,0 --0.6,6.66E-16,0.8,0 --0.6,0.05,0.8,0 --0.6,0.1,0.8,0 --0.6,0.15,0.8,0 --0.6,0.2,0.8,0 --0.6,0.25,0.8,0 --0.6,0.3,0.8,0 --0.6,0.35,0.8,0 --0.6,0.4,0.8,0 --0.6,0.45,0.8,0 --0.6,0.5,0.8,0 --0.6,0.55,0.8,0 --0.6,0.6,0.8,0 --0.6,0.65,0.8,0 --0.6,0.7,0.8,0 --0.55,-0.7,0.8,0 --0.55,-0.65,0.8,0 --0.55,-0.6,0.8,0 --0.55,-0.55,0.8,0 --0.55,-0.5,0.8,0 --0.55,-0.45,0.8,0 --0.55,-0.4,0.8,0 --0.55,-0.35,0.8,0 --0.55,-0.3,0.8,0 --0.55,-0.25,0.8,0 --0.55,-0.2,0.8,0 --0.55,-0.15,0.8,0 --0.55,-0.1,0.8,0 --0.55,-0.05,0.8,0 --0.55,6.66E-16,0.8,0 --0.55,0.05,0.8,0 --0.55,0.1,0.8,0 --0.55,0.15,0.8,0 --0.55,0.2,0.8,0 --0.55,0.25,0.8,0 --0.55,0.3,0.8,0 --0.55,0.35,0.8,0 --0.55,0.4,0.8,0 --0.55,0.45,0.8,0 --0.55,0.5,0.8,0 --0.55,0.55,0.8,0 --0.55,0.6,0.8,0 --0.55,0.65,0.8,0 --0.55,0.7,0.8,0 --0.5,-0.7,0.8,0 --0.5,-0.65,0.8,0 --0.5,-0.6,0.8,0 --0.5,-0.55,0.8,0 --0.5,-0.5,0.8,0 --0.5,-0.45,0.8,0 --0.5,-0.4,0.8,0 --0.5,-0.35,0.8,0 --0.5,-0.3,0.8,0 --0.5,-0.25,0.8,0 --0.5,-0.2,0.8,0.00833 --0.5,-0.15,0.8,0.00833 --0.5,-0.1,0.8,0.00833 --0.5,-0.05,0.8,0.00833 --0.5,6.66E-16,0.8,0.00833 --0.5,0.05,0.8,0.01667 --0.5,0.1,0.8,0.01667 --0.5,0.15,0.8,0.00833 --0.5,0.2,0.8,0.00833 --0.5,0.25,0.8,0.00833 --0.5,0.3,0.8,0 --0.5,0.35,0.8,0 --0.5,0.4,0.8,0 --0.5,0.45,0.8,0 --0.5,0.5,0.8,0 --0.5,0.55,0.8,0 --0.5,0.6,0.8,0 --0.5,0.65,0.8,0 --0.5,0.7,0.8,0 --0.45,-0.7,0.8,0 --0.45,-0.65,0.8,0 --0.45,-0.6,0.8,0 --0.45,-0.55,0.8,0 --0.45,-0.5,0.8,0 --0.45,-0.45,0.8,0 --0.45,-0.4,0.8,0 --0.45,-0.35,0.8,0 --0.45,-0.3,0.8,0 --0.45,-0.25,0.8,0.00833 --0.45,-0.2,0.8,0.01667 --0.45,-0.15,0.8,0.01667 --0.45,-0.1,0.8,0.01667 --0.45,-0.05,0.8,0.03333 --0.45,6.66E-16,0.8,0.04167 --0.45,0.05,0.8,0.04167 --0.45,0.1,0.8,0.04167 --0.45,0.15,0.8,0.025 --0.45,0.2,0.8,0.025 --0.45,0.25,0.8,0.025 --0.45,0.3,0.8,0.01667 --0.45,0.35,0.8,0.00833 --0.45,0.4,0.8,0 --0.45,0.45,0.8,0 --0.45,0.5,0.8,0 --0.45,0.55,0.8,0 --0.45,0.6,0.8,0 --0.45,0.65,0.8,0 --0.45,0.7,0.8,0 --0.4,-0.7,0.8,0 --0.4,-0.65,0.8,0 --0.4,-0.6,0.8,0 --0.4,-0.55,0.8,0 --0.4,-0.5,0.8,0 --0.4,-0.45,0.8,0 --0.4,-0.4,0.8,0 --0.4,-0.35,0.8,0 --0.4,-0.3,0.8,0.00833 --0.4,-0.25,0.8,0.01667 --0.4,-0.2,0.8,0.01667 --0.4,-0.15,0.8,0.025 --0.4,-0.1,0.8,0.04167 --0.4,-0.05,0.8,0.05 --0.4,6.66E-16,0.8,0.05 --0.4,0.05,0.8,0.05833 --0.4,0.1,0.8,0.05 --0.4,0.15,0.8,0.05 --0.4,0.2,0.8,0.05 --0.4,0.25,0.8,0.05 --0.4,0.3,0.8,0.03333 --0.4,0.35,0.8,0.025 --0.4,0.4,0.8,0.01667 --0.4,0.45,0.8,0 --0.4,0.5,0.8,0 --0.4,0.55,0.8,0 --0.4,0.6,0.8,0 --0.4,0.65,0.8,0 --0.4,0.7,0.8,0 --0.35,-0.7,0.8,0 --0.35,-0.65,0.8,0 --0.35,-0.6,0.8,0 --0.35,-0.55,0.8,0 --0.35,-0.5,0.8,0 --0.35,-0.45,0.8,0 --0.35,-0.4,0.8,0 --0.35,-0.35,0.8,0 --0.35,-0.3,0.8,0.025 --0.35,-0.25,0.8,0.04167 --0.35,-0.2,0.8,0.03333 --0.35,-0.15,0.8,0.05 --0.35,-0.1,0.8,0.05833 --0.35,-0.05,0.8,0.05833 --0.35,6.66E-16,0.8,0.06667 --0.35,0.05,0.8,0.075 --0.35,0.1,0.8,0.08333 --0.35,0.15,0.8,0.09167 --0.35,0.2,0.8,0.08333 --0.35,0.25,0.8,0.075 --0.35,0.3,0.8,0.05 --0.35,0.35,0.8,0.05 --0.35,0.4,0.8,0.04167 --0.35,0.45,0.8,0.00833 --0.35,0.5,0.8,0 --0.35,0.55,0.8,0 --0.35,0.6,0.8,0 --0.35,0.65,0.8,0 --0.35,0.7,0.8,0 --0.3,-0.7,0.8,0 --0.3,-0.65,0.8,0 --0.3,-0.6,0.8,0 --0.3,-0.55,0.8,0 --0.3,-0.5,0.8,0 --0.3,-0.45,0.8,0 --0.3,-0.4,0.8,0.00833 --0.3,-0.35,0.8,0.05 --0.3,-0.3,0.8,0.05833 --0.3,-0.25,0.8,0.06667 --0.3,-0.2,0.8,0.075 --0.3,-0.15,0.8,0.075 --0.3,-0.1,0.8,0.09167 --0.3,-0.05,0.8,0.075 --0.3,6.66E-16,0.8,0.08333 --0.3,0.05,0.8,0.09167 --0.3,0.1,0.8,0.1 --0.3,0.15,0.8,0.10833 --0.3,0.2,0.8,0.10833 --0.3,0.25,0.8,0.09167 --0.3,0.3,0.8,0.075 --0.3,0.35,0.8,0.06667 --0.3,0.4,0.8,0.05 --0.3,0.45,0.8,0.04167 --0.3,0.5,0.8,0 --0.3,0.55,0.8,0 --0.3,0.6,0.8,0 --0.3,0.65,0.8,0 --0.3,0.7,0.8,0 --0.25,-0.7,0.8,0 --0.25,-0.65,0.8,0 --0.25,-0.6,0.8,0 --0.25,-0.55,0.8,0 --0.25,-0.5,0.8,0 --0.25,-0.45,0.8,0.025 --0.25,-0.4,0.8,0.04167 --0.25,-0.35,0.8,0.05833 --0.25,-0.3,0.8,0.075 --0.25,-0.25,0.8,0.075 --0.25,-0.2,0.8,0.09167 --0.25,-0.15,0.8,0.08333 --0.25,-0.1,0.8,0.1 --0.25,-0.05,0.8,0.1 --0.25,6.66E-16,0.8,0.10833 --0.25,0.05,0.8,0.1 --0.25,0.1,0.8,0.10833 --0.25,0.15,0.8,0.11667 --0.25,0.2,0.8,0.10833 --0.25,0.25,0.8,0.10833 --0.25,0.3,0.8,0.09167 --0.25,0.35,0.8,0.06667 --0.25,0.4,0.8,0.05833 --0.25,0.45,0.8,0.04167 --0.25,0.5,0.8,0.025 --0.25,0.55,0.8,0 --0.25,0.6,0.8,0 --0.25,0.65,0.8,0 --0.25,0.7,0.8,0 --0.2,-0.7,0.8,0 --0.2,-0.65,0.8,0 --0.2,-0.6,0.8,0 --0.2,-0.55,0.8,0 --0.2,-0.5,0.8,0.025 --0.2,-0.45,0.8,0.025 --0.2,-0.4,0.8,0.06667 --0.2,-0.35,0.8,0.06667 --0.2,-0.3,0.8,0.08333 --0.2,-0.25,0.8,0.1 --0.2,-0.2,0.8,0.1 --0.2,-0.15,0.8,0.09167 --0.2,-0.1,0.8,0.10833 --0.2,-0.05,0.8,0.1 --0.2,6.66E-16,0.8,0.10833 --0.2,0.05,0.8,0.11667 --0.2,0.1,0.8,0.11667 --0.2,0.15,0.8,0.11667 --0.2,0.2,0.8,0.11667 --0.2,0.25,0.8,0.11667 --0.2,0.3,0.8,0.10833 --0.2,0.35,0.8,0.1 --0.2,0.4,0.8,0.06667 --0.2,0.45,0.8,0.05833 --0.2,0.5,0.8,0.03333 --0.2,0.55,0.8,0 --0.2,0.6,0.8,0 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Use 0.02 for finer but slower. -num_orientations = 120 +num_orientations = 120 + +tool_name = "v_minis" + +output_csv = "rm75b_comfort_workspace" + tool_name + ".csv" + # Comfort thresholds MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits @@ -89,7 +94,6 @@ tools_in_ee = { ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi lb = -ub -tool_name = "v_minis" URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf' MESH_DIR = str(Path(URDF_PATH).parent) @@ -733,7 +737,6 @@ def plot_comfortable_only(df): if __name__ == "__main__": df = evaluate_workspace() - output_csv = "rm75b_comfort_workspace_v_minis_collision.csv" df.to_csv(output_csv, index=False) print(f"\nSaved result to: {output_csv}")