From ceb80a8b17f57f52ad68ea2229cb864039a7d0fb Mon Sep 17 00:00:00 2001 From: LiuzhengSJ Date: Mon, 27 Jul 2026 20:34:02 +0100 Subject: [PATCH] the scissor stl file is added. --- kine_ctrl/main.py | 9 +- kine_ctrl/urdf_rm75/RM75-SCI.urdf | 496 + kine_ctrl/urdf_rm75/meshes/sci.stl | Bin 0 -> 1157584 bytes .../workspace_comfortable/Contour_plot.py | 2 +- .../workspace_comfortable/collision-1.png | Bin 141748 -> 0 bytes .../workspace_comfortable/collision-2.png | Bin 141748 -> 0 bytes .../workspace minisci collision.csv | 15979 ---------------- .../workspace_comfortable/workspace_cal.py | 9 +- 8 files changed, 509 insertions(+), 15986 deletions(-) create mode 100644 kine_ctrl/urdf_rm75/RM75-SCI.urdf create mode 100644 kine_ctrl/urdf_rm75/meshes/sci.stl delete mode 100644 kine_ctrl/workspace_comfortable/collision-1.png delete mode 100644 kine_ctrl/workspace_comfortable/collision-2.png delete mode 100644 kine_ctrl/workspace_comfortable/workspace minisci collision.csv 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 0000000000000000000000000000000000000000..3a4ca52172d5bf4a0e1f5a1a8542e905e8da215f GIT binary patch literal 1157584 zcmb@vXINB8(D&UU2xc&&qKKjx$U$Iw&Ka{9F=xe`6%_&Vm{8Y*V!#OIgf3=1-RI1x zs3?kvC`l19XVf*Pr&#vA?rNXs{`T%Cuf6Iw^{+ldb*Snyg#7>e-=zM8=<8-_lbV*1 zy~6`d!)s6DSr3lze1~o9#Nu{5*7F(9#MV4YP*g6O|{+Ju(<~lXmYl`mGJ2F=f?C?vl5gJ67z$ zFinWdnF`v-GW>W@1Nz46N@4*NID}O{8&pachN^6u+`%x2Y6J^oKnh7Ag~fl6GGn-xx~nl^1jEOro8Ok{6x#W zJS}4j!_m6cJjO?jILHlQMUj7c{au>1h{(y6{RE=)r)|8!`_0_As~f{H5mMsFHR--> zZP`obE)duXKPN((wmL7JpHxL|u+Co~uoYHFh;^8~d_Ym9+ws1pwCRWW-ocxAq4ySs zwU69&hFiqMaocy-A&##dT;)Q$AyW1aZ-Ky8wMTMZVL=Qxh7}RRBWuawWzABJ4kB^B z=MG+N@Oo}`=*I9U5OQcmQ+b2cASp6cR2A2H7v!teJb!C2!!#jN@7c+<`(2idm`HS1`*vxRWe>YOO z?V~78tcoIUSKD3gKH!tu(cNDlu+^^n3a|Jwj0f+(2E>zdUh?~oZS*&8`w2ve1G{+E zuBF`I63p-@5VBY2Bi9`MOa14!mq4V>+R3}?7I5R0t_;(JIJamjuc}v3TK_OmAn^0Y zF%i=7wXbaOsV>c~;UN%M38o1-_@tU#(j{3t^4Z69YuaJ{{N;2W>baR^798f8UxRp} zbdAluvV~9UHi?@Dc7@0nk8CKv$%@hBf4l_(kI$jeT^VSj{t%W#r&*GFqFZZ{W*Qk*(V^@K|+A$5P zyj|sMdo8tuwE+TwzcDx_LOx{r$X`E}(FWf36bP&Y(}et!?qIsTJV@TN&Y9x*F8{+g zo*%W1lkP_paprsvL>3TT{~+G^P3KdW@8D$E5k;U$>5A#vqp4%%TBYk#JZF?zY2-Hk zySdT*h=OTCEGndH^`?!L^S?R?1h&Fz38~Y=Upt;UOWypr8pZQn^-ocJ+=xBgXg;i9 ze}shh^4B&1arL7}U@NSakham0dgsOSgxef zzpO}LE3B4~Y7=9n8pFfn+r|_fo{Op`#_+urc5y?C1O@veBzRJ+^mJI5Ja>>tU@NSa zkabHeWyNZMoSYh^!!tm9t4;jXkvMMXa7e-a2nhn>DG&=Ehy=F6Y9S|<^Od*#^pRu6 zJ`cos@LS$CE>+&b4J{8U*dHNB%lgW;zkKAq|A+*(!fFXw=`cX{A8IKVu4y$be6$WkD3bNw~XeIkLa#Mz+Xgt2mp zN4gf_Q-R}5mT)?bm%S6o4JGy}*dHO=$B&ikd#7t5eMACV;oJpl>RCbZ`=<`3YHRCo zoH-{Q+roFmOyb59dlc-Ckb$#<oAmInvk;# z)@v<7o#nu}J_6zOBc6_ExSPk99Lg|F$m&j3nwsb-TN!*!JMYC(+s{XN=-OQjYw!Kf z7TPIXAjj(I;Qf_rA36xB^zxy^OH~gb{7cyn9Ve~ z`yNiNg)poTc95MN^hY}T%9|s61R~#V9j*Na;)o1kn1}r} z?^qQ10`-h!_q~?f=Dd$UV5>(|%b(81S7l{VhE2+iLo!nS1 zgyB&j4fdCp zZo@M_Y3(KuSP7=#+x~&b!-kcV*FN$zrLCAj6T0u^(MxwS9IaisAvAB=K~7wXBJc9~ zyHtHHkt$zd^V1`G5kjkr?%5Q%R zl&)VFRk@#@O>KQw^AO9y4AX?Xzi%gh>vdV$*D63zg+~F$1mAYpm>UJ9rie%`;MWv%Z780$MNj_%+b_j-+_mINN4GH7SjP!CUL{1fe?AE(GBGl zIWgL__uc}5$LDfEA6nw~AYN!+G*<32t>qr?(zUq{^#Xydus?Vnx1Ho8YooQFu*bow zVs6f-7mr8s_*VlN9ydZ>oT?(v&3>vSH*^&UtR2&YwDEP7OC(xqSEB<20*@PxiIC2B zeB@g{%4o;$cnSnof@%00gdL0JiXi#ZW@n1$yP*ve=$#EP*E(NO#F=v<5E2lL)`&!! 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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 419690e981570181513cc3d90c22d9db13c72c39..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 141748 zcmeGDWmJ@H_Xdp9F?4qfBGM(@3`$F@AYEb*Lw7Tz(g;W+Qj*f$T?!&d58d4Z!+YWV z+|Tp-fBb)Xzr5#KEEY3dwa*>LKK5}%XlW=BfM`J|C@2If%1?AqP|yNUP*9g}uz*j5 zf6lD}za(6q>bvMVymoOncd|x#X6^#Db#SqLYr*Vh?d1H{!TvF?06(udH}e}87pSuY zAD`WS|AW`T$%c}7r3e3dDFvEVE`F%=chft}z z;4`v`{AXR>iwKk5nVOx%gSK_y^0WYa&g{z<>jBeiY;1%swRTb;>StcQv-sLuE>TR&&~k$A`Z~ zf22=|-iACYw{CHtbL`{D%5Y!sJpO}DBn2I`!K37E-=6%Y%?*{lyNtQhuU_L|XICdk zx%W$5I@#-=F(GDOC*De3ttLQx7=2H*Z5LY^C@3f%`HIFVn=Q8bUQT2oL%x+YZs(2J 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--0.45,-0.35,0.1,0.28333 --0.45,-0.3,0.1,0.29167 --0.45,-0.25,0.1,0.33333 --0.45,-0.2,0.1,0.325 --0.45,-0.15,0.1,0.33333 --0.45,-0.1,0.1,0.31667 --0.45,-0.05,0.1,0.325 --0.45,6.66E-16,0.1,0.29167 --0.45,0.05,0.1,0.31667 --0.45,0.1,0.1,0.30833 --0.45,0.15,0.1,0.30833 --0.45,0.2,0.1,0.325 --0.45,0.25,0.1,0.28333 --0.45,0.3,0.1,0.26667 --0.45,0.35,0.1,0.20833 --0.45,0.4,0.1,0.19167 --0.45,0.45,0.1,0.15833 --0.45,0.5,0.1,0.14167 --0.45,0.55,0.1,0.08333 --0.45,0.6,0.1,0.01667 --0.45,0.65,0.1,0 --0.45,0.7,0.1,0 --0.4,-0.7,0.1,0 --0.4,-0.65,0.1,0.025 --0.4,-0.6,0.1,0.05833 --0.4,-0.55,0.1,0.15 --0.4,-0.5,0.1,0.19167 --0.4,-0.45,0.1,0.225 --0.4,-0.4,0.1,0.29167 --0.4,-0.35,0.1,0.325 --0.4,-0.3,0.1,0.33333 --0.4,-0.25,0.1,0.35 --0.4,-0.2,0.1,0.35833 --0.4,-0.15,0.1,0.35 --0.4,-0.1,0.1,0.35 --0.4,-0.05,0.1,0.325 --0.4,6.66E-16,0.1,0.33333 --0.4,0.05,0.1,0.33333 --0.4,0.1,0.1,0.33333 --0.4,0.15,0.1,0.29167 --0.4,0.2,0.1,0.30833 --0.4,0.25,0.1,0.3 --0.4,0.3,0.1,0.28333 --0.4,0.35,0.1,0.24167 --0.4,0.4,0.1,0.21667 --0.4,0.45,0.1,0.15833 --0.4,0.5,0.1,0.15 --0.4,0.55,0.1,0.125 --0.4,0.6,0.1,0.06667 --0.4,0.65,0.1,0 --0.4,0.7,0.1,0 --0.35,-0.7,0.1,0 --0.35,-0.65,0.1,0.05 --0.35,-0.6,0.1,0.11667 --0.35,-0.55,0.1,0.19167 --0.35,-0.5,0.1,0.24167 --0.35,-0.45,0.1,0.26667 --0.35,-0.4,0.1,0.31667 --0.35,-0.35,0.1,0.325 --0.35,-0.3,0.1,0.33333 --0.35,-0.25,0.1,0.375 --0.35,-0.2,0.1,0.34167 --0.35,-0.15,0.1,0.35 --0.35,-0.1,0.1,0.36667 --0.35,-0.05,0.1,0.39167 --0.35,6.66E-16,0.1,0.36667 --0.35,0.05,0.1,0.39167 --0.35,0.1,0.1,0.34167 --0.35,0.15,0.1,0.35 --0.35,0.2,0.1,0.36667 --0.35,0.25,0.1,0.325 --0.35,0.3,0.1,0.34167 --0.35,0.35,0.1,0.3 --0.35,0.4,0.1,0.26667 --0.35,0.45,0.1,0.23333 --0.35,0.5,0.1,0.16667 --0.35,0.55,0.1,0.125 --0.35,0.6,0.1,0.10833 --0.35,0.65,0.1,0.025 --0.35,0.7,0.1,0 --0.3,-0.7,0.1,0.025 --0.3,-0.65,0.1,0.08333 --0.3,-0.6,0.1,0.15 --0.3,-0.55,0.1,0.21667 --0.3,-0.5,0.1,0.25833 --0.3,-0.45,0.1,0.29167 --0.3,-0.4,0.1,0.34167 --0.3,-0.35,0.1,0.35 --0.3,-0.3,0.1,0.35 --0.3,-0.25,0.1,0.39167 --0.3,-0.2,0.1,0.38333 --0.3,-0.15,0.1,0.4 --0.3,-0.1,0.1,0.39167 --0.3,-0.05,0.1,0.43333 --0.3,6.66E-16,0.1,0.44167 --0.3,0.05,0.1,0.40833 --0.3,0.1,0.1,0.35 --0.3,0.15,0.1,0.33333 --0.3,0.2,0.1,0.35 --0.3,0.25,0.1,0.30833 --0.3,0.3,0.1,0.31667 --0.3,0.35,0.1,0.31667 --0.3,0.4,0.1,0.3 --0.3,0.45,0.1,0.25833 --0.3,0.5,0.1,0.20833 --0.3,0.55,0.1,0.15833 --0.3,0.6,0.1,0.125 --0.3,0.65,0.1,0.04167 --0.3,0.7,0.1,0 --0.25,-0.7,0.1,0.04167 --0.25,-0.65,0.1,0.10833 --0.25,-0.6,0.1,0.175 --0.25,-0.55,0.1,0.23333 --0.25,-0.5,0.1,0.28333 --0.25,-0.45,0.1,0.325 --0.25,-0.4,0.1,0.34167 --0.25,-0.35,0.1,0.35833 --0.25,-0.3,0.1,0.375 --0.25,-0.25,0.1,0.45 --0.25,-0.2,0.1,0.425 --0.25,-0.15,0.1,0.44167 --0.25,-0.1,0.1,0.44167 --0.25,-0.05,0.1,0.45833 --0.25,6.66E-16,0.1,0.5 --0.25,0.05,0.1,0.45 --0.25,0.1,0.1,0.36667 --0.25,0.15,0.1,0.35 --0.25,0.2,0.1,0.38333 --0.25,0.25,0.1,0.34167 --0.25,0.3,0.1,0.30833 --0.25,0.35,0.1,0.33333 --0.25,0.4,0.1,0.34167 --0.25,0.45,0.1,0.3 --0.25,0.5,0.1,0.225 --0.25,0.55,0.1,0.18333 --0.25,0.6,0.1,0.15833 --0.25,0.65,0.1,0.05833 --0.25,0.7,0.1,0.01667 --0.2,-0.7,0.1,0.08333 --0.2,-0.65,0.1,0.125 --0.2,-0.6,0.1,0.19167 --0.2,-0.55,0.1,0.25 --0.2,-0.5,0.1,0.29167 --0.2,-0.45,0.1,0.33333 --0.2,-0.4,0.1,0.38333 --0.2,-0.35,0.1,0.39167 --0.2,-0.3,0.1,0.41667 --0.2,-0.25,0.1,0.49167 --0.2,-0.2,0.1,0.525 --0.2,-0.15,0.1,0.49167 --0.2,-0.1,0.1,0.50833 --0.2,-0.05,0.1,0.53333 --0.2,6.66E-16,0.1,0.55 --0.2,0.05,0.1,0.50833 --0.2,0.1,0.1,0.44167 --0.2,0.15,0.1,0.41667 --0.2,0.2,0.1,0.4 --0.2,0.25,0.1,0.35833 --0.2,0.3,0.1,0.31667 --0.2,0.35,0.1,0.30833 --0.2,0.4,0.1,0.34167 --0.2,0.45,0.1,0.30833 --0.2,0.5,0.1,0.26667 --0.2,0.55,0.1,0.20833 --0.2,0.6,0.1,0.18333 --0.2,0.65,0.1,0.09167 --0.2,0.7,0.1,0.01667 --0.15,-0.7,0.1,0.075 --0.15,-0.65,0.1,0.15 --0.15,-0.6,0.1,0.19167 --0.15,-0.55,0.1,0.25833 --0.15,-0.5,0.1,0.30833 --0.15,-0.45,0.1,0.375 --0.15,-0.4,0.1,0.36667 --0.15,-0.35,0.1,0.35833 --0.15,-0.3,0.1,0.39167 --0.15,-0.25,0.1,0.48333 --0.15,-0.2,0.1,0.5 --0.15,-0.15,0.1,0.53333 --0.15,-0.1,0.1,0.56667 --0.15,-0.05,0.1,0.6 --0.15,6.66E-16,0.1,0.63333 --0.15,0.05,0.1,0.58333 --0.15,0.1,0.1,0.55833 --0.15,0.15,0.1,0.51667 --0.15,0.2,0.1,0.425 --0.15,0.25,0.1,0.38333 --0.15,0.3,0.1,0.325 --0.15,0.35,0.1,0.31667 --0.15,0.4,0.1,0.33333 --0.15,0.45,0.1,0.325 --0.15,0.5,0.1,0.28333 --0.15,0.55,0.1,0.225 --0.15,0.6,0.1,0.19167 --0.15,0.65,0.1,0.09167 --0.15,0.7,0.1,0.04167 --0.1,-0.7,0.1,0.09167 --0.1,-0.65,0.1,0.15833 --0.1,-0.6,0.1,0.20833 --0.1,-0.55,0.1,0.275 --0.1,-0.5,0.1,0.33333 --0.1,-0.45,0.1,0.35833 --0.1,-0.4,0.1,0.35833 --0.1,-0.35,0.1,0.375 --0.1,-0.3,0.1,0.40833 --0.1,-0.25,0.1,0.45833 --0.1,-0.2,0.1,0.51667 --0.1,-0.15,0.1,0.54167 --0.1,-0.1,0.1,0.59167 --0.1,-0.05,0.1,0.675 --0.1,6.66E-16,0.1,0.725 --0.1,0.05,0.1,0.65833 --0.1,0.1,0.1,0.59167 --0.1,0.15,0.1,0.55 --0.1,0.2,0.1,0.475 --0.1,0.25,0.1,0.40833 --0.1,0.3,0.1,0.35833 --0.1,0.35,0.1,0.35 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--0.65,-0.35,0.15,0.1 --0.65,-0.3,0.15,0.125 --0.65,-0.25,0.15,0.14167 --0.65,-0.2,0.15,0.16667 --0.65,-0.15,0.15,0.175 --0.65,-0.1,0.15,0.2 --0.65,-0.05,0.15,0.2 --0.65,6.66E-16,0.15,0.19167 --0.65,0.05,0.15,0.175 --0.65,0.1,0.15,0.15833 --0.65,0.15,0.15,0.15833 --0.65,0.2,0.15,0.14167 --0.65,0.25,0.15,0.10833 --0.65,0.3,0.15,0.09167 --0.65,0.35,0.15,0.075 --0.65,0.4,0.15,0.05833 --0.65,0.45,0.15,0.03333 --0.65,0.5,0.15,0 --0.65,0.55,0.15,0 --0.65,0.6,0.15,0 --0.65,0.65,0.15,0 --0.65,0.7,0.15,0 --0.6,-0.7,0.15,0 --0.6,-0.65,0.15,0 --0.6,-0.6,0.15,0 --0.6,-0.55,0.15,0 --0.6,-0.5,0.15,0.03333 --0.6,-0.45,0.15,0.09167 --0.6,-0.4,0.15,0.1 --0.6,-0.35,0.15,0.125 --0.6,-0.3,0.15,0.15833 --0.6,-0.25,0.15,0.18333 --0.6,-0.2,0.15,0.18333 --0.6,-0.15,0.15,0.21667 --0.6,-0.1,0.15,0.225 --0.6,-0.05,0.15,0.21667 --0.6,6.66E-16,0.15,0.23333 --0.6,0.05,0.15,0.23333 --0.6,0.1,0.15,0.225 --0.6,0.15,0.15,0.21667 --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 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--0.7,0.3,0.2,0.06667 --0.7,0.35,0.2,0.05 --0.7,0.4,0.2,0.025 --0.7,0.45,0.2,0 --0.7,0.5,0.2,0 --0.7,0.55,0.2,0 --0.7,0.6,0.2,0 --0.7,0.65,0.2,0 --0.7,0.7,0.2,0 --0.65,-0.7,0.2,0 --0.65,-0.65,0.2,0 --0.65,-0.6,0.2,0 --0.65,-0.55,0.2,0 --0.65,-0.5,0.2,0 --0.65,-0.45,0.2,0.05833 --0.65,-0.4,0.2,0.1 --0.65,-0.35,0.2,0.11667 --0.65,-0.3,0.2,0.125 --0.65,-0.25,0.2,0.15833 --0.65,-0.2,0.2,0.15833 --0.65,-0.15,0.2,0.19167 --0.65,-0.1,0.2,0.2 --0.65,-0.05,0.2,0.2 --0.65,6.66E-16,0.2,0.19167 --0.65,0.05,0.2,0.18333 --0.65,0.1,0.2,0.18333 --0.65,0.15,0.2,0.15833 --0.65,0.2,0.2,0.15 --0.65,0.25,0.2,0.11667 --0.65,0.3,0.2,0.1 --0.65,0.35,0.2,0.075 --0.65,0.4,0.2,0.06667 --0.65,0.45,0.2,0.03333 --0.65,0.5,0.2,0 --0.65,0.55,0.2,0 --0.65,0.6,0.2,0 --0.65,0.65,0.2,0 --0.65,0.7,0.2,0 --0.6,-0.7,0.2,0 --0.6,-0.65,0.2,0 --0.6,-0.6,0.2,0 --0.6,-0.55,0.2,0 --0.6,-0.5,0.2,0.05833 --0.6,-0.45,0.2,0.09167 --0.6,-0.4,0.2,0.10833 --0.6,-0.35,0.2,0.13333 --0.6,-0.3,0.2,0.15833 --0.6,-0.25,0.2,0.18333 --0.6,-0.2,0.2,0.2 --0.6,-0.15,0.2,0.21667 --0.6,-0.1,0.2,0.225 --0.6,-0.05,0.2,0.225 --0.6,6.66E-16,0.2,0.21667 --0.6,0.05,0.2,0.23333 --0.6,0.1,0.2,0.225 --0.6,0.15,0.2,0.225 --0.6,0.2,0.2,0.21667 --0.6,0.25,0.2,0.20833 --0.6,0.3,0.2,0.14167 --0.6,0.35,0.2,0.10833 --0.6,0.4,0.2,0.09167 --0.6,0.45,0.2,0.06667 --0.6,0.5,0.2,0.04167 --0.6,0.55,0.2,0 --0.6,0.6,0.2,0 --0.6,0.65,0.2,0 --0.6,0.7,0.2,0 --0.55,-0.7,0.2,0 --0.55,-0.65,0.2,0 --0.55,-0.6,0.2,0 --0.55,-0.55,0.2,0.04167 --0.55,-0.5,0.2,0.1 --0.55,-0.45,0.2,0.125 --0.55,-0.4,0.2,0.15833 --0.55,-0.35,0.2,0.175 --0.55,-0.3,0.2,0.2 --0.55,-0.25,0.2,0.225 --0.55,-0.2,0.2,0.23333 --0.55,-0.15,0.2,0.24167 --0.55,-0.1,0.2,0.23333 --0.55,-0.05,0.2,0.26667 --0.55,6.66E-16,0.2,0.3 --0.55,0.05,0.2,0.29167 --0.55,0.1,0.2,0.29167 --0.55,0.15,0.2,0.26667 --0.55,0.2,0.2,0.26667 --0.55,0.25,0.2,0.24167 --0.55,0.3,0.2,0.20833 --0.55,0.35,0.2,0.18333 --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 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--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 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--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 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--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 --0.35,-0.05,0.35,0.35 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--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 --0.45,0.1,0.4,0.30833 --0.45,0.15,0.4,0.30833 --0.45,0.2,0.4,0.28333 --0.45,0.25,0.4,0.26667 --0.45,0.3,0.4,0.225 --0.45,0.35,0.4,0.18333 --0.45,0.4,0.4,0.16667 --0.45,0.45,0.4,0.14167 --0.45,0.5,0.4,0.11667 --0.45,0.55,0.4,0.1 --0.45,0.6,0.4,0.04167 --0.45,0.65,0.4,0.00833 --0.45,0.7,0.4,0 --0.4,-0.7,0.4,0 --0.4,-0.65,0.4,0.05 --0.4,-0.6,0.4,0.1 --0.4,-0.55,0.4,0.14167 --0.4,-0.5,0.4,0.175 --0.4,-0.45,0.4,0.18333 --0.4,-0.4,0.4,0.20833 --0.4,-0.35,0.4,0.25 --0.4,-0.3,0.4,0.26667 --0.4,-0.25,0.4,0.30833 --0.4,-0.2,0.4,0.29167 --0.4,-0.15,0.4,0.31667 --0.4,-0.1,0.4,0.33333 --0.4,-0.05,0.4,0.35 --0.4,6.66E-16,0.4,0.31667 --0.4,0.05,0.4,0.35 --0.4,0.1,0.4,0.35 --0.4,0.15,0.4,0.35 --0.4,0.2,0.4,0.30833 --0.4,0.25,0.4,0.30833 --0.4,0.3,0.4,0.26667 --0.4,0.35,0.4,0.21667 --0.4,0.4,0.4,0.175 --0.4,0.45,0.4,0.15833 --0.4,0.5,0.4,0.14167 --0.4,0.55,0.4,0.1 --0.4,0.6,0.4,0.075 --0.4,0.65,0.4,0.04167 --0.4,0.7,0.4,0 --0.35,-0.7,0.4,0.01667 --0.35,-0.65,0.4,0.06667 --0.35,-0.6,0.4,0.11667 --0.35,-0.55,0.4,0.15833 --0.35,-0.5,0.4,0.18333 --0.35,-0.45,0.4,0.225 --0.35,-0.4,0.4,0.23333 --0.35,-0.35,0.4,0.29167 --0.35,-0.3,0.4,0.28333 --0.35,-0.25,0.4,0.325 --0.35,-0.2,0.4,0.31667 --0.35,-0.15,0.4,0.325 --0.35,-0.1,0.4,0.33333 --0.35,-0.05,0.4,0.36667 --0.35,6.66E-16,0.4,0.38333 --0.35,0.05,0.4,0.375 --0.35,0.1,0.4,0.33333 --0.35,0.15,0.4,0.33333 --0.35,0.2,0.4,0.30833 --0.35,0.25,0.4,0.30833 --0.35,0.3,0.4,0.275 --0.35,0.35,0.4,0.24167 --0.35,0.4,0.4,0.19167 --0.35,0.45,0.4,0.16667 --0.35,0.5,0.4,0.15 --0.35,0.55,0.4,0.11667 --0.35,0.6,0.4,0.09167 --0.35,0.65,0.4,0.05 --0.35,0.7,0.4,0.01667 --0.3,-0.7,0.4,0.06667 --0.3,-0.65,0.4,0.08333 --0.3,-0.6,0.4,0.11667 --0.3,-0.55,0.4,0.2 --0.3,-0.5,0.4,0.21667 --0.3,-0.45,0.4,0.24167 --0.3,-0.4,0.4,0.26667 --0.3,-0.35,0.4,0.3 --0.3,-0.3,0.4,0.30833 --0.3,-0.25,0.4,0.34167 --0.3,-0.2,0.4,0.36667 --0.3,-0.15,0.4,0.36667 --0.3,-0.1,0.4,0.34167 --0.3,-0.05,0.4,0.38333 --0.3,6.66E-16,0.4,0.41667 --0.3,0.05,0.4,0.4 --0.3,0.1,0.4,0.35833 --0.3,0.15,0.4,0.33333 --0.3,0.2,0.4,0.325 --0.3,0.25,0.4,0.30833 --0.3,0.3,0.4,0.28333 --0.3,0.35,0.4,0.23333 --0.3,0.4,0.4,0.23333 --0.3,0.45,0.4,0.2 --0.3,0.5,0.4,0.14167 --0.3,0.55,0.4,0.11667 --0.3,0.6,0.4,0.11667 --0.3,0.65,0.4,0.05833 --0.3,0.7,0.4,0.04167 --0.25,-0.7,0.4,0.075 --0.25,-0.65,0.4,0.09167 --0.25,-0.6,0.4,0.15 --0.25,-0.55,0.4,0.2 --0.25,-0.5,0.4,0.23333 --0.25,-0.45,0.4,0.25 --0.25,-0.4,0.4,0.275 --0.25,-0.35,0.4,0.29167 --0.25,-0.3,0.4,0.31667 --0.25,-0.25,0.4,0.35833 --0.25,-0.2,0.4,0.36667 --0.25,-0.15,0.4,0.39167 --0.25,-0.1,0.4,0.36667 --0.25,-0.05,0.4,0.41667 --0.25,6.66E-16,0.4,0.43333 --0.25,0.05,0.4,0.43333 --0.25,0.1,0.4,0.38333 --0.25,0.15,0.4,0.36667 --0.25,0.2,0.4,0.36667 --0.25,0.25,0.4,0.36667 --0.25,0.3,0.4,0.33333 --0.25,0.35,0.4,0.28333 --0.25,0.4,0.4,0.25 --0.25,0.45,0.4,0.21667 --0.25,0.5,0.4,0.175 --0.25,0.55,0.4,0.13333 --0.25,0.6,0.4,0.10833 --0.25,0.65,0.4,0.075 --0.25,0.7,0.4,0.04167 --0.2,-0.7,0.4,0.075 --0.2,-0.65,0.4,0.1 --0.2,-0.6,0.4,0.15833 --0.2,-0.55,0.4,0.2 --0.2,-0.5,0.4,0.24167 --0.2,-0.45,0.4,0.28333 --0.2,-0.4,0.4,0.26667 --0.2,-0.35,0.4,0.31667 --0.2,-0.3,0.4,0.35 --0.2,-0.25,0.4,0.375 --0.2,-0.2,0.4,0.45 --0.2,-0.15,0.4,0.41667 --0.2,-0.1,0.4,0.425 --0.2,-0.05,0.4,0.49167 --0.2,6.66E-16,0.4,0.46667 --0.2,0.05,0.4,0.48333 --0.2,0.1,0.4,0.46667 --0.2,0.15,0.4,0.45 --0.2,0.2,0.4,0.39167 --0.2,0.25,0.4,0.375 --0.2,0.3,0.4,0.33333 --0.2,0.35,0.4,0.29167 --0.2,0.4,0.4,0.275 --0.2,0.45,0.4,0.275 --0.2,0.5,0.4,0.19167 --0.2,0.55,0.4,0.15833 --0.2,0.6,0.4,0.11667 --0.2,0.65,0.4,0.075 --0.2,0.7,0.4,0.05833 --0.15,-0.7,0.4,0.08333 --0.15,-0.65,0.4,0.10833 --0.15,-0.6,0.4,0.15833 --0.15,-0.55,0.4,0.2 --0.15,-0.5,0.4,0.25 --0.15,-0.45,0.4,0.3 --0.15,-0.4,0.4,0.28333 --0.15,-0.35,0.4,0.31667 --0.15,-0.3,0.4,0.36667 --0.15,-0.25,0.4,0.40833 --0.15,-0.2,0.4,0.44167 --0.15,-0.15,0.4,0.49167 --0.15,-0.1,0.4,0.50833 --0.15,-0.05,0.4,0.50833 --0.15,6.66E-16,0.4,0.50833 --0.15,0.05,0.4,0.54167 --0.15,0.1,0.4,0.49167 --0.15,0.15,0.4,0.43333 --0.15,0.2,0.4,0.41667 --0.15,0.25,0.4,0.38333 --0.15,0.3,0.4,0.34167 --0.15,0.35,0.4,0.33333 --0.15,0.4,0.4,0.30833 --0.15,0.45,0.4,0.26667 --0.15,0.5,0.4,0.25 --0.15,0.55,0.4,0.19167 --0.15,0.6,0.4,0.125 --0.15,0.65,0.4,0.08333 --0.15,0.7,0.4,0.05833 --0.1,-0.7,0.4,0.08333 --0.1,-0.65,0.4,0.11667 --0.1,-0.6,0.4,0.175 --0.1,-0.55,0.4,0.21667 --0.1,-0.5,0.4,0.26667 --0.1,-0.45,0.4,0.275 --0.1,-0.4,0.4,0.3 --0.1,-0.35,0.4,0.33333 --0.1,-0.3,0.4,0.33333 --0.1,-0.25,0.4,0.375 --0.1,-0.2,0.4,0.43333 --0.1,-0.15,0.4,0.54167 --0.1,-0.1,0.4,0.575 --0.1,-0.05,0.4,0.56667 --0.1,6.66E-16,0.4,0.525 --0.1,0.05,0.4,0.6 --0.1,0.1,0.4,0.55 --0.1,0.15,0.4,0.51667 --0.1,0.2,0.4,0.44167 --0.1,0.25,0.4,0.39167 --0.1,0.3,0.4,0.35 --0.1,0.35,0.4,0.35 --0.1,0.4,0.4,0.31667 --0.1,0.45,0.4,0.28333 --0.1,0.5,0.4,0.23333 --0.1,0.55,0.4,0.21667 --0.1,0.6,0.4,0.14167 --0.1,0.65,0.4,0.1 --0.1,0.7,0.4,0.04167 --0.05,-0.7,0.4,0.08333 --0.05,-0.65,0.4,0.11667 --0.05,-0.6,0.4,0.16667 --0.05,-0.55,0.4,0.21667 --0.05,-0.5,0.4,0.25 --0.05,-0.45,0.4,0.29167 --0.05,-0.4,0.4,0.28333 --0.05,-0.35,0.4,0.30833 --0.05,-0.3,0.4,0.38333 --0.05,-0.25,0.4,0.45 --0.05,-0.2,0.4,0.50833 --0.05,-0.15,0.4,0.58333 --0.05,-0.1,0.4,0.6 --0.05,-0.05,0.4,0.58333 --0.05,6.66E-16,0.4,0.60833 --0.05,0.05,0.4,0.64167 --0.05,0.1,0.4,0.575 --0.05,0.15,0.4,0.54167 --0.05,0.2,0.4,0.46667 --0.05,0.25,0.4,0.41667 --0.05,0.3,0.4,0.39167 --0.05,0.35,0.4,0.36667 --0.05,0.4,0.4,0.325 --0.05,0.45,0.4,0.28333 --0.05,0.5,0.4,0.25 --0.05,0.55,0.4,0.2 --0.05,0.6,0.4,0.16667 --0.05,0.65,0.4,0.10833 --0.05,0.7,0.4,0.05833 -6.66E-16,-0.7,0.4,0.08333 -6.66E-16,-0.65,0.4,0.13333 -6.66E-16,-0.6,0.4,0.175 -6.66E-16,-0.55,0.4,0.2 -6.66E-16,-0.5,0.4,0.25 -6.66E-16,-0.45,0.4,0.26667 -6.66E-16,-0.4,0.4,0.29167 -6.66E-16,-0.35,0.4,0.35833 -6.66E-16,-0.3,0.4,0.425 -6.66E-16,-0.25,0.4,0.44167 -6.66E-16,-0.2,0.4,0.51667 -6.66E-16,-0.15,0.4,0.55833 -6.66E-16,-0.1,0.4,0.61667 -6.66E-16,-0.05,0.4,0.65 -6.66E-16,6.66E-16,0.4,0.65 -6.66E-16,0.05,0.4,0.61667 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--0.65,0.2,0.45,0.125 --0.65,0.25,0.45,0.1 --0.65,0.3,0.45,0.1 --0.65,0.35,0.45,0.06667 --0.65,0.4,0.45,0 --0.65,0.45,0.45,0 --0.65,0.5,0.45,0 --0.65,0.55,0.45,0 --0.65,0.6,0.45,0 --0.65,0.65,0.45,0 --0.65,0.7,0.45,0 --0.6,-0.7,0.45,0 --0.6,-0.65,0.45,0 --0.6,-0.6,0.45,0 --0.6,-0.55,0.45,0 --0.6,-0.5,0.45,0 --0.6,-0.45,0.45,0.05 --0.6,-0.4,0.45,0.08333 --0.6,-0.35,0.45,0.10833 --0.6,-0.3,0.45,0.125 --0.6,-0.25,0.45,0.15 --0.6,-0.2,0.45,0.16667 --0.6,-0.15,0.45,0.175 --0.6,-0.1,0.45,0.19167 --0.6,-0.05,0.45,0.19167 --0.6,6.66E-16,0.45,0.19167 --0.6,0.05,0.45,0.20833 --0.6,0.1,0.45,0.20833 --0.6,0.15,0.45,0.18333 --0.6,0.2,0.45,0.15833 --0.6,0.25,0.45,0.15 --0.6,0.3,0.45,0.11667 --0.6,0.35,0.45,0.1 --0.6,0.4,0.45,0.08333 --0.6,0.45,0.45,0.04167 --0.6,0.5,0.45,0 --0.6,0.55,0.45,0 --0.6,0.6,0.45,0 --0.6,0.65,0.45,0 --0.6,0.7,0.45,0 --0.55,-0.7,0.45,0 --0.55,-0.65,0.45,0 --0.55,-0.6,0.45,0 --0.55,-0.55,0.45,0.00833 --0.55,-0.5,0.45,0.04167 --0.55,-0.45,0.45,0.08333 --0.55,-0.4,0.45,0.13333 --0.55,-0.35,0.45,0.14167 --0.55,-0.3,0.45,0.15833 --0.55,-0.25,0.45,0.18333 --0.55,-0.2,0.45,0.175 --0.55,-0.15,0.45,0.21667 --0.55,-0.1,0.45,0.21667 --0.55,-0.05,0.45,0.225 --0.55,6.66E-16,0.45,0.23333 --0.55,0.05,0.45,0.25833 --0.55,0.1,0.45,0.24167 --0.55,0.15,0.45,0.24167 --0.55,0.2,0.45,0.21667 --0.55,0.25,0.45,0.19167 --0.55,0.3,0.45,0.16667 --0.55,0.35,0.45,0.14167 --0.55,0.4,0.45,0.11667 --0.55,0.45,0.45,0.09167 --0.55,0.5,0.45,0.05 --0.55,0.55,0.45,0.00833 --0.55,0.6,0.45,0 --0.55,0.65,0.45,0 --0.55,0.7,0.45,0 --0.5,-0.7,0.45,0 --0.5,-0.65,0.45,0 --0.5,-0.6,0.45,0 --0.5,-0.55,0.45,0.04167 --0.5,-0.5,0.45,0.1 --0.5,-0.45,0.45,0.15 --0.5,-0.4,0.45,0.15833 --0.5,-0.35,0.45,0.16667 --0.5,-0.3,0.45,0.2 --0.5,-0.25,0.45,0.20833 --0.5,-0.2,0.45,0.24167 --0.5,-0.15,0.45,0.25 --0.5,-0.1,0.45,0.26667 --0.5,-0.05,0.45,0.275 --0.5,6.66E-16,0.45,0.28333 --0.5,0.05,0.45,0.275 --0.5,0.1,0.45,0.28333 --0.5,0.15,0.45,0.25833 --0.5,0.2,0.45,0.25 --0.5,0.25,0.45,0.225 --0.5,0.3,0.45,0.19167 --0.5,0.35,0.45,0.16667 --0.5,0.4,0.45,0.14167 --0.5,0.45,0.45,0.11667 --0.5,0.5,0.45,0.1 --0.5,0.55,0.45,0.03333 --0.5,0.6,0.45,0 --0.5,0.65,0.45,0 --0.5,0.7,0.45,0 --0.45,-0.7,0.45,0 --0.45,-0.65,0.45,0 --0.45,-0.6,0.45,0.04167 --0.45,-0.55,0.45,0.08333 --0.45,-0.5,0.45,0.14167 --0.45,-0.45,0.45,0.16667 --0.45,-0.4,0.45,0.175 --0.45,-0.35,0.45,0.19167 --0.45,-0.3,0.45,0.225 --0.45,-0.25,0.45,0.23333 --0.45,-0.2,0.45,0.275 --0.45,-0.15,0.45,0.3 --0.45,-0.1,0.45,0.3 --0.45,-0.05,0.45,0.3 --0.45,6.66E-16,0.45,0.30833 --0.45,0.05,0.45,0.30833 --0.45,0.1,0.45,0.275 --0.45,0.15,0.45,0.275 --0.45,0.2,0.45,0.26667 --0.45,0.25,0.45,0.23333 --0.45,0.3,0.45,0.19167 --0.45,0.35,0.45,0.18333 --0.45,0.4,0.45,0.15833 --0.45,0.45,0.45,0.13333 --0.45,0.5,0.45,0.10833 --0.45,0.55,0.45,0.09167 --0.45,0.6,0.45,0.04167 --0.45,0.65,0.45,0 --0.45,0.7,0.45,0 --0.4,-0.7,0.45,0 --0.4,-0.65,0.45,0.03333 --0.4,-0.6,0.45,0.06667 --0.4,-0.55,0.45,0.11667 --0.4,-0.5,0.45,0.16667 --0.4,-0.45,0.45,0.175 --0.4,-0.4,0.45,0.2 --0.4,-0.35,0.45,0.24167 --0.4,-0.3,0.45,0.26667 --0.4,-0.25,0.45,0.3 --0.4,-0.2,0.45,0.30833 --0.4,-0.15,0.45,0.35833 --0.4,-0.1,0.45,0.35833 --0.4,-0.05,0.45,0.35833 --0.4,6.66E-16,0.45,0.34167 --0.4,0.05,0.45,0.325 --0.4,0.1,0.45,0.31667 --0.4,0.15,0.45,0.3 --0.4,0.2,0.45,0.26667 --0.4,0.25,0.45,0.25833 --0.4,0.3,0.45,0.21667 --0.4,0.35,0.45,0.19167 --0.4,0.4,0.45,0.175 --0.4,0.45,0.45,0.15 --0.4,0.5,0.45,0.125 --0.4,0.55,0.45,0.10833 --0.4,0.6,0.45,0.06667 --0.4,0.65,0.45,0.04167 --0.4,0.7,0.45,0 --0.35,-0.7,0.45,0 --0.35,-0.65,0.45,0.05833 --0.35,-0.6,0.45,0.1 --0.35,-0.55,0.45,0.13333 --0.35,-0.5,0.45,0.18333 --0.35,-0.45,0.45,0.20833 --0.35,-0.4,0.45,0.21667 --0.35,-0.35,0.45,0.25 --0.35,-0.3,0.45,0.28333 --0.35,-0.25,0.45,0.3 --0.35,-0.2,0.45,0.30833 --0.35,-0.15,0.45,0.34167 --0.35,-0.1,0.45,0.39167 --0.35,-0.05,0.45,0.38333 --0.35,6.66E-16,0.45,0.375 --0.35,0.05,0.45,0.35 --0.35,0.1,0.45,0.35833 --0.35,0.15,0.45,0.33333 --0.35,0.2,0.45,0.31667 --0.35,0.25,0.45,0.29167 --0.35,0.3,0.45,0.25 --0.35,0.35,0.45,0.19167 --0.35,0.4,0.45,0.175 --0.35,0.45,0.45,0.15 --0.35,0.5,0.45,0.14167 --0.35,0.55,0.45,0.11667 --0.35,0.6,0.45,0.06667 --0.35,0.65,0.45,0.05 --0.35,0.7,0.45,0 --0.3,-0.7,0.45,0.03333 --0.3,-0.65,0.45,0.075 --0.3,-0.6,0.45,0.10833 --0.3,-0.55,0.45,0.15833 --0.3,-0.5,0.45,0.20833 --0.3,-0.45,0.45,0.225 --0.3,-0.4,0.45,0.25 --0.3,-0.35,0.45,0.25833 --0.3,-0.3,0.45,0.31667 --0.3,-0.25,0.45,0.30833 --0.3,-0.2,0.45,0.35 --0.3,-0.15,0.45,0.39167 --0.3,-0.1,0.45,0.375 --0.3,-0.05,0.45,0.38333 --0.3,6.66E-16,0.45,0.39167 --0.3,0.05,0.45,0.38333 --0.3,0.1,0.45,0.4 --0.3,0.15,0.45,0.34167 --0.3,0.2,0.45,0.30833 --0.3,0.25,0.45,0.28333 --0.3,0.3,0.45,0.28333 --0.3,0.35,0.45,0.2 --0.3,0.4,0.45,0.175 --0.3,0.45,0.45,0.15 --0.3,0.5,0.45,0.14167 --0.3,0.55,0.45,0.125 --0.3,0.6,0.45,0.09167 --0.3,0.65,0.45,0.05833 --0.3,0.7,0.45,0.025 --0.25,-0.7,0.45,0.06667 --0.25,-0.65,0.45,0.075 --0.25,-0.6,0.45,0.13333 --0.25,-0.55,0.45,0.175 --0.25,-0.5,0.45,0.20833 --0.25,-0.45,0.45,0.23333 --0.25,-0.4,0.45,0.26667 --0.25,-0.35,0.45,0.29167 --0.25,-0.3,0.45,0.325 --0.25,-0.25,0.45,0.33333 --0.25,-0.2,0.45,0.375 --0.25,-0.15,0.45,0.41667 --0.25,-0.1,0.45,0.40833 --0.25,-0.05,0.45,0.41667 --0.25,6.66E-16,0.45,0.40833 --0.25,0.05,0.45,0.43333 --0.25,0.1,0.45,0.39167 --0.25,0.15,0.45,0.36667 --0.25,0.2,0.45,0.33333 --0.25,0.25,0.45,0.325 --0.25,0.3,0.45,0.30833 --0.25,0.35,0.45,0.23333 --0.25,0.4,0.45,0.225 --0.25,0.45,0.45,0.175 --0.25,0.5,0.45,0.14167 --0.25,0.55,0.45,0.125 --0.25,0.6,0.45,0.09167 --0.25,0.65,0.45,0.075 --0.25,0.7,0.45,0.04167 --0.2,-0.7,0.45,0.06667 --0.2,-0.65,0.45,0.09167 --0.2,-0.6,0.45,0.14167 --0.2,-0.55,0.45,0.16667 --0.2,-0.5,0.45,0.21667 --0.2,-0.45,0.45,0.26667 --0.2,-0.4,0.45,0.25833 --0.2,-0.35,0.45,0.28333 --0.2,-0.3,0.45,0.33333 --0.2,-0.25,0.45,0.35 --0.2,-0.2,0.45,0.40833 --0.2,-0.15,0.45,0.425 --0.2,-0.1,0.45,0.44167 --0.2,-0.05,0.45,0.45 --0.2,6.66E-16,0.45,0.41667 --0.2,0.05,0.45,0.46667 --0.2,0.1,0.45,0.43333 --0.2,0.15,0.45,0.375 --0.2,0.2,0.45,0.375 --0.2,0.25,0.45,0.375 --0.2,0.3,0.45,0.31667 --0.2,0.35,0.45,0.30833 --0.2,0.4,0.45,0.26667 --0.2,0.45,0.45,0.20833 --0.2,0.5,0.45,0.175 --0.2,0.55,0.45,0.14167 --0.2,0.6,0.45,0.08333 --0.2,0.65,0.45,0.075 --0.2,0.7,0.45,0.05 --0.15,-0.7,0.45,0.06667 --0.15,-0.65,0.45,0.11667 --0.15,-0.6,0.45,0.13333 --0.15,-0.55,0.45,0.16667 --0.15,-0.5,0.45,0.23333 --0.15,-0.45,0.45,0.28333 --0.15,-0.4,0.45,0.29167 --0.15,-0.35,0.45,0.30833 --0.15,-0.3,0.45,0.36667 --0.15,-0.25,0.45,0.36667 --0.15,-0.2,0.45,0.43333 --0.15,-0.15,0.45,0.46667 --0.15,-0.1,0.45,0.48333 --0.15,-0.05,0.45,0.475 --0.15,6.66E-16,0.45,0.45833 --0.15,0.05,0.45,0.48333 --0.15,0.1,0.45,0.46667 --0.15,0.15,0.45,0.43333 --0.15,0.2,0.45,0.40833 --0.15,0.25,0.45,0.35 --0.15,0.3,0.45,0.31667 --0.15,0.35,0.45,0.3 --0.15,0.4,0.45,0.26667 --0.15,0.45,0.45,0.25 --0.15,0.5,0.45,0.21667 --0.15,0.55,0.45,0.16667 --0.15,0.6,0.45,0.1 --0.15,0.65,0.45,0.075 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-0.7,0.3,0.45,0.00833 -0.7,0.35,0.45,0 -0.7,0.4,0.45,0 -0.7,0.45,0.45,0 -0.7,0.5,0.45,0 -0.7,0.55,0.45,0 -0.7,0.6,0.45,0 -0.7,0.65,0.45,0 -0.7,0.7,0.45,0 --0.7,-0.7,0.5,0 --0.7,-0.65,0.5,0 --0.7,-0.6,0.5,0 --0.7,-0.55,0.5,0 --0.7,-0.5,0.5,0 --0.7,-0.45,0.5,0 --0.7,-0.4,0.5,0 --0.7,-0.35,0.5,0 --0.7,-0.3,0.5,0 --0.7,-0.25,0.5,0.03333 --0.7,-0.2,0.5,0.05833 --0.7,-0.15,0.5,0.075 --0.7,-0.1,0.5,0.06667 --0.7,-0.05,0.5,0.075 --0.7,6.66E-16,0.5,0.05833 --0.7,0.05,0.5,0.05 --0.7,0.1,0.5,0.04167 --0.7,0.15,0.5,0.025 --0.7,0.2,0.5,0.01667 --0.7,0.25,0.5,0.00833 --0.7,0.3,0.5,0 --0.7,0.35,0.5,0 --0.7,0.4,0.5,0 --0.7,0.45,0.5,0 --0.7,0.5,0.5,0 --0.7,0.55,0.5,0 --0.7,0.6,0.5,0 --0.7,0.65,0.5,0 --0.7,0.7,0.5,0 --0.65,-0.7,0.5,0 --0.65,-0.65,0.5,0 --0.65,-0.6,0.5,0 --0.65,-0.55,0.5,0 --0.65,-0.5,0.5,0 --0.65,-0.45,0.5,0 --0.65,-0.4,0.5,0 --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 --0.1,-0.7,0.5,0.05833 --0.1,-0.65,0.5,0.11667 --0.1,-0.6,0.5,0.125 --0.1,-0.55,0.5,0.14167 --0.1,-0.5,0.5,0.2 --0.1,-0.45,0.5,0.25 --0.1,-0.4,0.5,0.29167 --0.1,-0.35,0.5,0.30833 --0.1,-0.3,0.5,0.30833 --0.1,-0.25,0.5,0.31667 --0.1,-0.2,0.5,0.375 --0.1,-0.15,0.5,0.45833 --0.1,-0.1,0.5,0.49167 --0.1,-0.05,0.5,0.49167 --0.1,6.66E-16,0.5,0.48333 --0.1,0.05,0.5,0.46667 --0.1,0.1,0.5,0.43333 --0.1,0.15,0.5,0.425 --0.1,0.2,0.5,0.35833 --0.1,0.25,0.5,0.28333 --0.1,0.3,0.5,0.26667 --0.1,0.35,0.5,0.26667 --0.1,0.4,0.5,0.26667 --0.1,0.45,0.5,0.25833 --0.1,0.5,0.5,0.2 --0.1,0.55,0.5,0.14167 --0.1,0.6,0.5,0.1 --0.1,0.65,0.5,0.075 --0.1,0.7,0.5,0.04167 --0.05,-0.7,0.5,0.075 --0.05,-0.65,0.5,0.10833 --0.05,-0.6,0.5,0.125 --0.05,-0.55,0.5,0.14167 --0.05,-0.5,0.5,0.2 --0.05,-0.45,0.5,0.25 --0.05,-0.4,0.5,0.28333 --0.05,-0.35,0.5,0.29167 --0.05,-0.3,0.5,0.325 --0.05,-0.25,0.5,0.33333 --0.05,-0.2,0.5,0.4 --0.05,-0.15,0.5,0.45 --0.05,-0.1,0.5,0.5 --0.05,-0.05,0.5,0.53333 --0.05,6.66E-16,0.5,0.475 --0.05,0.05,0.5,0.49167 --0.05,0.1,0.5,0.44167 --0.05,0.15,0.5,0.44167 --0.05,0.2,0.5,0.375 --0.05,0.25,0.5,0.31667 --0.05,0.3,0.5,0.30833 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--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 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--0.35,-0.55,0.65,0.025 --0.35,-0.5,0.65,0.05 --0.35,-0.45,0.65,0.09167 --0.35,-0.4,0.65,0.13333 --0.35,-0.35,0.65,0.15833 --0.35,-0.3,0.65,0.18333 --0.35,-0.25,0.65,0.20833 --0.35,-0.2,0.65,0.20833 --0.35,-0.15,0.65,0.20833 --0.35,-0.1,0.65,0.23333 --0.35,-0.05,0.65,0.26667 --0.35,6.66E-16,0.65,0.28333 --0.35,0.05,0.65,0.25 --0.35,0.1,0.65,0.25 --0.35,0.15,0.65,0.21667 --0.35,0.2,0.65,0.21667 --0.35,0.25,0.65,0.19167 --0.35,0.3,0.65,0.16667 --0.35,0.35,0.65,0.11667 --0.35,0.4,0.65,0.1 --0.35,0.45,0.65,0.09167 --0.35,0.5,0.65,0.08333 --0.35,0.55,0.65,0.05833 --0.35,0.6,0.65,0.00833 --0.35,0.65,0.65,0 --0.35,0.7,0.65,0 --0.3,-0.7,0.65,0 --0.3,-0.65,0.65,0 --0.3,-0.6,0.65,0.025 --0.3,-0.55,0.65,0.03333 --0.3,-0.5,0.65,0.08333 --0.3,-0.45,0.65,0.11667 --0.3,-0.4,0.65,0.15 --0.3,-0.35,0.65,0.16667 --0.3,-0.3,0.65,0.2 --0.3,-0.25,0.65,0.21667 --0.3,-0.2,0.65,0.225 --0.3,-0.15,0.65,0.25 --0.3,-0.1,0.65,0.25833 --0.3,-0.05,0.65,0.29167 --0.3,6.66E-16,0.65,0.28333 --0.3,0.05,0.65,0.29167 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--0.2,-0.65,0.65,0.01667 --0.2,-0.6,0.65,0.05833 --0.2,-0.55,0.65,0.08333 --0.2,-0.5,0.65,0.10833 --0.2,-0.45,0.65,0.13333 --0.2,-0.4,0.65,0.16667 --0.2,-0.35,0.65,0.18333 --0.2,-0.3,0.65,0.225 --0.2,-0.25,0.65,0.24167 --0.2,-0.2,0.65,0.25833 --0.2,-0.15,0.65,0.26667 --0.2,-0.1,0.65,0.28333 --0.2,-0.05,0.65,0.31667 --0.2,6.66E-16,0.65,0.3 --0.2,0.05,0.65,0.28333 --0.2,0.1,0.65,0.3 --0.2,0.15,0.65,0.25 --0.2,0.2,0.65,0.20833 --0.2,0.25,0.65,0.21667 --0.2,0.3,0.65,0.20833 --0.2,0.35,0.65,0.16667 --0.2,0.4,0.65,0.13333 --0.2,0.45,0.65,0.09167 --0.2,0.5,0.65,0.09167 --0.2,0.55,0.65,0.09167 --0.2,0.6,0.65,0.06667 --0.2,0.65,0.65,0.025 --0.2,0.7,0.65,0 --0.15,-0.7,0.65,0 --0.15,-0.65,0.65,0.01667 --0.15,-0.6,0.65,0.075 --0.15,-0.55,0.65,0.08333 --0.15,-0.5,0.65,0.1 --0.15,-0.45,0.65,0.15 --0.15,-0.4,0.65,0.175 --0.15,-0.35,0.65,0.2 --0.15,-0.3,0.65,0.20833 --0.15,-0.25,0.65,0.24167 --0.15,-0.2,0.65,0.275 --0.15,-0.15,0.65,0.26667 --0.15,-0.1,0.65,0.3 --0.15,-0.05,0.65,0.31667 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--0.55,-0.25,0.7,0.00833 --0.55,-0.2,0.7,0.00833 --0.55,-0.15,0.7,0.01667 --0.55,-0.1,0.7,0.01667 --0.55,-0.05,0.7,0.025 --0.55,6.66E-16,0.7,0.03333 --0.55,0.05,0.7,0.025 --0.55,0.1,0.7,0.025 --0.55,0.15,0.7,0.03333 --0.55,0.2,0.7,0.01667 --0.55,0.25,0.7,0.01667 --0.55,0.3,0.7,0.01667 --0.55,0.35,0.7,0.00833 --0.55,0.4,0.7,0 --0.55,0.45,0.7,0 --0.55,0.5,0.7,0 --0.55,0.55,0.7,0 --0.55,0.6,0.7,0 --0.55,0.65,0.7,0 --0.55,0.7,0.7,0 --0.5,-0.7,0.7,0 --0.5,-0.65,0.7,0 --0.5,-0.6,0.7,0 --0.5,-0.55,0.7,0 --0.5,-0.5,0.7,0 --0.5,-0.45,0.7,0 --0.5,-0.4,0.7,0 --0.5,-0.35,0.7,0.01667 --0.5,-0.3,0.7,0.025 --0.5,-0.25,0.7,0.03333 --0.5,-0.2,0.7,0.05833 --0.5,-0.15,0.7,0.075 --0.5,-0.1,0.7,0.08333 --0.5,-0.05,0.7,0.075 --0.5,6.66E-16,0.7,0.06667 --0.5,0.05,0.7,0.05 --0.5,0.1,0.7,0.05833 --0.5,0.15,0.7,0.05833 --0.5,0.2,0.7,0.06667 --0.5,0.25,0.7,0.05833 --0.5,0.3,0.7,0.05833 --0.5,0.35,0.7,0.04167 --0.5,0.4,0.7,0.00833 --0.5,0.45,0.7,0 --0.5,0.5,0.7,0 --0.5,0.55,0.7,0 --0.5,0.6,0.7,0 --0.5,0.65,0.7,0 --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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--0.7,0.05,0.75,0 --0.7,0.1,0.75,0 --0.7,0.15,0.75,0 --0.7,0.2,0.75,0 --0.7,0.25,0.75,0 --0.7,0.3,0.75,0 --0.7,0.35,0.75,0 --0.7,0.4,0.75,0 --0.7,0.45,0.75,0 --0.7,0.5,0.75,0 --0.7,0.55,0.75,0 --0.7,0.6,0.75,0 --0.7,0.65,0.75,0 --0.7,0.7,0.75,0 --0.65,-0.7,0.75,0 --0.65,-0.65,0.75,0 --0.65,-0.6,0.75,0 --0.65,-0.55,0.75,0 --0.65,-0.5,0.75,0 --0.65,-0.45,0.75,0 --0.65,-0.4,0.75,0 --0.65,-0.35,0.75,0 --0.65,-0.3,0.75,0 --0.65,-0.25,0.75,0 --0.65,-0.2,0.75,0 --0.65,-0.15,0.75,0 --0.65,-0.1,0.75,0 --0.65,-0.05,0.75,0 --0.65,6.66E-16,0.75,0 --0.65,0.05,0.75,0 --0.65,0.1,0.75,0 --0.65,0.15,0.75,0 --0.65,0.2,0.75,0 --0.65,0.25,0.75,0 --0.65,0.3,0.75,0 --0.65,0.35,0.75,0 --0.65,0.4,0.75,0 --0.65,0.45,0.75,0 --0.65,0.5,0.75,0 --0.65,0.55,0.75,0 --0.65,0.6,0.75,0 --0.65,0.65,0.75,0 --0.65,0.7,0.75,0 --0.6,-0.7,0.75,0 --0.6,-0.65,0.75,0 --0.6,-0.6,0.75,0 --0.6,-0.55,0.75,0 --0.6,-0.5,0.75,0 --0.6,-0.45,0.75,0 --0.6,-0.4,0.75,0 --0.6,-0.35,0.75,0 --0.6,-0.3,0.75,0 --0.6,-0.25,0.75,0 --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 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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 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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}")