diff --git "a/assets/gripper/allegro.xml" "b/assets/gripper/allegro.xml" new file mode 100644--- /dev/null +++ "b/assets/gripper/allegro.xml" @@ -0,0 +1,10143 @@ + + + + link_3.0_tip + + + -0.0035285214 + -0.005615309 + 0.0100008622 + + + -0.00390202086 + 0.00387334824 + 0.0106664822 + + + 0.00315642171 + 0.005103901 + 0.0103915259 + + + 0.007024401 + 0.00579051673 + 0.00781817 + + + + + -0.294043571 + -0.467942476 + 0.8334076 + + + -0.325164974 + 0.32277602 + 0.8888663 + + + 0.263038784 + 0.425330669 + 0.8659702 + + + 0.5853751 + 0.4825499 + 0.6515226 + + + + + link_3.0 + + + -0.010086881 + 0.0105498806 + 0.0098 + + + -0.009537192 + 0.0177670568 + 0.0098 + + + -0.008447733 + 0.0155499279 + 0.0098 + + + -0.00534376036 + 0.009164371 + 0.0098 + + + -0.00090537034 + 0.000329568982 + 0.0098 + + + -0.0006951913 + 0.00606142 + 0.0098 + + + -0.00132038537 + 0.0112243667 + 0.0098 + + + 0.00515251933 + 0.00411814451 + 0.0098 + + + 0.00335800182 + 0.0200719088 + 0.0098 + + + 0.009018818 + 0.009625748 + 0.0098 + + + 0.0108503923 + 0.007947348 + 0.0098 + + + 0.012955673 + 0.00301334262 + 0.0098 + + + 0.0123803653 + 0.01586163 + 0.0098 + + + 0.0130062383 + 0.0154786333 + 0.0098 + + + 0.01375 + 0.00369749963 + 0.00605880469 + + + 0.0137499906 + 0.00248622149 + 0.00394876348 + + + 0.0134695545 + 0.018224135 + 0.0098 + + + 0.0137500037 + 0.00121433288 + -0.000396974385 + + + 0.0137500092 + 0.0032735765 + -0.0007683635 + + + 0.0137500018 + 0.00118014216 + -0.002679877 + + + 0.0137499925 + 0.0034649 + -0.00232183933 + + + 0.0137500148 + 0.0107854679 + -0.00043926388 + + + 0.0137499962 + 0.01643996 + 0.00123658031 + + + 0.013750013 + 0.01975289 + 0.00250758976 + + + 0.0137500148 + 0.01413925 + -0.002623275 + + + 0.0137499887 + 0.0242737979 + 0.000199951231 + + + 0.0137499943 + 0.0141557679 + -0.00600077957 + + + 0.0137499906 + 0.025964722 + -0.00539073348 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + + + link_2.0 + + + -0.0135569638 + 0.0107132569 + 0.0098 + + + -0.0137433531 + 0.0226962119 + 0.0098 + + + -0.0105558531 + 0.007591106 + 0.0098 + + + -0.009473969 + 0.0277188569 + 0.0098 + + + -0.00479193032 + 0.002034247 + 0.0098 + + + -0.007838349 + 0.023853004 + 0.0098 + + + -0.00602289336 + 0.02390115 + 0.0098 + + + -0.007753477 + 0.03756699 + 0.0098 + + + -0.000973282848 + 0.0273260772 + 0.0098 + + + 0.00207759254 + 0.00527306646 + 0.0098 + + + -0.001137122 + 0.03331159 + 0.0098 + + + -0.00129381334 + 0.03805103 + 0.0098 + + + 0.0011509289 + 0.0294692069 + 0.0098 + + + 0.004597133 + 0.00750426948 + 0.0098 + + + 0.00121992221 + 0.03566222 + 0.0098 + + + 0.005193292 + 0.0212119743 + 0.0098 + + + 0.00465809647 + 0.0276333839 + 0.0098 + + + 0.004843076 + 0.0262421 + 0.0098 + + + 0.004258751 + 0.0314792842 + 0.0098 + + + 0.005224935 + 0.02684471 + 0.0098 + + + 0.00581380026 + 0.0325041562 + 0.0098 + + + 0.007066758 + 0.0227062181 + 0.0098 + + + 0.0101184892 + 0.00064624846 + 0.0098 + + + 0.009480805 + 0.0121028125 + 0.0098 + + + 0.012390946 + 0.008107901 + 0.0098 + + + 0.0129406927 + 0.00104291737 + 0.0098 + + + 0.0130174337 + 0.00216935575 + 0.0098 + + + 0.0112202028 + 0.026381135 + 0.0098 + + + 0.01108439 + 0.0363953635 + 0.0098 + + + 0.0117756287 + 0.03299161 + 0.0098 + + + 0.0137500009 + 0.0009196773 + 0.006393656 + + + 0.0135337105 + 0.0166867152 + 0.0098 + + + 0.0137500009 + 0.014169462 + 0.00734170526 + + + 0.0137499971 + 0.0195526332 + 0.008809403 + + + 0.0137499953 + 0.008411758 + 0.004395932 + + + 0.0137500009 + 0.01764924 + 0.007279374 + + + 0.0137499971 + 0.008832365 + 0.00305400067 + + + 0.0137499934 + 0.0193785429 + 0.00431402773 + + + 0.0137500046 + 0.009689368 + 0.000302046537 + + + 0.0137500027 + 0.0285892412 + 0.00521983253 + + + 0.013750012 + 0.0314864665 + 0.006128475 + + + 0.0137499841 + 0.0304117575 + 0.00490547 + + + 0.01375001 + 0.0381543264 + 0.008736476 + + + 0.0137500009 + 0.0173008218 + -0.00114704669 + + + 0.013749999 + 0.03730926 + 0.00598751754 + + + 0.0137499934 + 0.03695015 + 0.004541181 + + + 0.0137500046 + 0.007573761 + -0.00618771464 + + + 0.0137499953 + 0.00535341352 + -0.00738229649 + + + 0.013749999 + 0.007978387 + -0.00767426239 + + + 0.0137499953 + 0.0284918547 + -0.00181905925 + + + 0.0137500009 + 0.027557902 + -0.002305314 + + + 0.0137499915 + 0.0146451741 + -0.007217944 + + + 0.0137499971 + 0.035724327 + -0.00113108754 + + + 0.0137500027 + 0.0255174041 + -0.008336708 + + + 0.013750012 + 0.02972614 + -0.00726573169 + + + 0.013749999 + 0.0287418664 + -0.00773663074 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + + + link_1.0 + + + -0.0133411884 + 0.008211108 + 0.0098 + + + -0.0121167637 + 0.0201341715 + 0.0098 + + + -0.0129501037 + 0.0292100925 + 0.0098 + + + -0.0108800009 + 0.0291289929 + 0.0098 + + + -0.008321106 + 0.00556105934 + 0.0098 + + + -0.008664699 + 0.0133261979 + 0.0098 + + + -0.009939885 + 0.0333776325 + 0.0098 + + + -0.006774365 + 0.00603038631 + 0.0098 + + + -0.006754042 + 0.009780588 + 0.0098 + + + -0.006696734 + 0.0290086176 + 0.0098 + + + -0.00664428947 + 0.03250262 + 0.0098 + + + -0.00776456855 + 0.04614161 + 0.0098 + + + -0.00351129216 + 0.0145379081 + 0.0098 + + + -0.00335505023 + 0.0133037195 + 0.0098 + + + -0.004365735 + 0.03655418 + 0.0098 + + + -0.00343282521 + 0.03223344 + 0.0098 + + + -0.00259511243 + 0.0241673421 + 0.0098 + + + -0.002238368 + 0.02450751 + 0.0098 + + + -0.0009724527 + 0.00540089048 + 0.0098 + + + -0.00279505551 + 0.0409504548 + 0.0098 + + + 0.00124321156 + 0.00340751372 + 0.0098 + + + 0.00134430639 + 0.0169283915 + 0.0098 + + + -0.0006889375 + 0.0423731655 + 0.0098 + + + 0.00263577234 + 0.0271171052 + 0.0098 + + + 0.00295434566 + 0.0306024831 + 0.0098 + + + 0.0051991567 + 0.00504178926 + 0.0098 + + + 0.0062331683 + 0.008587619 + 0.0098 + + + 0.006085583 + 0.0275458824 + 0.0098 + + + 0.00686978176 + 0.0001983568 + 0.0098 + + + 0.00694786524 + 0.03000524 + 0.0098 + + + 0.008071825 + 0.004383199 + 0.0098 + + + 0.008151116 + 0.008947765 + 0.0098 + + + 0.00779538648 + 0.0293281432 + 0.0098 + + + 0.00667219469 + 0.04639876 + 0.0098 + + + 0.0111461747 + 0.0117377192 + 0.0098 + + + 0.0111085586 + 0.03356041 + 0.0098 + + + 0.0125620943 + 0.0330079868 + 0.0098 + + + 0.0131087843 + 0.0143833831 + 0.0098 + + + 0.0136072952 + 0.0269358177 + 0.0098 + + + 0.0137500037 + 0.0222198274 + 0.009480053 + + + 0.0137499962 + 0.0110026263 + 0.008680135 + + + 0.0137500018 + 0.03185252 + 0.009743832 + + + 0.0137500055 + 0.0323213562 + 0.008083523 + + + 0.01375 + 0.0432443321 + 0.009300776 + + + 0.0137499962 + 0.008053536 + 0.006105423 + + + 0.0137500037 + 0.006170897 + 0.00584914535 + + + 0.0137499962 + 0.001479011 + 0.00610137731 + + + 0.0137500037 + 0.02353168 + 0.00441654027 + + + 0.0137500018 + 0.0400439352 + 0.006165564 + + + 0.0137499906 + 0.009125479 + 0.00393442065 + + + 0.0137499962 + 0.00219348446 + 0.00458700955 + + + 0.0137499943 + 0.01961583 + 0.0028328076 + + + 0.0137499943 + 0.0153693985 + 0.00265709334 + + + 0.0137499925 + 0.0111691263 + 0.002635032 + + + 0.0137499962 + 0.00155592524 + 0.00349408388 + + + 0.0137499925 + 0.01075691 + 0.00236219913 + + + 0.0137499925 + 0.0210764129 + 0.00152358413 + + + 0.0137499981 + 0.000579027459 + 0.00266641378 + + + 0.0137500018 + 0.0347645059 + 0.001254715 + + + 0.0137499962 + 0.009664265 + 0.000443682075 + + + 0.0137499981 + 0.021361487 + -0.000232502818 + + + 0.0137499925 + 0.0491593629 + 0.00240065157 + + + 0.0137500055 + 0.0474716648 + 0.0018607676 + + + 0.0137499943 + 0.04712739 + 0.00138938427 + + + 0.0137499962 + 0.0221224483 + -0.00122194737 + + + 0.0137499981 + 0.0278349873 + -0.001532294 + + + 0.01375 + 0.034074612 + -0.00121477258 + + + 0.0137499981 + 0.0070576556 + -0.00102493912 + + + 0.0137499981 + 0.0160269979 + -0.002041325 + + + 0.0137499906 + 0.008099293 + -0.00176224858 + + + 0.01375 + 0.0523314923 + 0.00013871491 + + + 0.0137499962 + 0.0299483519 + -0.00320427888 + + + 0.0137499962 + 0.05025021 + -0.0009190515 + + + 0.0137500055 + 0.03806532 + -0.003051512 + + + 0.01375 + 0.01023227 + -0.00325636566 + + + 0.0137499943 + 0.0420951843 + -0.003652729 + + + 0.0137499943 + 0.0173829366 + -0.004578799 + + + 0.0137499943 + 0.0278267432 + -0.007341415 + + + 0.0137499981 + 0.009715751 + -0.00637340546 + + + 0.0137500018 + 0.02393842 + -0.007481009 + + + 0.0137500018 + 0.009990217 + -0.007155977 + + + 0.0137499962 + 0.0141250808 + -0.00773476064 + + + 0.0137499981 + 0.0453453735 + -0.00754120946 + + + 0.0137499925 + 0.009536002 + -0.0074396953 + + + 0.0137499943 + 0.0230104644 + -0.008717173 + + + 0.0137499906 + 0.009811245 + -0.0082353875 + + + 0.0137499906 + 0.000122282654 + -0.006633841 + + + 0.0137500018 + 0.0386130735 + -0.009405926 + + + 0.0137499981 + 0.03453332 + -0.009807348 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + + + link_0.0 + + + -0.0132116778 + 0.0160211828 + 0.0098 + + + -0.0130298957 + 0.0116044329 + 0.0098 + + + -0.0126432171 + 0.00575050246 + 0.0098 + + + -0.0112956818 + 0.01409622 + 0.0098 + + + -0.009941527 + 0.00554695353 + 0.0098 + + + -0.008953312 + 0.0157898 + 0.0098 + + + -0.008658448 + 0.00417991 + 0.0098 + + + -0.005105396 + 0.0153142633 + 0.0098 + + + -0.000927837 + 0.003872226 + 0.0098 + + + 0.00251123635 + 0.00727902073 + 0.0098 + + + 0.0031641575 + 0.0129829878 + 0.0098 + + + 0.00405116845 + 0.008421086 + 0.0098 + + + 0.00946757 + 0.00780787738 + 0.0098 + + + 0.0137499934 + 0.0108301351 + 0.008872062 + + + 0.0137499953 + 0.0127857244 + 0.00834296 + + + 0.0137499925 + 0.00643921969 + 0.00952547 + + + 0.0137499953 + 0.00481212465 + 0.006380327 + + + 0.0137499981 + 0.00108684413 + 0.007208787 + + + 0.0137499971 + 0.00229441 + 0.00661256956 + + + 0.0137499906 + 0.00492336834 + 0.00577078 + + + 0.0137499953 + 0.008024342 + 0.00406650454 + + + 0.0137499953 + 0.0125364484 + 0.0029630512 + + + 0.0137499934 + 0.009461335 + 0.00285824388 + + + 0.0137500009 + 0.005518983 + 0.002510004 + + + 0.0137499953 + 0.010057535 + 0.00125174969 + + + 0.0137499962 + 0.01236241 + -0.00130455953 + + + 0.01375 + 0.0133069083 + -0.00210865587 + + + 0.0137500055 + 0.0162911043 + -0.002875872 + + + 0.0137499915 + 0.004308905 + -0.001517065 + + + 0.0137499962 + 0.0114998529 + -0.0040647015 + + + 0.0137499915 + 0.00188743114 + -0.00151150674 + + + 0.0137500018 + 0.009469113 + -0.00401365757 + + + 0.0137499915 + 0.00198745565 + -0.002210267 + + + 0.0137500037 + 0.01199661 + -0.00512977736 + + + 0.0137499971 + 0.0108997636 + -0.00596089661 + + + 0.0137499981 + 0.0113983173 + -0.00706204074 + + + 0.0137500037 + 0.004143034 + -0.00505630672 + + + 0.01374999 + 0.005045785 + -0.00597200543 + + + 0.0137499981 + 0.007237727 + -0.00687515037 + + + 0.0137499906 + 0.0138615994 + -0.008660139 + + + 0.0137499925 + 0.0148826679 + -0.009579472 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + 1 + 1.22236088E-09 + 0 + + + + + link_7.0_tip + + + -0.00658856332 + -0.0009367913 + 0.009985395 + + + -0.005398333 + 0.00249870121 + 0.0104219094 + + + -0.004578635 + 0.005868152 + 0.009413011 + + + -0.0008916259 + 0.00483803451 + 0.0109451711 + + + -0.0005622059 + -0.00234805048 + 0.0117546991 + + + 0.0025472492 + -0.00181721151 + 0.011584878 + + + + + -0.5490567 + -0.07806857 + 0.832131 + + + -0.449858576 + 0.2082227 + 0.8684876 + + + -0.381548017 + 0.489005119 + 0.7844075 + + + -0.07430262 + 0.403170824 + 0.9121033 + + + -0.0468500964 + -0.195670456 + 0.979549944 + + + 0.212270617 + -0.151435435 + 0.9654058 + + + + + link_7.0 + + + -0.01193063 + 0.0266288519 + 0.0098 + + + -0.009479478 + 0.0205366611 + 0.0098 + + + -0.00737521052 + 0.002053678 + 0.0098 + + + -0.007245645 + 0.00540518761 + 0.0098 + + + -0.00479735434 + 0.0210031867 + 0.0098 + + + -0.0034994632 + 0.008895367 + 0.0098 + + + -0.00296975672 + 0.005218774 + 0.0098 + + + -0.0009571612 + 0.001834482 + 0.0098 + + + 0.0003566444 + 0.003510058 + 0.0098 + + + 0.00502419472 + 0.0189926028 + 0.0098 + + + 0.00593757629 + 0.00340387225 + 0.0098 + + + 0.008173555 + 0.0237008333 + 0.0098 + + + 0.00854150951 + 0.0111948252 + 0.0098 + + + 0.0134196132 + 0.0263021588 + 0.0098 + + + 0.0135020465 + 0.01466307 + 0.0098 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_6.0 + + + -0.0114955008 + 0.004894115 + 0.0098 + + + -0.0115622729 + 0.0227212682 + 0.0098 + + + -0.010393098 + 0.018764995 + 0.0098 + + + -0.009661347 + 0.0127298608 + 0.0098 + + + -0.007263392 + 0.0322260037 + 0.0098 + + + -0.00597044826 + 0.0293821171 + 0.0098 + + + -0.00588502 + 0.01636491 + 0.0098 + + + -0.0051805824 + 0.01965832 + 0.0098 + + + -0.005106434 + 0.0232356563 + 0.0098 + + + -0.00351221859 + 0.000257767737 + 0.0098 + + + -0.00272960961 + 0.0233508423 + 0.0098 + + + -0.00227355957 + 0.0141097084 + 0.0098 + + + -0.00142286718 + 0.0230102018 + 0.0098 + + + -0.00147180259 + 0.0152584687 + 0.0098 + + + -0.00134818256 + 0.0173971877 + 0.0098 + + + -0.00139278173 + 0.000349156559 + 0.0098 + + + -0.0006418079 + 0.00134899467 + 0.0098 + + + 0.0003567338 + 0.0224281028 + 0.0098 + + + 0.00162139535 + 0.0207659379 + 0.0098 + + + 0.00125744939 + 0.008772559 + 0.0098 + + + 0.00133888423 + 0.00138201565 + 0.0098 + + + 0.0016283989 + 0.008150049 + 0.0098 + + + 0.002519399 + 0.0233366862 + 0.0098 + + + 0.00421974063 + 0.03790123 + 0.0098 + + + 0.004177794 + 0.023143746 + 0.0098 + + + 0.00628487766 + 0.0285623148 + 0.0098 + + + 0.005823612 + 0.0141138211 + 0.0098 + + + 0.006296307 + 0.0196806267 + 0.0098 + + + 0.00583730638 + 0.00526238233 + 0.0098 + + + 0.00718675554 + 0.009154983 + 0.0098 + + + 0.008087099 + 0.00722903758 + 0.0098 + + + 0.008526385 + 0.007021405 + 0.0098 + + + 0.009692118 + 0.0181028023 + 0.0098 + + + 0.0109484047 + 0.00644446164 + 0.0098 + + + 0.0115101188 + 0.0008991733 + 0.0098 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_5.0 + + + -0.01232636 + 0.0516101643 + 0.0098 + + + -0.0110747218 + 0.0139350239 + 0.0098 + + + -0.0110880882 + 0.0188347939 + 0.0098 + + + -0.009873256 + 0.0202901457 + 0.0098 + + + -0.009755582 + 0.02855953 + 0.0098 + + + -0.008976355 + 0.0408120677 + 0.0098 + + + -0.008408353 + 0.0197133068 + 0.0098 + + + -0.00792408 + 0.028332809 + 0.0098 + + + -0.007027209 + 0.0487488136 + 0.0098 + + + -0.006800741 + 0.0307135228 + 0.0098 + + + -0.005036056 + 0.008899683 + 0.0098 + + + -0.00487554073 + 0.0254594181 + 0.0098 + + + -0.00470414758 + 0.0127048139 + 0.0098 + + + -0.00269974768 + 0.0473186 + 0.0098 + + + -0.00241962075 + 0.0193092916 + 0.0098 + + + -0.002322942 + 0.0257623438 + 0.0098 + + + -0.0016361922 + 0.0301845018 + 0.0098 + + + -0.000902950764 + 0.005376676 + 0.0098 + + + 0.0005404502 + 0.04391574 + 0.0098 + + + 0.0022970438 + 0.0326639339 + 0.0098 + + + 0.00439809263 + 0.02994568 + 0.0098 + + + 0.00422896445 + 0.0168042723 + 0.0098 + + + 0.004901409 + 0.016254941 + 0.0098 + + + 0.007000029 + 0.00780254044 + 0.0098 + + + 0.008263335 + 0.0227478985 + 0.0098 + + + 0.0101726949 + 0.0499748364 + 0.0098 + + + 0.0100525469 + 0.03882759 + 0.0098 + + + 0.008077249 + 0.0029308144 + 0.0098 + + + 0.0108733624 + 0.0475782976 + 0.0098 + + + 0.0116386116 + 0.04149773 + 0.0098 + + + 0.0102552176 + 0.0220590029 + 0.0098 + + + 0.0130517781 + 0.0237227026 + 0.0098 + + + 0.01277405 + 0.0151652638 + 0.0098 + + + 0.01356867 + 0.008569384 + 0.0098 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_4.0 + + + -0.0128772557 + 0 + 0.007070318 + + + -0.012724027 + 0 + 0.007509321 + + + -0.0124408305 + 0.0137717575 + 0.0098 + + + -0.0114746243 + 0 + 0.004394233 + + + -0.0105663091 + 0 + 0.00718129426 + + + -0.007948771 + 0 + 0.0058202967 + + + -0.007595405 + 0 + 0.00951077 + + + -0.00622473657 + 0 + 0.006518878 + + + -0.005006507 + 0.012831822 + 0.0098 + + + -0.001887098 + 0.00102224946 + 0.0098 + + + -0.000239208341 + 0 + 0.00609863549 + + + 0.0002567768 + 0.01627484 + 0.0098 + + + 0.004253924 + 0 + 0.009561896 + + + 0.005332604 + 0 + 0.007150799 + + + 0.00593023 + 0 + 0.006125994 + + + 0.006079197 + 0 + 0.00701642036 + + + 0.006524116 + 0 + 0.009667546 + + + 0.007235959 + 0 + 0.00447899848 + + + 0.007802412 + 0 + 0.00292424113 + + + 0.007730618 + 0 + 0.0076989755 + + + 0.0100104064 + 0 + 0.007372178 + + + 0.0105483234 + 0 + 0.00544974953 + + + 0.0111816674 + 0.0147155523 + 0.0098 + + + 0.0115237832 + 0.0139049441 + 0.0098 + + + 0.0132091939 + 0 + 0.0078580305 + + + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + 0 + 1 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + -1 + 0 + + + 0 + 0 + 1 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + -1 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + -1 + 0 + + + + + link_11.0_tip + + + -0.00139532052 + 0.00663312525 + 0.009902276 + + + -0.00140119251 + -0.00201897323 + 0.0117456689 + + + 0.00217102747 + -0.000331386924 + 0.01179713 + + + 0.004445765 + 0.00357340276 + 0.0105578825 + + + + + -0.116277277 + 0.552759051 + 0.8251891 + + + -0.116766579 + -0.168247685 + 0.9788045 + + + 0.180921137 + -0.0276154 + 0.9831099 + + + 0.370476 + 0.29778108 + 0.8798146 + + + + + link_11.0 + + + -0.0137500018 + 0.02125065 + 0.000391200185 + + + -0.0137500018 + 0.0214200914 + 0.00128301233 + + + -0.0137500055 + 0.0147500187 + -0.00314938277 + + + -0.0137499962 + 0.02246961 + 0.002443105 + + + -0.0137500055 + 0.005756922 + -0.008201696 + + + -0.0137499943 + 0.0141588524 + -0.00152908277 + + + -0.0137500037 + 0.002869688 + -0.008405976 + + + -0.0137500074 + 0.00669847429 + -0.0048119803 + + + -0.0137500074 + 0.0101527721 + -0.00188925874 + + + -0.0137500074 + 0.0053761825 + -0.00238419324 + + + -0.0137500074 + 0.0129259378 + 0.00272183144 + + + -0.0137499925 + 0.00315526873 + 0.00692044245 + + + -0.0116043277 + 0.0219492763 + 0.0098 + + + -0.0137500055 + 0.00278559327 + 0.009200737 + + + -0.0123798847 + 0.0101246536 + 0.0098 + + + -0.008440254 + 0.0188103616 + 0.0098 + + + -0.009773511 + 0.004037015 + 0.0098 + + + -0.005544005 + 0.0101914331 + 0.0098 + + + 0.004942376 + 0.0206184387 + 0.0098 + + + 0.007321369 + 0.0240460932 + 0.0098 + + + 0.004453119 + 0.005424805 + 0.0098 + + + 0.008499788 + 0.0177186877 + 0.0098 + + + 0.0112335645 + 0.0246593654 + 0.0098 + + + 0.00573339034 + 0.0001379028 + 0.0098 + + + 0.009200089 + 0.01367306 + 0.0098 + + + 0.0120832548 + 0.0215632915 + 0.0098 + + + 0.008936891 + 0.008351527 + 0.0098 + + + 0.0133627243 + 0.0176425576 + 0.0098 + + + 0.009042973 + 0.000558130443 + 0.0098 + + + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + -1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_10.0 + + + -0.0137500046 + 0.03231661 + -0.007097557 + + + -0.013749999 + 0.0312857628 + -0.00478357868 + + + -0.0137499953 + 0.0174284726 + -0.008433588 + + + -0.013749999 + 0.02947858 + -0.002666578 + + + -0.0137499934 + 0.0381669551 + 0.003353864 + + + -0.0137500046 + 0.01964248 + -0.00572480261 + + + -0.0137499971 + 0.0135770068 + -0.007627741 + + + -0.0137500046 + 0.0289922357 + 0.00104609132 + + + -0.0137499971 + 0.0308660045 + 0.004038319 + + + -0.013749999 + 0.03188827 + 0.00492725568 + + + -0.0137499934 + 0.01786749 + -0.00226318114 + + + -0.0137500064 + 0.004234366 + -0.007635348 + + + -0.0137499971 + 0.0192830116 + -0.000864990056 + + + -0.013749999 + 0.0162036568 + -0.00223259628 + + + -0.0137499971 + 0.00576207042 + -0.00645202445 + + + -0.0137500009 + 0.0247464478 + 0.00287232548 + + + -0.0137500009 + 0.03170073 + 0.007087767 + + + -0.0137500027 + 0.0280108377 + 0.00518167065 + + + -0.0137500027 + 0.00573563576 + -0.00521876663 + + + -0.0137500064 + 0.005324468 + -0.00457377732 + + + -0.0137500027 + 0.0255144835 + 0.005005367 + + + -0.0137500046 + 0.0236693919 + 0.00413201749 + + + -0.013749999 + 0.0287105739 + 0.00735728443 + + + -0.013749999 + 0.01441855 + 0.00228455663 + + + -0.0137499953 + 0.009117544 + 0.00103210658 + + + -0.0137499971 + 0.0119452477 + 0.00348720723 + + + -0.0137500064 + 0.0209533423 + 0.009240218 + + + -0.0137500046 + 0.0130795613 + 0.00608404772 + + + -0.0137499934 + 0.0162041113 + 0.00810075551 + + + -0.0137499971 + 0.008376382 + 0.00523709552 + + + -0.0137500064 + 0.013776131 + 0.00914998353 + + + -0.0137500009 + 0.009842694 + 0.008309364 + + + -0.0112792747 + 0.0249313265 + 0.0098 + + + -0.0137500009 + 0.00170528144 + 0.0085587725 + + + -0.01281659 + 0.0113484636 + 0.0098 + + + -0.0101375105 + 0.029841125 + 0.0098 + + + -0.009701776 + 0.0300352871 + 0.0098 + + + -0.00817152951 + 0.0362869874 + 0.0098 + + + -0.008509108 + 0.0278882384 + 0.0098 + + + -0.00748157036 + 0.0301169232 + 0.0098 + + + -0.008023567 + 0.0221052617 + 0.0098 + + + -0.00284175063 + 0.0367627442 + 0.0098 + + + -0.00321465358 + 0.0328801125 + 0.0098 + + + -0.00420834031 + 0.0118356422 + 0.0098 + + + -0.00167567236 + 0.0198231339 + 0.0098 + + + -0.00180018181 + 0.018178381 + 0.0098 + + + 0.00253119832 + 0.0362553969 + 0.0098 + + + 0.00118338643 + 0.0284994319 + 0.0098 + + + 0.00328609953 + 0.02425339 + 0.0098 + + + 0.00122788688 + 0.0124480948 + 0.0098 + + + 0.00578206 + 0.0294916779 + 0.0098 + + + 0.000604013447 + 0.00158783048 + 0.0098 + + + 0.004155761 + 0.012805149 + 0.0098 + + + 0.009653092 + 0.0275754184 + 0.0098 + + + 0.00642206939 + 0.0128990784 + 0.0098 + + + 0.009346188 + 0.0233062059 + 0.0098 + + + 0.009141994 + 0.020022884 + 0.0098 + + + 0.00551308645 + 0.00334460288 + 0.0098 + + + 0.012696323 + 0.02620805 + 0.0098 + + + 0.009402414 + 0.0103152841 + 0.0098 + + + 0.0114486339 + 0.0154627413 + 0.0098 + + + 0.0115074692 + 0.0139866769 + 0.0098 + + + 0.0103414236 + 0.00164493918 + 0.0098 + + + 0.012840881 + 0.00115110725 + 0.0098 + + + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + -1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_9.0 + + + -0.0137499981 + 0.0458584726 + -0.008648657 + + + -0.0137499925 + 0.0481831133 + -0.007778779 + + + -0.0137499981 + 0.0388457328 + -0.008033529 + + + -0.0137499906 + 0.009701977 + -0.009517401 + + + -0.0137500018 + 0.0108079463 + -0.009376615 + + + -0.0137499943 + 0.0431911051 + -0.004691124 + + + -0.0137499962 + 0.031861864 + -0.006609075 + + + -0.0137499925 + 0.0329645723 + -0.006252706 + + + -0.0137499962 + 0.001030717 + -0.007329233 + + + -0.0137500037 + 0.0389593244 + -0.004039377 + + + -0.0137499906 + 0.022263607 + -0.006814473 + + + -0.0137500037 + 0.03717318 + -0.00432146341 + + + -0.0137500037 + 0.007537991 + -0.00704608858 + + + -0.01375 + 0.0376050174 + -0.003872976 + + + -0.0137499906 + 0.01687562 + -0.00622435659 + + + -0.0137499925 + 0.0247545149 + -0.005415559 + + + -0.01375 + 0.04525327 + -0.0009933115 + + + -0.0137499925 + 0.0474192128 + -8.04066658E-05 + + + -0.0137499925 + 0.0278253388 + -0.00403130054 + + + -0.0137499981 + 0.0260946732 + -0.00417199 + + + -0.0137499962 + 0.0153343808 + -0.004684247 + + + -0.0137500018 + 0.0460761562 + 0.00113791227 + + + -0.0137500018 + 0.04254832 + 0.0004209727 + + + -0.0137500018 + 0.0005923994 + -0.004065424 + + + -0.0137499925 + 0.0317205861 + -0.00173073262 + + + -0.0137499981 + 0.0391748548 + 0.0008100718 + + + -0.01375 + 0.04300104 + 0.00200941414 + + + -0.0137500018 + 0.03188294 + -0.0006765798 + + + -0.0137499962 + 0.021284705 + -0.00192905974 + + + -0.0137500018 + 0.04792335 + 0.00593911856 + + + -0.0137499925 + 0.0282584187 + 0.0009862781 + + + -0.0137499925 + 0.00378433615 + -0.00100927055 + + + -0.0137499981 + 0.03846463 + 0.00350678 + + + -0.0137499943 + 0.0338410139 + 0.00305629522 + + + -0.0137500018 + 0.0247293282 + 0.00123475492 + + + -0.0137500037 + 0.0267979261 + 0.001783751 + + + -0.0137499962 + 0.0432725027 + 0.006198332 + + + -0.0137499981 + 0.0436438844 + 0.00666318834 + + + -0.0137499906 + 0.03192488 + 0.00338242948 + + + -0.0137500018 + 0.0329674333 + 0.003681995 + + + -0.01375 + 0.004540121 + 0.000582642853 + + + -0.0137499925 + 0.0430674553 + 0.00769116031 + + + -0.0137499943 + 0.0126497652 + 0.00151164841 + + + -0.0137499925 + 0.0198970456 + 0.00237997621 + + + -0.01375 + 0.014100505 + 0.00202225149 + + + -0.0137499925 + 0.0364968553 + 0.00626339763 + + + -0.0137499925 + 0.0259841476 + 0.00390529656 + + + -0.0137499906 + 0.0310373772 + 0.005415246 + + + -0.0137499981 + 0.0421735346 + 0.009284274 + + + -0.0137500037 + 0.0107053928 + 0.00305283838 + + + -0.0137500037 + 0.007073451 + 0.00330473483 + + + -0.01375 + 0.0226519946 + 0.00545975566 + + + -0.0137499925 + 0.0348987877 + 0.008325502 + + + -0.0136452653 + 0.03712426 + 0.0098 + + + -0.01375 + 0.00623035431 + 0.00497635454 + + + -0.0137499906 + 0.019996712 + 0.0069424063 + + + -0.0137499925 + 0.0149976779 + 0.006288849 + + + -0.0137499962 + 0.0016053617 + 0.006174222 + + + -0.0137500018 + 0.00595476665 + 0.00633855956 + + + -0.01375 + 0.006906027 + 0.006490968 + + + -0.0137499925 + 0.009792788 + 0.00685287267 + + + -0.011201771 + 0.0485242754 + 0.0098 + + + -0.0115530379 + 0.0396885425 + 0.0098 + + + -0.0115103535 + 0.0379223 + 0.0098 + + + -0.0105484594 + 0.03421496 + 0.0098 + + + -0.008300444 + 0.05028549 + 0.0098 + + + -0.0115607884 + 0.0167484526 + 0.0098 + + + -0.009853644 + 0.03561542 + 0.0098 + + + -0.009026736 + 0.0264621619 + 0.0098 + + + -0.00856966153 + 0.0239642579 + 0.0098 + + + -0.009257454 + 0.00678082 + 0.0098 + + + -0.00692677451 + 0.0173259843 + 0.0098 + + + -0.005847418 + 0.028645033 + 0.0098 + + + -0.003850888 + 0.03833895 + 0.0098 + + + -0.00148933334 + 0.0515112579 + 0.0098 + + + -0.005598055 + 0.00990332849 + 0.0098 + + + -0.00392540544 + 0.0266094 + 0.0098 + + + -0.00232562725 + 0.0354079828 + 0.0098 + + + -0.00278752367 + 0.0264576841 + 0.0098 + + + -0.00150212413 + 0.0290303882 + 0.0098 + + + 0.0017016721 + 0.03849487 + 0.0098 + + + 0.004983211 + 0.050564386 + 0.0098 + + + 0.00147681357 + 0.0257346686 + 0.0098 + + + 0.002242516 + 0.0259791818 + 0.0098 + + + 0.00494985 + 0.0425191969 + 0.0098 + + + 0.004318137 + 0.03648632 + 0.0098 + + + 0.00678544631 + 0.04801353 + 0.0098 + + + 0.006065873 + 0.0434870571 + 0.0098 + + + 0.00634165248 + 0.04418072 + 0.0098 + + + 0.00516337 + 0.03619212 + 0.0098 + + + 0.004660821 + 0.0310317148 + 0.0098 + + + 0.00660980958 + 0.0412837341 + 0.0098 + + + 0.005299661 + 0.0323289335 + 0.0098 + + + 0.00248007476 + 0.0016180072 + 0.0098 + + + 0.00468971068 + 0.0251760427 + 0.0098 + + + 0.00541880867 + 0.0207727049 + 0.0098 + + + 0.004291795 + 0.009646347 + 0.0098 + + + 0.0111577492 + 0.05199466 + 0.0098 + + + 0.00962328352 + 0.0440421626 + 0.0098 + + + 0.00927519053 + 0.04214166 + 0.0098 + + + 0.00692910142 + 0.0274448115 + 0.0098 + + + 0.00486366032 + 0.007920871 + 0.0098 + + + 0.01096734 + 0.04387018 + 0.0098 + + + 0.0128075555 + 0.0499844775 + 0.0098 + + + 0.0101751965 + 0.023214845 + 0.0098 + + + 0.01343618 + 0.03992901 + 0.0098 + + + 0.0125087965 + 0.0351094678 + 0.0098 + + + 0.0100542661 + 0.00707232 + 0.0098 + + + 0.0109742321 + 0.008740831 + 0.0098 + + + 0.0130187683 + 0.0240413677 + 0.0098 + + + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_8.0 + + + -0.0137500037 + 0.0117239244 + -0.009746582 + + + -0.0137499925 + 0.0105953673 + -0.009194204 + + + -0.0137500018 + 0.0019944103 + -0.00681330264 + + + -0.0137499962 + 0.008884687 + -0.00768958032 + + + -0.01375 + 0.0153366756 + -0.00788577 + + + -0.0137499953 + 0.0109843677 + -0.00725795375 + + + -0.0137500037 + 0.0120029366 + -0.00671694474 + + + -0.01375 + 0.00298892846 + -0.0017841087 + + + -0.0137500046 + 0.00149434654 + 0.003349997 + + + -0.0137499962 + 0.0136689842 + 0.00219839066 + + + -0.0137499906 + 0.01505669 + 0.002952196 + + + -0.0137499981 + 0.00721499044 + 0.00387226068 + + + -0.0137499953 + 0.0139649147 + 0.00387817645 + + + -0.0137500018 + 0.0019593637 + 0.00661277026 + + + -0.0137499962 + 0.0117990589 + 0.006138958 + + + -0.0137499934 + 0.010694555 + 0.0078810975 + + + -0.0137500055 + 0.00558998855 + 0.008557059 + + + -0.0137500046 + 0.008335784 + 0.008527012 + + + -0.0137499962 + 0.002392535 + 0.009787672 + + + -0.0137499981 + 0.00783596 + 0.00916978 + + + -0.0137499906 + 0.01615433 + 0.008944944 + + + -0.0124820294 + 0.00732233329 + 0.0098 + + + -0.0118222134 + 0.0139170559 + 0.0098 + + + -0.009640319 + 0.00332634081 + 0.0098 + + + -0.009218061 + 0.00122794276 + 0.0098 + + + -0.00854075 + 0.00279289531 + 0.0098 + + + -0.00747433957 + 0.00493325246 + 0.0098 + + + -0.00571014546 + 0.0037105435 + 0.0098 + + + -0.000587203656 + 0.0111588249 + 0.0098 + + + 0.00191061618 + 0.005625331 + 0.0098 + + + 0.004218566 + 0.009445775 + 0.0098 + + + 0.0045006983 + 0.003269167 + 0.0098 + + + 0.00464357529 + 0.0149959689 + 0.0098 + + + 0.005151401 + 0.0156003674 + 0.0098 + + + 0.0113728121 + 0.0078933 + 0.0098 + + + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + -1 + 1.22236088E-09 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_15.0_tip + + + -0.002067967 + 0.003398187 + 0.0113217691 + + + -0.00293919258 + -0.000641554536 + 0.0116166649 + + + + + -0.17232722 + 0.283170581 + 0.9434605 + + + -0.244935319 + -0.05346942 + 0.968063951 + + + + + link_15.0 + + + -0.0137500018 + 0.0385194123 + 0.00625492353 + + + -0.0137499981 + 0.0370755047 + 0.006091715 + + + -0.0103319567 + 0.032691583 + 0.009799981 + + + -0.01375 + 0.03381917 + 0.00291911536 + + + -0.0117609007 + 0.0277482122 + 0.009799984 + + + -0.01375 + 0.029887706 + 0.000213764637 + + + -0.0137500018 + 0.0267961919 + 0.003635746 + + + 0.008810182 + 0.0406971723 + 0.009799982 + + + -0.0061972565 + 0.022799544 + 0.009799977 + + + -0.01375 + 0.0175948068 + 0.005706143 + + + -0.0137500018 + 0.02891311 + -0.009495423 + + + -0.0137499981 + 0.01686465 + 0.0064324243 + + + -0.0005586816 + 0.0263374448 + 0.009799984 + + + -0.0137500018 + 0.018626757 + 0.00206258171 + + + -0.00372824678 + 0.0204624757 + 0.009799977 + + + -0.01375 + 0.0171069428 + -0.000286359369 + + + -0.00930385 + 0.013237305 + 0.009799982 + + + -0.005714124 + 0.0159251615 + 0.009799977 + + + -0.0137500018 + 0.0212700441 + -0.00846918 + + + -0.01375 + 0.0149879009 + -0.000309729978 + + + -0.0123164011 + 0.009286784 + 0.009799984 + + + -0.0137500018 + 0.01844681 + -0.008903899 + + + 0.00197780062 + 0.0195810422 + 0.009799981 + + + -0.0131006641 + 0.00570160151 + 0.009799981 + + + -0.01375 + 0.009381473 + 0.0023161883 + + + -0.01375 + 0.013584815 + -0.00429428043 + + + -0.0137500018 + 0.0172240064 + -0.009479952 + + + 0.0112862326 + 0.0265375376 + 0.009799981 + + + -0.0137500018 + 0.00727715343 + 0.00319038378 + + + -0.01375 + 0.00284189731 + 0.009730411 + + + -0.0134391813 + 0.00100464374 + 0.009799981 + + + -0.005169181 + 0.007676013 + 0.009799984 + + + 0.00474747131 + 0.0135923252 + 0.009799981 + + + -0.009345849 + 0.0011190176 + 0.009799979 + + + -0.01375 + 0.00748533 + -0.006610972 + + + -0.0137500018 + 0.008820772 + -0.008936689 + + + 0.00173519482 + 0.009659097 + 0.009799984 + + + -0.00197938015 + 0.00623928756 + 0.009799981 + + + 0.00586079573 + 0.0110960305 + 0.009799979 + + + 0.00432231138 + 0.00914229453 + 0.009799981 + + + 0.00166172569 + 0.00624775141 + 0.009799981 + + + 0.00341381761 + 0.005667828 + 0.009799984 + + + 0.006422316 + 0.00613506138 + 0.009799981 + + + 0.008331765 + 0.00209975988 + 0.009799984 + + + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_14.0 + + + -0.0137500055 + 0.0486419946 + 0.009323696 + + + -0.0137500055 + 0.046814207 + 0.006802885 + + + -0.009643695 + 0.04815069 + 0.009799976 + + + -0.004781529 + 0.05085481 + 0.009799976 + + + -0.0137500074 + 0.04410619 + 0.008610411 + + + -0.0137500074 + 0.0494246334 + -0.002750976 + + + -0.0137500074 + 0.0419009961 + 0.00704311766 + + + -0.0137500074 + 0.04424147 + 0.00287269428 + + + -0.0137500055 + 0.0506326258 + -0.008758621 + + + -0.00289924513 + 0.0479956865 + 0.009799974 + + + -0.00425667269 + 0.04635341 + 0.009799974 + + + -0.0137500074 + 0.03888553 + 0.008724539 + + + -0.00344204856 + 0.0460786335 + 0.00979997 + + + -0.0137500055 + 0.0495567024 + -0.009736402 + + + -0.0137500074 + 0.04541972 + -0.007217748 + + + -0.00712041464 + 0.0393208675 + 0.009799978 + + + -0.0137500055 + 0.0417162 + -0.00360631 + + + -0.003095142 + 0.0408088379 + 0.009799976 + + + 0.00346718682 + 0.0441781171 + 0.00979997 + + + -0.00412954343 + 0.0373197161 + 0.009799978 + + + -0.0137500055 + 0.0371160246 + -0.00510201044 + + + -0.0137500055 + 0.0341402255 + -0.00142635778 + + + -0.00513422536 + 0.03396971 + 0.009799974 + + + 0.008171915 + 0.0432479046 + 0.009799974 + + + -0.0137500074 + 0.0323697 + -0.00672107376 + + + -0.0137500055 + 0.02442967 + 0.007585898 + + + 0.009944691 + 0.0392035656 + 0.009799974 + + + -0.0137500074 + 0.0262594428 + 0.002850594 + + + 0.00197350956 + 0.0333714746 + 0.009799974 + + + -0.0137500074 + 0.0250864085 + 0.004954526 + + + -0.0137500074 + 0.024178734 + 0.00533558242 + + + -0.0137500055 + 0.0302581731 + -0.00653317 + + + -0.0010723694 + 0.0295813922 + 0.009799968 + + + 0.0124086719 + 0.0370791964 + 0.009799978 + + + -0.0137500055 + 0.0263914224 + -0.0048454646 + + + -0.0137500055 + 0.0231666453 + -0.000652899966 + + + 0.01121579 + 0.033707913 + 0.009799972 + + + -0.0107332384 + 0.0183929168 + 0.009799974 + + + -0.0137500074 + 0.0195286013 + 0.002055999 + + + 0.00718085375 + 0.0284800287 + 0.009799972 + + + -0.0137500074 + 0.0241436567 + -0.00846131 + + + -0.0137500055 + 0.02059241 + -0.006076714 + + + -0.0137500055 + 0.0155137889 + 0.003537286 + + + 0.0008628963 + 0.0213262625 + 0.009799974 + + + -0.0137500055 + 0.01709186 + -0.004379699 + + + -0.0137500055 + 0.01549967 + -0.00114630349 + + + 0.007277905 + 0.0228215344 + 0.00979997 + + + -0.0137500055 + 0.016759444 + -0.00450566225 + + + 0.00219306326 + 0.01963124 + 0.009799974 + + + -0.0137500055 + 0.0124967285 + 0.00339416973 + + + -0.0137500074 + 0.0143384673 + -0.0026139766 + + + -0.0137500055 + 0.0162749924 + -0.007752886 + + + -0.0137500055 + 0.007781322 + 0.006787818 + + + -0.0137500055 + 0.0105912266 + -0.005897889 + + + 0.007859974 + 0.0132210441 + 0.009799978 + + + -0.0137500074 + 0.00420399057 + 0.00267719477 + + + 0.008568986 + 0.0125701018 + 0.009799972 + + + -0.01241903 + 0.00121906411 + 0.009799974 + + + -0.006241082 + 0.004298993 + 0.009799972 + + + -0.00387735618 + 0.003175341 + 0.009799976 + + + -0.0137500055 + 0.005167738 + -0.008482521 + + + -0.0137500055 + 0.00150012621 + -0.00211093947 + + + 0.00196670531 + 0.00351614552 + 0.009799974 + + + -0.0137500074 + 0.00143875938 + -0.008107802 + + + 0.008524566 + 0.00469029741 + 0.009799974 + + + 0.0108226249 + 0.00267176353 + 0.009799972 + + + 0.01144844 + 0.00117158529 + 0.009799974 + + + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + + + link_13.0 + + + -0.013113128 + 0.0120948125 + 0.009799998 + + + -0.0104696527 + 0.012814926 + 0.00979999453 + + + -0.00581690576 + 0.0136960763 + 0.009799993 + + + -0.0137500074 + 0.0161477719 + -0.006995272 + + + -0.00230120029 + 0.0151961315 + 0.00979999453 + + + -0.0137500074 + 0.0123010371 + -0.003803987 + + + 0.00457876176 + 0.0155562032 + 0.00979999453 + + + -0.0137500074 + 0.011317187 + -0.002218129 + + + -0.0137500074 + 0.009432715 + 0.00242235139 + + + -0.0137500074 + 0.00760159362 + -0.00610692054 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + 0 + 0 + 1 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + -1 + 0 + 0 + + + + + base_link + + + -0.0563447326 + -0.0118985027 + 0.0111000007 + + + -0.0547795445 + -0.0138251483 + 0.0111000007 + + + -0.0557108968 + -0.0357979536 + 0.0111000007 + + + -0.0538007468 + -0.0181333423 + 0.0111000007 + + + -0.0533409864 + -0.00295220315 + 0.0111000007 + + + -0.0544587821 + -0.0310408771 + 0.0111000007 + + + -0.0535265356 + -0.02066423 + 0.0111000007 + + + -0.0556057245 + -0.0400045 + 0.0111000007 + + + -0.0529206544 + -0.0143926144 + 0.0111000007 + + + -0.0554265529 + -0.0432262421 + 0.0111000007 + + + -0.05247973 + -0.00341412425 + 0.0111000007 + + + -0.0523095578 + -0.0144741982 + 0.0111000007 + + + -0.0553488 + -0.04689069 + 0.0111000007 + + + -0.0525530726 + -0.0290710181 + 0.0111000007 + + + -0.0513414 + -0.00316108763 + 0.0111000007 + + + -0.0534495264 + -0.0399827361 + 0.0111000007 + + + -0.051904425 + -0.0277148783 + 0.0111000007 + + + -0.054259643 + -0.04869233 + 0.0111000007 + + + -0.0518701524 + -0.03325498 + 0.0111000007 + + + -0.0558054 + -0.0593872964 + 0.0111000007 + + + -0.05009614 + -0.0268680453 + 0.0111000007 + + + -0.049062565 + -0.0121370554 + 0.0111000007 + + + -0.0490579158 + -0.0163290352 + 0.0111000007 + + + -0.04931189 + -0.02922067 + 0.0111000007 + + + -0.0477495939 + -0.0112984926 + 0.0111000007 + + + -0.04845108 + -0.0330266058 + 0.0111000007 + + + -0.04714887 + -0.01524432 + 0.0111000007 + + + -0.05521421 + -0.07262092 + 0.0111000007 + + + -0.04715945 + -0.024767369 + 0.0111000007 + + + -0.0488937646 + -0.0418225527 + 0.0111000007 + + + -0.0501056165 + -0.05100312 + 0.0111000007 + + + -0.0526418239 + -0.0651599 + 0.0111000007 + + + -0.0492378026 + -0.046646446 + 0.0111000007 + + + -0.0467407554 + -0.0248873681 + 0.0111000007 + + + -0.0548128635 + -0.0769758448 + 0.0111000007 + + + -0.05608253 + -0.08650811 + 0.0111000007 + + + -0.05456023 + -0.08314411 + 0.0111000007 + + + -0.0468658954 + -0.0441524 + 0.0111000007 + + + -0.04786201 + -0.05093749 + 0.0111000007 + + + -0.04454826 + -0.0254578 + 0.0111000007 + + + -0.0439152271 + -0.0103932917 + 0.0111000007 + + + -0.0438110679 + -0.00389672816 + 0.0111000007 + + + -0.05135043 + -0.07393078 + 0.0111000007 + + + -0.0442243069 + -0.0302281454 + 0.0111000007 + + + -0.05292122 + -0.0859257653 + 0.0111000007 + + + -0.0518846065 + -0.08366467 + 0.0111000007 + + + -0.0425318033 + -0.0243108571 + 0.0111000007 + + + -0.05382611 + -0.09301081 + 0.0111000007 + + + -0.0492115766 + -0.07274789 + 0.0111000007 + + + -0.0456191152 + -0.06060061 + 0.0111000007 + + + -0.0483448058 + -0.07547464 + 0.0111000007 + + + -0.040819332 + -0.001202479 + 0.0111000007 + + + -0.0404736847 + -0.0185918957 + 0.0111000007 + + + -0.04905255 + -0.08315489 + 0.0111000007 + + + -0.0413415 + -0.0360286832 + 0.0111000007 + + + -0.0395859927 + -0.0138439238 + 0.0111000007 + + + -0.0484169573 + -0.08426221 + 0.0111000007 + + + -0.0396053344 + -0.0255486369 + 0.0111000007 + + + -0.0385663956 + -0.0161700249 + 0.0111000007 + + + -0.0492659062 + -0.09408237 + 0.0111000007 + + + -0.0399778932 + -0.0393524021 + 0.0111000007 + + + -0.04099892 + -0.0508799478 + 0.0111000007 + + + -0.03912641 + -0.0340974778 + 0.0111000007 + + + -0.0463479 + -0.08428744 + 0.0111000007 + + + -0.0401234776 + -0.0489159971 + 0.0111000007 + + + -0.0368239731 + -0.0135708 + 0.0111000007 + + + -0.0364332944 + -0.008735761 + 0.0111000007 + + + -0.04434155 + -0.08334418 + 0.0111000007 + + + -0.0423990935 + -0.07344124 + 0.0111000007 + + + -0.03776683 + -0.04156661 + 0.0111000007 + + + -0.04179965 + -0.07208108 + 0.0111000007 + + + -0.0397269279 + -0.0589709 + 0.0111000007 + + + -0.0446081 + -0.08875714 + 0.0111000007 + + + -0.03567283 + -0.007460624 + 0.0111000007 + + + -0.0355048776 + -0.0168910325 + 0.0111000007 + + + -0.0380916 + -0.0569355041 + 0.0111000007 + + + -0.0345163047 + -0.009095877 + 0.0111000007 + + + -0.0431252271 + -0.09210077 + 0.0111000007 + + + -0.0360333025 + -0.0568667054 + 0.0111000007 + + + -0.0358543843 + -0.0676922649 + 0.0111000007 + + + -0.0399714559 + -0.09463194 + 0.0111000007 + + + -0.0307962447 + -0.02366592 + 0.0111000007 + + + -0.03422539 + -0.07153436 + 0.0111000007 + + + -0.0296441615 + -0.0146771222 + 0.0111000007 + + + -0.0362511426 + -0.0922735259 + 0.0111000007 + + + -0.03182265 + -0.060385108 + 0.0111000007 + + + -0.0287604034 + -0.000617936254 + 0.0111000007 + + + -0.02902469 + -0.0280228257 + 0.0111000007 + + + -0.0303495079 + -0.0557137877 + 0.0111000007 + + + -0.0285467058 + -0.0346301943 + 0.0111000007 + + + -0.0274721831 + -0.02604112 + 0.0111000007 + + + -0.0305660218 + -0.06719422 + 0.0111000007 + + + -0.0268015563 + -0.00484176 + 0.0111000007 + + + -0.0276592076 + -0.0554199219 + 0.0111000007 + + + -0.02518855 + -0.0214523375 + 0.0111000007 + + + -0.0249061733 + -0.0331345424 + 0.0111000007 + + + -0.0272356421 + -0.0719584152 + 0.0111000007 + + + -0.0279072225 + -0.0828604251 + 0.0111000007 + + + -0.02505958 + -0.0541052073 + 0.0111000007 + + + -0.022774592 + -0.023607403 + 0.0111000007 + + + -0.0245594978 + -0.06842661 + 0.0111000007 + + + -0.0204058886 + -0.00582762063 + 0.0111000007 + + + -0.0225897133 + -0.0677767843 + 0.0111000007 + + + -0.02013947 + -0.0412353426 + 0.0111000007 + + + -0.02177322 + -0.07193295 + 0.0111000007 + + + -0.01912041 + -0.0307628438 + 0.0111000007 + + + -0.02095531 + -0.07075686 + 0.0111000007 + + + -0.02176018 + -0.0913819447 + 0.0111000007 + + + -0.0218342543 + -0.09250469 + 0.0111000007 + + + -0.021508649 + -0.0909259 + 0.0111000007 + + + -0.0173131078 + -0.00124895573 + 0.0111000007 + + + -0.0182411075 + -0.0612586737 + 0.0111000007 + + + -0.016328305 + -0.02260445 + 0.0111000007 + + + -0.017095983 + -0.08369322 + 0.0111000007 + + + -0.01689437 + -0.08094116 + 0.0111000007 + + + -0.0147764981 + -0.0391246825 + 0.0111000007 + + + -0.0142072886 + -0.0135003775 + 0.0111000007 + + + -0.0134026557 + -0.0228337049 + 0.0111000007 + + + -0.0152263045 + -0.0857491642 + 0.0111000007 + + + -0.01452148 + -0.0715531856 + 0.0111000007 + + + -0.0138981938 + -0.05631508 + 0.0111000007 + + + -0.0142441839 + -0.0843479037 + 0.0111000007 + + + -0.0134903044 + -0.0711931139 + 0.0111000007 + + + -0.0126158893 + -0.04299186 + 0.0111000007 + + + -0.0124382526 + -0.06902519 + 0.0111000007 + + + -0.0130347162 + -0.08989583 + 0.0111000007 + + + -0.0117406994 + -0.0458929837 + 0.0111000007 + + + -0.0113807619 + -0.0520872846 + 0.0111000007 + + + -0.0105056316 + -0.0399331152 + 0.0111000007 + + + -0.009897709 + -0.0273209214 + 0.0111000007 + + + -0.009903282 + -0.0325216874 + 0.0111000007 + + + -0.0106090456 + -0.08576021 + 0.0111000007 + + + -0.0100798458 + -0.06702579 + 0.0111000007 + + + -0.0102890134 + -0.08355935 + 0.0111000007 + + + -0.008904412 + -0.0484798253 + 0.0111000007 + + + -0.00825822353 + -0.03804811 + 0.0111000007 + + + -0.006099984 + -0.07287503 + 0.0111000007 + + + -0.00550739467 + -0.04663369 + 0.0111000007 + + + -0.0046710223 + -0.0551320761 + 0.0111000007 + + + -0.004000962 + -0.0501994938 + 0.0111000007 + + + -0.00375297666 + -0.0540300831 + 0.0111000007 + + + -0.00366546214 + -0.04504785 + 0.0111000007 + + + -0.00282259285 + -0.07710501 + 0.0111000007 + + + -0.00226025283 + -0.07211894 + 0.0111000007 + + + -0.00270698965 + -0.0356152654 + 0.0111000007 + + + -0.001856178 + -0.06740546 + 0.0111000007 + + + -0.00128158927 + -0.05588059 + 0.0111000007 + + + -0.00161625445 + -0.004362881 + 0.0111000007 + + + -0.00111524761 + -0.0311944559 + 0.0111000007 + + + -0.0003748834 + -0.066292 + 0.0111000007 + + + -0.00089135766 + -0.009319946 + 0.0111000007 + + + 0.000913202763 + -0.0504008532 + 0.0111000007 + + + 0.000947788358 + -0.01940167 + 0.0111000007 + + + 0.00118272007 + -0.0275425464 + 0.0111000007 + + + 0.00345732272 + -0.0923970938 + 0.0111000007 + + + 0.00241854787 + -0.0683020949 + 0.0111000007 + + + 0.00289022923 + -0.04124768 + 0.0111000007 + + + 0.00337181985 + -0.0455341041 + 0.0111000007 + + + 0.00316280127 + -0.01874113 + 0.0111000007 + + + 0.003510937 + -0.0279656351 + 0.0111000007 + + + 0.00622577965 + -0.09015144 + 0.0111000007 + + + 0.005845517 + -0.0739343539 + 0.0111000007 + + + 0.005434647 + -0.05365143 + 0.0111000007 + + + 0.00698010623 + -0.06639962 + 0.0111000007 + + + 0.00629046559 + -0.04661627 + 0.0111000007 + + + 0.00752203166 + -0.0683263242 + 0.0111000007 + + + 0.00712777674 + -0.03895773 + 0.0111000007 + + + 0.009048134 + -0.06449413 + 0.0111000007 + + + 0.009605661 + -0.07068217 + 0.0111000007 + + + 0.00772194564 + -0.00980520248 + 0.0111000007 + + + 0.0108462423 + -0.06040252 + 0.0111000007 + + + 0.01206474 + -0.07558558 + 0.0111000007 + + + 0.0134184808 + -0.08261262 + 0.0111000007 + + + 0.0107969642 + -0.0477318466 + 0.0111000007 + + + 0.0110174865 + -0.007994443 + 0.0111000007 + + + 0.0121203065 + -0.0405694544 + 0.0111000007 + + + 0.01151599 + -0.0233442634 + 0.0111000007 + + + 0.0116361082 + -0.0215329826 + 0.0111000007 + + + 0.015393585 + -0.0689640939 + 0.0111000007 + + + 0.0151502937 + -0.06213045 + 0.0111000007 + + + 0.0150347948 + -0.056768015 + 0.0111000007 + + + 0.0162006915 + -0.06683998 + 0.0111000007 + + + 0.0171130151 + -0.0741042048 + 0.0111000007 + + + 0.0179121047 + -0.0781680346 + 0.0111000007 + + + 0.0149217695 + -0.045423463 + 0.0111000007 + + + 0.0164850354 + -0.06053005 + 0.0111000007 + + + 0.0213162452 + -0.09000491 + 0.0111000007 + + + 0.0174264014 + -0.05353391 + 0.0111000007 + + + 0.01810503 + -0.0560552776 + 0.0111000007 + + + 0.0173121244 + -0.03636016 + 0.0111000007 + + + 0.0199742019 + -0.0617025346 + 0.0111000007 + + + 0.0167770833 + -0.00961206853 + 0.0111000007 + + + 0.0211944729 + -0.07106232 + 0.0111000007 + + + 0.0183935761 + -0.0346212834 + 0.0111000007 + + + 0.019612655 + -0.04705195 + 0.0111000007 + + + 0.027587384 + -0.09479432 + 0.0111000007 + + + 0.0221675634 + -0.0564360023 + 0.0111000007 + + + 0.02311556 + -0.06303447 + 0.0111000007 + + + 0.0231510848 + -0.061843127 + 0.0111000007 + + + 0.0280603766 + -0.09378965 + 0.0111000007 + + + 0.0240716785 + -0.06819558 + 0.0111000007 + + + 0.020255059 + -0.00349675119 + 0.0111000007 + + + 0.02443467 + -0.06320268 + 0.0111000007 + + + 0.02514252 + -0.06660307 + 0.0111000007 + + + 0.0211601555 + -0.009284988 + 0.0111000007 + + + 0.0246889442 + -0.0584652424 + 0.0111000007 + + + 0.0226828754 + -0.0386533141 + 0.0111000007 + + + 0.02534163 + -0.0560087338 + 0.0111000007 + + + 0.0315593779 + -0.0916536748 + 0.0111000007 + + + 0.028204605 + -0.06871695 + 0.0111000007 + + + 0.0231370479 + -0.0122196823 + 0.0111000007 + + + 0.0238688588 + -0.00727675855 + 0.0111000007 + + + 0.0242958367 + -0.0233398676 + 0.0111000007 + + + 0.02619879 + -0.04612883 + 0.0111000007 + + + 0.0343214422 + -0.09143571 + 0.0111000007 + + + 0.0278039277 + -0.0525176823 + 0.0111000007 + + + 0.0289896131 + -0.0594288856 + 0.0111000007 + + + 0.0250751376 + -0.0134480894 + 0.0111000007 + + + 0.02973251 + -0.0597803742 + 0.0111000007 + + + 0.026903823 + -0.03602436 + 0.0111000007 + + + 0.0260847956 + -0.00756634772 + 0.0111000007 + + + 0.03333883 + -0.07219776 + 0.0111000007 + + + 0.0271333754 + -0.0116176456 + 0.0111000007 + + + 0.03219275 + -0.06019847 + 0.0111000007 + + + 0.0304037929 + -0.0459615439 + 0.0111000007 + + + 0.0336489528 + -0.06452079 + 0.0111000007 + + + 0.03972946 + -0.09190586 + 0.0111000007 + + + 0.0412262976 + -0.09218979 + 0.0111000007 + + + 0.03454411 + -0.060082376 + 0.0111000007 + + + 0.02981992 + -0.00318659842 + 0.0111000007 + + + 0.0338357538 + -0.0518604 + 0.0111000007 + + + 0.042997703 + -0.09488527 + 0.0111000007 + + + 0.0326475948 + -0.03785807 + 0.0111000007 + + + 0.0324299634 + -0.03032367 + 0.0111000007 + + + 0.0331925452 + -0.0348294154 + 0.0111000007 + + + 0.033652693 + -0.0385690257 + 0.0111000007 + + + 0.04402691 + -0.09040033 + 0.0111000007 + + + 0.03236659 + -0.00127789378 + 0.0111000007 + + + 0.0325481147 + -0.0102773756 + 0.0111000007 + + + 0.04449448 + -0.0894393 + 0.0111000007 + + + 0.04065551 + -0.0673663244 + 0.0111000007 + + + 0.0339512527 + -0.0129747242 + 0.0111000007 + + + 0.0449583977 + -0.08091431 + 0.0111000007 + + + 0.03834881 + -0.0463977 + 0.0111000007 + + + 0.0376103669 + -0.0385323241 + 0.0111000007 + + + 0.0433942676 + -0.0665704459 + 0.0111000007 + + + 0.0401958823 + -0.0501317233 + 0.0111000007 + + + 0.04974796 + -0.09009106 + 0.0111000007 + + + 0.0384088457 + -0.0307052732 + 0.0111000007 + + + 0.0504106 + -0.0874891 + 0.0111000007 + + + 0.045659706 + -0.06909278 + 0.0111000007 + + + 0.046421513 + -0.0721382946 + 0.0111000007 + + + 0.0382488966 + -0.017651394 + 0.0111000007 + + + 0.03909433 + -0.0223355442 + 0.0111000007 + + + 0.0387538373 + -0.01056318 + 0.0111000007 + + + 0.0481513 + -0.07297081 + 0.0111000007 + + + 0.0394983441 + -0.009100497 + 0.0111000007 + + + 0.05450408 + -0.09099058 + 0.0111000007 + + + 0.04967138 + -0.0732062 + 0.0111000007 + + + 0.054363206 + -0.0886127353 + 0.0111000007 + + + 0.04491307 + -0.04946082 + 0.0111000007 + + + 0.0461210459 + -0.0535043851 + 0.0111000007 + + + 0.04434505 + -0.04386325 + 0.0111000007 + + + 0.0412987769 + -0.00310979784 + 0.0111000007 + + + 0.0479400456 + -0.0610566735 + 0.0111000007 + + + 0.0449592471 + -0.04628887 + 0.0111000007 + + + 0.0415798277 + -3.99798155E-05 + 0.0111000007 + + + 0.0543575436 + -0.08395509 + 0.0111000007 + + + 0.04546258 + -0.046166718 + 0.0111000007 + + + 0.0423445553 + -0.0207106769 + 0.0111000007 + + + 0.0497398525 + -0.0642036349 + 0.0111000007 + + + 0.0550436527 + -0.08299777 + 0.0111000007 + + + 0.0552342534 + -0.0829415545 + 0.0111000007 + + + 0.04333444 + -0.02272582 + 0.0111000007 + + + 0.0543662161 + -0.07738047 + 0.0111000007 + + + 0.04334514 + -0.0156423748 + 0.0111000007 + + + 0.04648538 + -0.0413361043 + 0.0111000007 + + + 0.0530476421 + -0.07028217 + 0.0111000007 + + + 0.0440209359 + -0.0128822327 + 0.0111000007 + + + 0.04805489 + -0.0476370379 + 0.0111000007 + + + 0.05503173 + -0.07441994 + 0.0111000007 + + + 0.0507483035 + -0.0579954 + 0.0111000007 + + + 0.05393967 + -0.0693935156 + 0.0111000007 + + + 0.0559601635 + -0.07554055 + 0.0111000007 + + + 0.0558043569 + -0.07218583 + 0.0111000007 + + + 0.0495354235 + -0.04520671 + 0.0111000007 + + + 0.04850675 + -0.0393842533 + 0.0111000007 + + + 0.0524243265 + -0.04980605 + 0.0111000007 + + + 0.054309383 + -0.0571290255 + 0.0111000007 + + + 0.05546187 + -0.06094213 + 0.0111000007 + + + 0.0507689267 + -0.0374165922 + 0.0111000007 + + + 0.04875277 + -0.009746328 + 0.0111000007 + + + 0.050603047 + -0.0289173126 + 0.0111000007 + + + 0.04970354 + -0.0117229372 + 0.0111000007 + + + 0.0520357341 + -0.0328305066 + 0.0111000007 + + + 0.0545330644 + -0.0466851741 + 0.0111000007 + + + 0.0517168045 + -0.0286899358 + 0.0111000007 + + + 0.05548574 + -0.04911834 + 0.0111000007 + + + 0.055877462 + -0.0506442338 + 0.0111000007 + + + 0.0522470623 + -0.0222212225 + 0.0111000007 + + + 0.05260764 + -0.0142057836 + 0.0111000007 + + + 0.05285962 + -0.0007818192 + 0.0111000007 + + + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + 0 + 0 + 1 + + + +