98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
205 lines
25 KiB
Plaintext
205 lines
25 KiB
Plaintext
1 0 0 0 1 0 0 0 1 0 0 0 1 5.551115123125783e-17 -1.110223024624046e-16 0 -0 0 0
|
|
2 0.1 0 0 1 0 0 0 1 0 0 0 1 -6.993747673745632e-18 0.6283185307179585 0 0 0 6.283185307179586
|
|
3 0.3984313483298443 0.025 0 0.9921567416492215 -0.125 0 0.125 0.9921567416492215 0 0 0 1 0.07916069411491507 0.6283185307179583 0 0 0 -3.166427764596603
|
|
4 0.5968626966596886 0.05 0 1 0 0 0 1 0 0 0 1 0.1583213882298301 -5.551115123120231e-17 0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749474 0.05877852522924731 0 0.8090169943749475 -0.5877852522924731 0 0.5877852522924731 0.8090169943749475 0 0 0 1 -0.3693163660980913 0.5083203692315259 0 0 0 6.283185307179585
|
|
3 0.3589302900728601 0.08377852522924729 0 0.9856344559893528 0.1688926261462365 0 -0.1688926261462365 0.9856344559893528 0 0 0 1 -0.8257355739865109 0.5083203692315259 0 0 0 -2.578645491452954
|
|
4 0.5560571812707307 0.05 0 1 0 0 0 1 0 0 0 1 -0.9128384157768391 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 -0 0 0 0 0 0
|
|
2 0.03090169943749474 0.09510565162951536 0 0.3090169943749475 -0.9510565162951535 0 0.9510565162951535 0.3090169943749475 0 0 0 1 -0.5975664329483111 0.1941611038725468 0 0 0 6.283185307179586
|
|
3 0.2491138300036403 0.1201056516295154 0 0.936552155643254 0.3505282581475768 0 -0.3505282581475768 0.936552155643254 0 0 0 1 -1.267802554531004 0.1941611038725468 0 0 0 -1.03657389875522
|
|
4 0.436424261132291 0.05 0 1 0 0 0 1 0 0 0 1 -1.340472243165386 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 -0 0 0 0 0 0
|
|
2 -0.03090169943749476 0.09510565162951534 0 -0.3090169943749476 -0.9510565162951535 0 0.9510565162951535 -0.3090169943749476 0 0 0 1 -0.5975664329483108 -0.1941611038725468 0 0 0 6.283185307179586
|
|
3 0.1255070322536613 0.1201056516295154 0 0.936552155643254 0.3505282581475768 0 -0.3505282581475768 0.936552155643254 0 0 0 1 -1.12246317726224 -0.1941611038725468 0 0 -0 1.036573898755221
|
|
4 0.3128174633823121 0.05 0 1 0 0 0 1 0 0 0 1 -1.049793488627858 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.08090169943749473 0.05877852522924733 0 -0.8090169943749473 -0.5877852522924732 0 0.5877852522924732 -0.8090169943749473 0 0 0 1 -0.3693163660980914 -0.5083203692315259 0 0 0 6.283185307179587
|
|
3 0.03532349232288116 0.08377852522924732 0 0.9856344559893528 0.1688926261462365 0 -0.1688926261462365 0.9856344559893528 0 0 0 1 -0.6515298904058543 -0.5083203692315257 0 0 -0 2.578645491452954
|
|
4 0.2324503835207517 0.05 0 1 0 0 0 1 0 0 0 1 -0.564427048615526 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.1 1.224646799190013e-17 0 -1 -1.224646799147353e-16 0 1.224646799147353e-16 -1 0 0 0 1 0 -0.6283185307179586 0 0 0 6.283185307179586
|
|
3 -0.001568651670155672 0.02500000000000002 0 0.9921567416492215 -0.1249999999999999 0 0.1249999999999999 0.9921567416492215 0 0 0 1 -0.07916069411491503 -0.6283185307179584 0 0 0 3.166427764596603
|
|
4 0.1968626966596886 0.05 0 1 0 0 0 1 0 0 0 1 -0.15832138822983 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.08090169943749474 -0.05877852522924731 0 -0.8090169943749473 0.5877852522924732 0 -0.5877852522924732 -0.8090169943749473 0 0 0 1 0.3693163660980912 -0.5083203692315259 0 0 0 6.283185307179584
|
|
3 0.01980375602374343 -0.03377852522924731 0 0.9080357744936647 -0.4188926261462365 0 0.4188926261462365 0.9080357744936647 0 0 0 1 0.5041357438922219 -0.5083203692315259 0 0 0 2.799010697100417
|
|
4 0.2014109109224763 0.05 0 1 0 0 0 1 0 0 0 1 0.2696387555882615 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.03090169943749475 -0.09510565162951536 0 -0.3090169943749476 0.9510565162951535 0 -0.9510565162951535 -0.3090169943749476 0 0 0 1 0.5975664329483111 -0.1941611038725468 0 0 0 6.283185307179586
|
|
3 0.0981173078726031 -0.07010565162951535 0 0.7996035337379629 -0.6005282581475767 0 0.6005282581475767 0.7996035337379629 0 0 0 1 1.049311562477018 -0.1941611038725468 0 0 0 1.214108590571681
|
|
4 0.2580380146201957 0.05 0 1 0 0 0 1 0 0 0 1 0.9034902590574138 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.03090169943749473 -0.09510565162951537 0 0.3090169943749473 0.9510565162951536 0 -0.9510565162951536 0.3090169943749473 0 0 0 1 0.5975664329483112 0.1941611038725467 0 0 0 6.283185307179587
|
|
3 0.221724105622582 -0.07010565162951535 0 0.7996035337379628 -0.6005282581475767 0 0.6005282581475767 0.7996035337379628 0 0 0 1 1.340954169316227 0.1941611038725468 0 0 0 -1.21410859057168
|
|
4 0.3816448123701746 0.05 0 1 0 0 0 1 0 0 0 1 1.486775472735831 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749467 -0.05877852522924741 0 0.8090169943749468 0.587785252292474 0 -0.587785252292474 0.8090169943749468 0 0 0 1 0.3693163660980919 0.5083203692315256 0 0 0 6.283185307179587
|
|
3 0.3434105537737223 -0.0337785252292474 0 0.9080357744936643 -0.418892626146237 0 0.418892626146237 0.9080357744936643 0 0 0 1 0.9731297205001445 0.5083203692315256 0 0 0 -2.799010697100416
|
|
4 0.5250177086724551 0.05 0 1 0 0 0 1 0 0 0 1 1.207626708804105 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.1 -1.133107779525203e-16 0 1 1.133106425970147e-15 0 -1.133106425970147e-15 1 0 0 0 1 0 0.6283185307179586 0 0 0 6.283185307179586
|
|
3 0.3984313483298443 0.02499999999999989 0 0.9921567416492214 -0.1250000000000006 0 0.1250000000000006 0.9921567416492214 0 0 0 1 0.07916069411491541 0.6283185307179587 0 0 0 -3.166427764596602
|
|
4 0.5968626966596887 0.05 0 1 0 0 0 1 0 0 0 1 0.1583213882298308 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749481 0.05877852522924722 0 0.8090169943749481 -0.5877852522924722 0 0.5877852522924722 0.8090169943749481 0 0 0 1 -0.3693163660980908 0.5083203692315263 0 0 0 6.283185307179585
|
|
3 0.3589302900728603 0.08377852522924722 0 0.985634455989353 0.1688926261462361 0 -0.1688926261462361 0.985634455989353 0 0 0 1 -0.8257355739865098 0.5083203692315265 0 0 0 -2.578645491452955
|
|
4 0.5560571812707309 0.05 0 1 0 0 0 1 0 0 0 1 -0.9128384157768378 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.03090169943749477 0.09510565162951536 0 0.3090169943749477 -0.9510565162951535 0 0.9510565162951535 0.3090169943749477 0 0 0 1 -0.597566432948311 0.1941611038725467 0 0 0 6.283185307179584
|
|
3 0.2491138300036404 0.1201056516295154 0 0.936552155643254 0.3505282581475768 0 -0.3505282581475768 0.936552155643254 0 0 0 1 -1.267802554531004 0.1941611038725467 0 0 0 -1.03657389875522
|
|
4 0.4364242611322912 0.05 0 1 0 0 0 1 0 0 0 1 -1.340472243165386 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.03090169943749472 0.09510565162951537 0 -0.3090169943749471 -0.9510565162951536 0 0.9510565162951536 -0.3090169943749471 0 0 0 1 -0.5975664329483112 -0.1941611038725465 0 0 0 6.283185307179587
|
|
3 0.1255070322536614 0.1201056516295154 0 0.936552155643254 0.3505282581475768 0 -0.3505282581475768 0.936552155643254 0 0 0 1 -1.122463177262241 -0.1941611038725465 0 0 -0 1.036573898755219
|
|
4 0.3128174633823122 0.05 0 1 0 0 0 1 0 0 0 1 -1.049793488627859 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 -0 0 0 0 0 0
|
|
2 -0.08090169943749473 0.05877852522924734 0 -0.8090169943749473 -0.5877852522924732 0 0.5877852522924732 -0.8090169943749473 0 0 0 1 -0.3693163660980915 -0.5083203692315258 0 0 0 6.283185307179585
|
|
3 0.03532349232288117 0.08377852522924735 0 0.9856344559893528 0.1688926261462367 0 -0.1688926261462367 0.9856344559893528 0 0 0 1 -0.6515298904058544 -0.5083203692315257 0 0 -0 2.578645491452953
|
|
4 0.2324503835207518 0.05 0 1 0 0 0 1 0 0 0 1 -0.564427048615526 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.1 -1.408962799657787e-16 0 -1 1.454732309464923e-15 0 -1.454732309464923e-15 -1 0 0 0 1 0 -0.6283185307179586 0 -0 0 6.283185307179586
|
|
3 -0.001568651670155688 0.02499999999999986 0 0.9921567416492214 -0.1250000000000007 0 0.1250000000000007 0.9921567416492214 0 0 0 1 -0.0791606941149155 -0.6283185307179585 0 0 0 3.166427764596602
|
|
4 0.1968626966596886 0.05 0 1 0 0 0 1 0 0 0 1 -0.158321388229831 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 -0 0 0 0 0 0
|
|
2 -0.08090169943749466 -0.05877852522924742 0 -0.8090169943749466 0.5877852522924742 0 -0.5877852522924742 -0.8090169943749466 0 0 0 1 0.3693163660980921 -0.5083203692315255 0 0 0 6.283185307179585
|
|
3 0.01980375602374362 -0.03377852522924742 0 0.9080357744936643 -0.4188926261462371 0 0.4188926261462371 0.9080357744936643 0 0 0 1 0.5041357438922236 -0.5083203692315253 0 0 0 2.799010697100416
|
|
4 0.2014109109224765 0.05 0 1 0 0 0 1 0 0 0 1 0.2696387555882631 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.03090169943749461 -0.09510565162951541 0 -0.3090169943749463 0.951056516295154 0 -0.951056516295154 -0.3090169943749463 0 0 0 1 0.5975664329483114 -0.1941611038725459 0 0 0 6.283185307179586
|
|
3 0.09811730787260331 -0.07010565162951539 0 0.7996035337379626 -0.600528258147577 0 0.600528258147577 0.7996035337379626 0 0 0 1 1.049311562477019 -0.1941611038725459 0 0 0 1.214108590571676
|
|
4 0.2580380146201958 0.05 0 1 0 0 0 1 0 0 0 1 0.9034902590574154 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.03090169943749504 -0.09510565162951527 0 0.3090169943749504 0.9510565162951526 0 -0.9510565162951526 0.3090169943749504 0 0 0 1 0.5975664329483106 0.1941611038725486 0 0 -0 6.283185307179586
|
|
3 0.2217241056225827 -0.07010565162951526 0 0.7996035337379632 -0.6005282581475763 0 0.6005282581475763 0.7996035337379632 0 0 0 1 1.340954169316227 0.1941611038725486 0 0 0 -1.214108590571692
|
|
4 0.3816448123701754 0.05 0 1 0 0 0 1 0 0 0 1 1.486775472735832 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749494 -0.05877852522924707 0 0.8090169943749492 0.5877852522924706 0 -0.5877852522924706 0.8090169943749492 0 0 0 1 0.3693163660980898 0.5083203692315271 0 0 -0 6.283185307179586
|
|
3 0.3434105537737229 -0.03377852522924706 0 0.9080357744936652 -0.4188926261462352 0 0.4188926261462352 0.9080357744936652 0 0 0 1 0.9731297205001397 0.5083203692315272 0 0 0 -2.79901069710042
|
|
4 0.525017708672456 0.05 0 1 0 0 0 1 0 0 0 1 1.2076267088041 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.1 3.062854959145498e-16 0 1 -3.062856312695708e-15 0 3.062856312695708e-15 1 0 0 0 1 -9.622246890965959e-16 0.6283185307179586 0 0 0 6.283185307179586
|
|
3 0.3984313483298444 0.02500000000000031 0 0.9921567416492216 -0.1249999999999985 0 0.1249999999999985 0.9921567416492216 0 0 0 1 0.07916069411491214 0.6283185307179586 0 0 0 -3.166427764596601
|
|
4 0.5968626966596887 0.05 0 1 0 0 0 1 0 0 0 1 0.1583213882298262 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749456 0.05877852522924756 0 0.8090169943749457 -0.5877852522924756 0 0.5877852522924756 0.8090169943749457 0 0 0 1 -0.3693163660980929 0.5083203692315248 0 0 0 6.283185307179586
|
|
3 0.3589302900728597 0.08377852522924756 0 0.9856344559893526 0.1688926261462378 0 -0.1688926261462378 0.9856344559893526 0 0 0 1 -0.8257355739865145 0.5083203692315248 0 0 0 -2.578645491452948
|
|
4 0.5560571812707302 0.05 0 1 0 0 0 1 0 0 0 1 -0.9128384157768438 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.03090169943749446 0.09510565162951545 0 0.3090169943749445 -0.9510565162951545 0 0.9510565162951545 0.3090169943749445 0 0 0 1 -0.5975664329483117 0.1941611038725448 0 0 0 6.283185307179586
|
|
3 0.2491138300036397 0.1201056516295154 0 0.9365521556432538 0.3505282581475771 0 -0.3505282581475771 0.9365521556432538 0 0 0 1 -1.267802554531005 0.1941611038725448 0 0 0 -1.03657389875521
|
|
4 0.4364242611322905 0.05 0 1 0 0 0 1 0 0 0 1 -1.340472243165386 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.0309016994374952 0.09510565162951522 0 -0.309016994374952 -0.9510565162951521 0 0.9510565162951521 -0.309016994374952 0 0 0 1 -0.5975664329483101 -0.1941611038725495 0 0 0 6.283185307179584
|
|
3 0.1255070322536605 0.1201056516295152 0 0.9365521556432542 0.3505282581475759 0 -0.3505282581475759 0.9365521556432542 0 0 0 1 -1.122463177262238 -0.1941611038725495 0 0 -0 1.036573898755234
|
|
4 0.3128174633823114 0.05 0 1 0 0 0 1 0 0 0 1 -1.049793488627854 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.08090169943749503 0.05877852522924693 0 -0.8090169943749502 -0.5877852522924693 0 0.5877852522924693 -0.8090169943749502 0 0 0 1 -0.3693163660980889 -0.5083203692315278 0 0 0 6.283185307179587
|
|
3 0.03532349232288063 0.08377852522924692 0 0.9856344559893532 0.1688926261462345 0 -0.1688926261462345 0.9856344559893532 0 0 0 1 -0.6515298904058502 -0.5083203692315277 0 0 -0 2.578645491452963
|
|
4 0.2324503835207513 0.05 0 1 0 0 0 1 0 0 0 1 -0.5644270486155225 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.1 -4.716747118641288e-16 0 -1 4.563356778415361e-15 0 -4.563356778415361e-15 -1 0 0 0 1 1.481810234907784e-15 -0.6283185307179586 0 0 0 6.283185307179586
|
|
3 -0.001568651670155744 0.02499999999999953 0 0.9921567416492212 -0.1250000000000023 0 0.1250000000000023 0.9921567416492212 0 0 0 1 -0.07916069411491361 -0.6283185307179586 0 0 0 3.166427764596603
|
|
4 0.1968626966596885 0.05 0 1 0 0 0 1 0 0 0 1 -0.1583213882298302 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.08090169943749438 -0.05877852522924784 0 -0.8090169943749437 0.5877852522924782 0 -0.5877852522924782 -0.8090169943749437 0 0 0 1 0.3693163660980947 -0.5083203692315237 0 0 0 6.283185307179587
|
|
3 0.01980375602374394 -0.03377852522924784 0 0.9080357744936634 -0.4188926261462392 0 0.4188926261462392 0.9080357744936634 0 0 0 1 0.5041357438922281 -0.5083203692315236 0 0 0 2.799010697100409
|
|
4 0.2014109109224766 0.05 0 1 0 0 0 1 0 0 0 1 0.2696387555882669 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.03090169943749413 -0.09510565162951556 0 -0.3090169943749415 0.9510565162951555 0 -0.9510565162951555 -0.3090169943749415 0 0 0 1 0.5975664329483125 -0.1941611038725429 0 0 0 6.283185307179586
|
|
3 0.09811730787260418 -0.07010565162951554 0 0.7996035337379621 -0.6005282581475776 0 0.6005282581475776 0.7996035337379621 0 0 0 1 1.049311562477023 -0.1941611038725429 0 0 0 1.214108590571658
|
|
4 0.2580380146201966 0.05 0 1 0 0 0 1 0 0 0 1 0.9034902590574215 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 -0 0 0 0 0 0
|
|
2 0.03090169943749536 -0.09510565162951518 0 0.3090169943749536 0.9510565162951515 0 -0.9510565162951515 0.3090169943749536 0 0 0 1 0.59756643294831 0.1941611038725505 0 0 0 6.283185307179587
|
|
3 0.2217241056225834 -0.07010565162951517 0 0.7996035337379634 -0.6005282581475758 0 0.6005282581475758 0.7996035337379634 0 0 0 1 1.340954169316227 0.1941611038725505 0 0 0 -1.214108590571703
|
|
4 0.3816448123701761 0.05 0 1 0 0 0 1 0 0 0 1 1.486775472735833 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749513 -0.0587785252292468 0 0.8090169943749512 0.5877852522924679 0 -0.5877852522924679 0.8090169943749512 0 0 0 1 0.369316366098088 0.5083203692315285 0 0 0 6.283185307179587
|
|
3 0.3434105537737235 -0.03377852522924679 0 0.9080357744936658 -0.418892626146234 0 0.418892626146234 0.9080357744936658 0 0 0 1 0.9731297205001359 0.5083203692315282 0 0 0 -2.799010697100428
|
|
4 0.5250177086724566 0.05 0 1 0 0 0 1 0 0 0 1 1.207626708804096 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.1 6.370639278112843e-16 0 1 -6.370640631674362e-15 0 6.370640631674362e-15 1 0 0 0 1 -2.001395780712881e-15 0.6283185307179586 0 0 0 6.283185307179586
|
|
3 0.3984313483298444 0.02500000000000064 0 0.9921567416492219 -0.1249999999999968 0 0.1249999999999968 0.9921567416492219 0 0 0 1 0.07916069411490906 0.6283185307179583 0 0 0 -3.166427764596602
|
|
4 0.5968626966596887 0.05 0 1 0 0 0 1 0 0 0 1 0.1583213882298221 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749416 0.05877852522924812 0 0.8090169943749416 -0.5877852522924812 0 0.5877852522924812 0.8090169943749416 0 0 0 1 -0.3693163660980964 0.5083203692315224 0 0 0 6.283185307179586
|
|
3 0.3589302900728588 0.08377852522924813 0 0.9856344559893522 0.1688926261462406 0 -0.1688926261462406 0.9856344559893522 0 0 0 1 -0.8257355739865228 0.5083203692315222 0 0 0 -2.578645491452938
|
|
4 0.5560571812707292 0.05 0 1 0 0 0 1 0 0 0 1 -0.912838415776853 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.0309016994374938 0.09510565162951566 0 0.309016994374938 -0.9510565162951566 0 0.9510565162951566 0.309016994374938 0 0 0 1 -0.597566432948313 0.1941611038725406 0 0 0 6.283185307179585
|
|
3 0.2491138300036383 0.1201056516295157 0 0.9365521556432533 0.3505282581475783 0 -0.3505282581475783 0.9365521556432533 0 0 0 1 -1.267802554531006 0.1941611038725404 0 0 0 -1.036573898755189
|
|
4 0.4364242611322889 0.05 0 1 0 0 0 1 0 0 0 1 -1.340472243165386 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 -0 0 0 0 0 0
|
|
2 -0.03090169943749568 0.09510565162951506 0 -0.3090169943749567 -0.9510565162951505 0 0.9510565162951505 -0.3090169943749567 0 0 0 1 -0.5975664329483094 -0.1941611038725525 0 0 0 6.283185307179584
|
|
3 0.1255070322536596 0.120105651629515 0 0.9365521556432546 0.3505282581475752 0 -0.3505282581475752 0.9365521556432546 0 0 0 1 -1.122463177262235 -0.1941611038725524 0 0 -0 1.03657389875525
|
|
4 0.3128174633823105 0.05 0 1 0 0 0 1 0 0 0 1 -1.049793488627851 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.08090169943749534 0.05877852522924652 0 -0.8090169943749531 -0.5877852522924653 0 0.5877852522924653 -0.8090169943749531 0 0 0 1 -0.3693163660980864 -0.5083203692315297 0 0 0 6.283185307179587
|
|
3 0.03532349232288004 0.0837785252292465 0 0.9856344559893535 0.1688926261462325 0 -0.1688926261462325 0.9856344559893535 0 0 0 1 -0.6515298904058457 -0.5083203692315296 0 0 -0 2.578645491452971
|
|
4 0.2324503835207507 0.05 0 1 0 0 0 1 0 0 0 1 -0.5644270486155188 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.1 -9.800888276991112e-16 0 -1 9.892427296616113e-15 0 -9.892427296616113e-15 -1 0 0 0 1 6.15808057239872e-15 -0.6283185307179586 0 0 0 6.283185307179586
|
|
3 -0.001568651670155779 0.02499999999999902 0 0.9921567416492209 -0.1250000000000049 0 0.1250000000000049 0.9921567416492209 0 0 0 1 -0.07916069411490589 -0.6283185307179585 0 0 0 3.166427764596604
|
|
4 0.1968626966596884 0.05 0 1 0 0 0 1 0 0 0 1 -0.1583213882298241 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.08090169943749417 -0.0587785252292481 0 -0.8090169943749417 0.5877852522924811 0 -0.5877852522924811 -0.8090169943749417 0 0 0 1 0.3693163660980963 -0.5083203692315224 0 0 0 6.283185307179586
|
|
3 0.01980375602374421 -0.0337785252292481 0 0.9080357744936628 -0.4188926261462406 0 0.4188926261462406 0.9080357744936628 0 0 0 1 0.5041357438922311 -0.5083203692315224 0 0 0 2.799010697100403
|
|
4 0.2014109109224768 0.05 0 1 0 0 0 1 0 0 0 1 0.2696387555882698 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.03090169943749381 -0.09510565162951566 0 -0.3090169943749381 0.9510565162951566 0 -0.9510565162951566 -0.3090169943749381 0 0 0 1 0.5975664329483132 -0.1941611038725408 0 0 0 6.283185307179587
|
|
3 0.09811730787260473 -0.07010565162951567 0 0.7996035337379617 -0.6005282581475783 0 0.6005282581475783 0.7996035337379617 0 0 0 1 1.049311562477026 -0.1941611038725407 0 0 0 1.214108590571646
|
|
4 0.258038014620197 0.05 0 1 0 0 0 1 0 0 0 1 0.9034902590574255 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.03090169943749601 -0.09510565162951497 0 0.3090169943749602 0.9510565162951494 0 -0.9510565162951494 0.3090169943749602 0 0 0 1 0.5975664329483086 0.1941611038725546 0 0 -0 6.283185307179585
|
|
3 0.2217241056225849 -0.07010565162951496 0 0.7996035337379643 -0.6005282581475748 0 0.6005282581475748 0.7996035337379643 0 0 0 1 1.340954169316226 0.1941611038725545 0 0 0 -1.214108590571729
|
|
4 0.3816448123701777 0.05 0 1 0 0 0 1 0 0 0 1 1.486775472735836 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749553 -0.05877852522924624 0 0.8090169943749552 0.5877852522924624 0 -0.5877852522924624 0.8090169943749552 0 0 0 1 0.3693163660980846 0.5083203692315308 0 0 -0 6.283185307179586
|
|
3 0.3434105537737245 -0.03377852522924623 0 0.9080357744936671 -0.4188926261462312 0 0.4188926261462312 0.9080357744936671 0 0 0 1 0.9731297205001284 0.5083203692315305 0 0 0 -2.799010697100438
|
|
4 0.5250177086724578 0.05 0 1 0 0 0 1 0 0 0 1 1.207626708804088 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.1 9.678423597088266e-16 0 1 -9.678424950646554e-15 0 9.678424950646554e-15 1 0 0 0 1 -6.081133744654275e-15 0.6283185307179586 0 0 0 6.283185307179586
|
|
3 0.3984313483298445 0.02500000000000097 0 0.9921567416492221 -0.1249999999999952 0 0.1249999999999952 0.9921567416492221 0 0 0 1 0.07916069411489979 0.6283185307179585 0 0 0 -3.1664277645966
|
|
4 0.5968626966596889 0.05 0 1 0 0 0 1 0 0 0 1 0.1583213882298118 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749417 0.05877852522924809 0 0.8090169943749419 -0.5877852522924808 0 0.5877852522924808 0.8090169943749419 0 0 0 1 -0.3693163660980962 0.5083203692315226 0 0 0 6.283185307179586
|
|
3 0.3589302900728588 0.08377852522924809 0 0.9856344559893522 0.1688926261462404 0 -0.1688926261462404 0.9856344559893522 0 0 0 1 -0.8257355739865224 0.5083203692315226 0 0 0 -2.578645491452938
|
|
4 0.5560571812707292 0.05 0 1 0 0 0 1 0 0 0 1 -0.9128384157768521 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.03090169943749416 0.09510565162951555 0 0.3090169943749416 -0.9510565162951555 0 0.9510565162951555 0.3090169943749416 0 0 0 1 -0.5975664329483124 0.194161103872543 0 0 0 6.283185307179585
|
|
3 0.2491138300036391 0.1201056516295155 0 0.9365521556432537 0.3505282581475776 0 -0.3505282581475776 0.9365521556432537 0 0 0 1 -1.267802554531005 0.194161103872543 0 0 0 -1.0365738987552
|
|
4 0.4364242611322898 0.05 0 1 0 0 0 1 0 0 0 1 -1.340472243165386 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.03090169943749498 0.0951056516295153 0 -0.3090169943749499 -0.9510565162951528 0 0.9510565162951528 -0.3090169943749499 0 0 0 1 -0.5975664329483107 -0.1941611038725481 0 0 0 6.283185307179586
|
|
3 0.1255070322536609 0.1201056516295153 0 0.9365521556432541 0.3505282581475764 0 -0.3505282581475764 0.9365521556432541 0 0 0 1 -1.122463177262239 -0.1941611038725481 0 0 -0 1.036573898755228
|
|
4 0.3128174633823118 0.05 0 1 0 0 0 1 0 0 0 1 -1.049793488627856 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.08090169943749491 0.05877852522924712 0 -0.8090169943749489 -0.587785252292471 0 0.587785252292471 -0.8090169943749489 0 0 0 1 -0.3693163660980902 -0.508320369231527 0 0 0 6.283185307179587
|
|
3 0.03532349232288079 0.08377852522924711 0 0.9856344559893531 0.1688926261462356 0 -0.1688926261462356 0.9856344559893531 0 0 0 1 -0.6515298904058522 -0.5083203692315268 0 0 -0 2.57864549145296
|
|
4 0.2324503835207514 0.05 0 1 0 0 0 1 0 0 0 1 -0.5644270486155242 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.1 1.102182119222544e-16 0 -1 -1.010643099614861e-15 0 1.010643099614861e-15 -1 0 0 0 1 0 -0.6283185307179586 0 0 0 6.283185307179586
|
|
3 -0.001568651670155674 0.02500000000000012 0 0.9921567416492215 -0.1249999999999994 0 0.1249999999999994 0.9921567416492215 0 0 0 1 -0.07916069411491472 -0.6283185307179585 0 0 0 3.166427764596602
|
|
4 0.1968626966596886 0.05 0 1 0 0 0 1 0 0 0 1 -0.1583213882298294 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.08090169943749502 -0.05877852522924694 0 -0.8090169943749502 0.5877852522924693 0 -0.5877852522924693 -0.8090169943749502 0 0 0 1 0.3693163660980889 -0.5083203692315276 0 0 0 6.283185307179585
|
|
3 0.01980375602374309 -0.03377852522924694 0 0.9080357744936655 -0.4188926261462347 0 0.4188926261462347 0.9080357744936655 0 0 0 1 0.5041357438922178 -0.5083203692315276 0 0 0 2.799010697100424
|
|
4 0.2014109109224762 0.05 0 1 0 0 0 1 0 0 0 1 0.269638755588258 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 -0.03090169943749519 -0.09510565162951523 0 -0.309016994374952 0.9510565162951521 0 -0.9510565162951521 -0.309016994374952 0 0 0 1 0.5975664329483102 -0.1941611038725494 0 0 0 6.283185307179586
|
|
3 0.09811730787260234 -0.07010565162951521 0 0.7996035337379634 -0.6005282581475759 0 0.6005282581475759 0.7996035337379634 0 0 0 1 1.049311562477015 -0.1941611038725494 0 0 0 1.214108590571696
|
|
4 0.258038014620195 0.05 0 1 0 0 0 1 0 0 0 1 0.9034902590574087 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.03090169943749396 -0.09510565162951563 0 0.3090169943749397 0.9510565162951561 0 -0.9510565162951561 0.3090169943749397 0 0 0 1 0.5975664329483128 0.1941611038725417 0 0 0 6.283185307179585
|
|
3 0.2217241056225803 -0.07010565162951561 0 0.7996035337379618 -0.600528258147578 0 0.600528258147578 0.7996035337379618 0 0 0 1 1.340954169316227 0.1941611038725416 0 0 0 -1.214108590571651
|
|
4 0.3816448123701727 0.05 0 1 0 0 0 1 0 0 0 1 1.486775472735827 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
|
2 0.08090169943749406 -0.05877852522924828 0 0.8090169943749406 0.5877852522924826 0 -0.5877852522924826 0.8090169943749406 0 0 0 1 0.3693163660980975 0.5083203692315217 0 0 0 6.283185307179587
|
|
3 0.3434105537737207 -0.03377852522924827 0 0.9080357744936625 -0.4188926261462412 0 0.4188926261462412 0.9080357744936625 0 0 0 1 0.9731297205001567 0.5083203692315218 0 0 0 -2.7990106971004
|
|
4 0.5250177086724531 0.05 0 1 0 0 0 1 0 0 0 1 1.207626708804118 0 -0 0 0 0
|
|
1 0 0 0 1 0 0 0 1 0 0 0 1 -0 0 0 0 0 0
|
|
2 0.1 -1.188278783554951e-15 0 1 1.188278648199769e-14 0 -1.188278648199769e-14 1 0 0 0 1 7.497297506262819e-15 0.6283185307179586 0 0 0 6.283185307179586
|
|
3 0.3984313483298442 0.02499999999999881 0 0.9921567416492207 -0.1250000000000059 0 0.1250000000000059 0.9921567416492207 0 0 0 1 0.07916069411493384 0.6283185307179585 0 0 0 -3.166427764596604
|
|
4 0.5968626966596884 0.05 0 1 0 0 0 1 0 0 0 1 0.1583213882298527 0 -0 0 0 0
|