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.
506 lines
48 KiB
Plaintext
506 lines
48 KiB
Plaintext
freeCAD: 3D CAD with Motion Simulation by askoh.com
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Assembly
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Notes
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(Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.<n><n>The piston crank is the most common mechanism to convert rotary motion to reciprocating motion or vice versa. A crank connects to the ground with a revolute joint. Its other end is connected to the connecting rod. And the connecting rod is connected to the piston which slides along an axis on the ground. The crank is given rotary motion causing the piston to slides back and forth is a straight line. Units are SI units. Angles are in radians.<n><n>If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.<n><n>To load the example for a quick look:<n>Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select piston.asm. <n><n>To create the assembly from scratch:<n>To create crank, connection rod and piston:<n>Create an empty assembly and populate it with two rods (Assembly1Part1, Assembly1Part2) and one cylinder (Assembly1Part3). The rods have dimensions (1.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). The cylinder has radius (0.5d) and height (1.0d). Arrange them from bottom up away from the origin. <n><n>To mark joint attachment points:<n>On the ground, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (3.0d, 0.0d, 0.0d). <n>On the first rod, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. <n>On the second rod, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.4d, 0.1d, -0.1d) relative to the z-face. <n>On the cylinder, create a marker (Assembly1Part3Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Part3Marker2) at (0.0d, 0.0d, -1.0d) relative to the z-face. Tilt the cylinder a little to get a good view of (Assembly1Part3Marker2). RightClick/Rotate/ over it to rotate the marker (90.0d) degrees about the x-axis.<n>Tilt the cylinder upright to help the solver assemble the system later.<n><n>To create the joints:<n>Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).<n>Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).<n>Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker2) with revolute joint (Assembly1Joint3).<n>Connect (Assembly1Marker2) to (Assembly1Part3Marker1) with translational joint (Assembly1Joint3).<n>The translational joint keeps the marker z-axes parallel and colinear. Only relative translation along the z-axis is permitted.<n><n>To apply motion to the crank:<n>Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.<n><n>The assembly is now ready for simulation, animation and plotting.<n>' runs: (Core.RunArray runs: #(514 63 14 5 12 1 2 37 89 10 4 36 1 43 295 32 848 21 517 29 151) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil)))
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Name
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Assembly1
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Velocity3D
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0.0 0.0 0.0
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Omega3D
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0.0 0.0 0.0
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RefPoints
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RefPoint
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Markers
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Marker
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Name
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Marker1
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Position3D
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0.0 3.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 0.0 1.0
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0.0 -1.0 0.0
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RefPoint
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Markers
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Marker
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Name
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Marker2
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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RefCurves
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RefSurfaces
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Parts
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Part
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Name
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Part1
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Position3D
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-0.1 -0.1 -0.1
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Velocity3D
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0.62831853071796 -0.62831853071796 0.0
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Omega3D
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0.0 0.0 6.2831853071796
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FeatureOrder
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Extrusion
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zStart
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0.0
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zEnd
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0.1
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Sketch
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Name
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Sketch1
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Graphics
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Rectangle
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Position2D
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0.0 0.0
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Angle
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0.0
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xLength
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1.0
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yLength
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0.2
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PrincipalMassMarker
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Name
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MassMarker
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Position3D
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0.5 0.1 0.05
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Mass
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0.2
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MomentOfInertias
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8.3333333333333e-4 0.016833333333333 0.017333333333333
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Density
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10.0
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RefPoints
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RefPoint
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Position3D
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0.0 0.0 0.1
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Markers
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Marker
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Name
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Marker1
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Position3D
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0.1 0.1 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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RefPoint
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Position3D
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0.0 0.0 0.1
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Markers
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Marker
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Name
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Marker2
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Position3D
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0.9 0.1 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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RefCurves
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RefSurfaces
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Part
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Name
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Part2
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Position3D
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0.94036115973815 -0.017284236661228 -1.3877787807814e-17
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RotationMatrix
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-0.61538461538462 -0.78822698199689 -1.6603807295334e-17
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0.78822698199689 -0.61538461538462 2.1267299485346e-17
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-2.6981186854917e-17 -1.3258078974716e-33 1.0
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Velocity3D
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-3.3164118402378e-34 5.0265482457437 -3.9748307264642e-33
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Omega3D
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4.1774251032926e-33 3.2613995704322e-33 -3.1828000786991e-34
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FeatureOrder
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Extrusion
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zStart
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0.0
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zEnd
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0.1
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Sketch
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Name
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Sketch1
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Graphics
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Rectangle
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Position2D
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0.0 0.0
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Angle
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0.0
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xLength
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1.5
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yLength
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0.2
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PrincipalMassMarker
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Name
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MassMarker
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Position3D
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0.75 0.1 0.05
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RotationMatrix
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1.0 -2.7755575615629e-16 0.0
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2.7755575615629e-16 1.0 0.0
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0.0 0.0 1.0
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Mass
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0.3
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MomentOfInertias
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0.00125 0.0565 0.05725
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Density
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10.0
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RefPoints
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RefPoint
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Position3D
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0.0 0.0 0.1
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Markers
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Marker
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Name
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Marker1
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Position3D
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0.1 0.1 -0.1
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RotationMatrix
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1.0 3.5771870615405e-50 3.0814879110196e-33
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3.5771870615405e-50 1.0 1.755680013548e-33
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3.0814879110196e-33 1.755680013548e-33 1.0
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RefPoint
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Position3D
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-7.0256300777061e-17 -1.0408340855861e-17 0.1
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RotationMatrix
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1.0 1.7347234759768e-18 -6.9388939039072e-18
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1.7347234759768e-18 1.0 0.0
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-6.9388939039072e-18 0.0 1.0
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Markers
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Marker
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Name
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Marker2
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Position3D
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1.4 0.1 -0.1
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RotationMatrix
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1.0 -5.5511151231258e-17 2.1510571102112e-16
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3.4181598826109e-49 1.0 4.1633363423443e-17
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-2.2898349882894e-16 -4.1633363423443e-17 1.0
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RefCurves
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RefSurfaces
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Part
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Name
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Part3
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Position3D
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6.5961808710108e-18 1.024695076596 -4.5972683339025e-17
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RotationMatrix
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1.0 1.8606318149699e-16 -9.2444637330587e-33
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9.2444637330587e-33 5.137628796844e-17 1.0
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1.8606318149699e-16 -1.0 5.137628796844e-17
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Velocity3D
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-1.6491143091194e-30 5.0265482457437 -7.1214100282068e-33
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Omega3D
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4.1774251032926e-33 3.2613995704322e-33 4.7241180434735e-49
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FeatureOrder
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Extrusion
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zStart
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0.0
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zEnd
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1.0
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Sketch
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Name
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Sketch1
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 1.0 0.0
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0.0 0.0 1.0
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Graphics
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Circle
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Position2D
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0.0 0.0
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Angle
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0.0
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Radius
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0.5
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PrincipalMassMarker
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Name
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MassMarker
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Position3D
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-7.9328390680452e-18 2.9323172983667e-17 0.5
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RotationMatrix
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9.2444637330587e-33 1.0 -1.0785207688569e-32
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9.9703461330478e-65 1.0785207688569e-32 1.0
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1.0 -9.2444637330587e-33 0.0
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Mass
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7.6536686473018
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MomentOfInertias
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0.93243354610288 1.1040224936599 1.1040224936599
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Density
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10.0
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RefPoints
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RefPoint
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 0.0 0.0
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0.0 -1.0 0.0
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0.0 0.0 -1.0
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Markers
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Marker
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Name
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Marker1
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 9.5592355929136e-33 0.0
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0.0 -2.2204460492503e-16 1.0
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-9.5592355929136e-33 -1.0 -2.2204460492503e-16
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RefPoint
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Position3D
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1.0408340855861e-17 5.5511151231258e-17 1.0
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RotationMatrix
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1.0 -6.9388939039072e-18 6.9388939039072e-18
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-6.9388939039072e-18 1.0 0.0
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6.9388939039072e-18 0.0 1.0
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Markers
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Marker
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Name
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Marker2
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Position3D
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0.0 0.0 0.0
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RotationMatrix
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1.0 -1.3877787807814e-17 1.3877787807814e-17
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-1.3877787807814e-17 1.0 0.0
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1.3877787807814e-17 0.0 1.0
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RefCurves
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RefSurfaces
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KinematicIJs
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ConstraintSets
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Joints
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RevoluteJoint
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Name
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Joint1
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MarkerI
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/Assembly1/Marker2
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MarkerJ
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/Assembly1/Part1/Marker1
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RevoluteJoint
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Name
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Joint2
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MarkerI
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/Assembly1/Part1/Marker2
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MarkerJ
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/Assembly1/Part2/Marker1
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RevoluteJoint
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Name
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Joint3
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MarkerI
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/Assembly1/Part2/Marker2
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MarkerJ
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/Assembly1/Part3/Marker1
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CylindricalJoint
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Name
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Joint4
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MarkerI
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/Assembly1/Part3/Marker2
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MarkerJ
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/Assembly1/Marker1
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Motions
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RotationalMotion
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Name
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Motion1
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MotionJoint
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/Assembly1/Joint1
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RotationZ
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2.0d*pi*time
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GeneralConstraintSets
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ForceTorques
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ConstantGravity
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0.0 -9.81 0.0
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SimulationParameters
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tstart
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0.0
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tend
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1.0
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hmin
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1.0e-9
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hmax
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1.0
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hout
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0.04
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errorTol
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1.0e-6
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AnimationParameters
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nframe
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26
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icurrent
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1
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istart
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1
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iend
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26
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isForward
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true
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framesPerSecond
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30
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TimeSeries
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Number Input 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26
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Time Input 0.0 0.04 0.08 0.12 0.16 0.2 0.24 0.28 0.32 0.36 0.4 0.44 0.48 0.52 0.56 0.6 0.64 0.68 0.72 0.76 0.8 0.84 0.88 0.92 0.96 1.0
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AssemblySeries /Assembly1
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X 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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Y 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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Z 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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Bryantx 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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Bryanty 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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Bryantz 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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VX 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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VY 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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VZ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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OmegaX 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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OmegaY 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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OmegaZ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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AX 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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AY 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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AZ 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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PartSeries /Assembly1/Part1
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VX 0.62831853071796 0.62831853071796 0.76483521318633 0.85329448634306 0.88813812872525 0.86717678613608 0.79172753682086 0.66653113459698 0.49945412985633 0.30099458527301 0.083622443916338 -0.13900400313343 -0.35289631744537 -0.54461485827034 -0.70211324459685 -0.81549527357345 -0.87763673532962 -0.88463305328289 -0.83604462304561 -0.73492443438533 -0.58762624064963 -0.40340532907576 -0.19383697705505 0.027910865116565 0.24790496498393 0.45232228417066 0.62831853071796
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VZ 0.0 0.0 6.9388939039072e-18 -1.3877787807814e-17 1.3877787807814e-17 0.0 2.7755575615629e-17 -2.7755575615629e-17 0.0 0.0 0.0 0.0 0.0 0.0 3.4694469519536e-18 6.9388939039072e-18 1.3877787807814e-17 2.7755575615629e-17 0.0 0.0 -2.7755575615629e-17 2.7755575615629e-17 0.0 0.0 -1.3877787807814e-17 0.0 0.0
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OmegaX 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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OmegaY 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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OmegaZ 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796 6.2831853071796
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AX 0 3.9478417604357 2.842024730011 1.5576328335639 0.17536913761107 -1.2179136462204 -2.5346704364868 -3.6921645613629 -4.6176664080172 -5.2530232916667 -5.5583134026325 -5.5143542404641 -5.1239079209911 -4.4115076224271 -3.4219160755559 -2.2173129567305 -0.87338791012714 0.52541531096559 1.891204755728 3.1381628503235 4.1879386316775 4.9745708266423 5.4486324413775 5.5803364411525 5.3614073792881 4.8056013739059 3.9478417604357
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AY 0 3.9478417604357 4.8056013739059 5.3614073792881 5.5803364411525 5.4486324413775 4.9745708266423 4.1879386316775 3.1381628503235 1.891204755728 0.52541531096558 -0.87338791012714 -2.2173129567305 -3.4219160755559 -4.4115076224271 -5.1239079209911 -5.5143542404641 -5.5583134026325 -5.2530232916667 -4.6176664080172 -3.6921645613629 -2.5346704364868 -1.2179136462204 0.17536913761107 1.5576328335639 2.842024730011 3.9478417604358
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AZ 0 0.0 -6.6613381477509e-17 -2.6645352591004e-16 0.0 -1.1102230246252e-16 0.0 1.1102230246252e-16 0.0 0.0 -3.3306690738755e-16 0.0 0.0 0.0 -9.6296497219362e-35 0.0 -1.1102230246252e-16 -1.1102230246252e-16 1.1102230246252e-16 2.2204460492503e-16 1.1102230246252e-16 0.0 1.1102230246252e-16 2.2204460492503e-16 0.0 -1.1102230246252e-16 0.0
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AlphaX 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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AlphaY 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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AlphaZ 0 0.0 4.4408920985006e-16 5.3290705182008e-15 -1.7763568394003e-15 -1.7763568394003e-15 -1.7763568394003e-15 5.3290705182008e-15 -3.5527136788005e-15 -1.7763568394003e-15 -2.6645352591004e-15 0.0 -2.6645352591004e-15 2.2204460492503e-16 -1.1102230246252e-15 8.8817841970013e-16 5.3290705182008e-15 -7.9936057773011e-15 -3.5527136788005e-15 3.5527136788005e-15 8.8817841970013e-15 -3.5527136788005e-15 -5.3290705182008e-15 1.0658141036402e-14 2.6645352591004e-15 -4.4408920985006e-16 3.0246870277079e-14
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PartSeries /Assembly1/Part2
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X 0.94036115973815 0.94036115973815 0.91476629113265 0.83918548028584 0.7174079710761 0.55604258610081 0.36440525382684 0.15402176599241 -0.062103272357012 -0.27031893786662 -0.45717988391826 -0.61027332089653 -0.71902470891121 -0.77554582409477 -0.77554582409477 -0.71902470891121 -0.61027332089653 -0.45717988391826 -0.27031893786662 -0.062103272357012 0.15402176599241 0.36440525382684 0.55604258610081 0.7174079710761 0.83918548028584 0.91476629113265 0.94036115973815
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Y -0.017284236661228 -0.017284236661228 0.17826238271797 0.35511593288218 0.50312383128662 0.61402910351218 0.68168641555539 0.70236009631573 0.67496570563006 0.60115354147167 0.48519910298625 0.33371660484594 0.15526913331595 -0.039985774882537 -0.24051894858542 -0.43373015097953 -0.60673979882201 -0.74762208545501 -0.84656974247396 -0.89669389553584 -0.89448266916951 -0.84000401051686 -0.73689557729104 -0.59215153819929 -0.41568994568057 -0.2196414367458 -0.017284236661227
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Z -1.3877787807814e-17 -1.3877787807814e-17 -2.0816681711722e-17 1.3877787807814e-17 -6.9388939039072e-18 0.0 0.0 -1.3877787807814e-17 0.0 6.9388939039072e-18 -6.9388939039072e-18 0.0 -2.0816681711722e-17 -1.3877787807814e-17 -2.0816681711722e-17 -1.3877787807814e-17 -6.9388939039072e-18 0.0 0.0 6.9388939039072e-18 -6.9388939039072e-18 6.9388939039072e-18 0.0 0.0 0.0 -1.3877787807814e-17 -1.3877787807814e-17
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Bryantz 2.233670150445 2.233670150445 2.2093704887871 2.1403611825098 2.0359901970285 1.9068240263503 1.7621258287495 1.6094462684496 1.4552276622462 1.3056836338746 1.1677081101019 1.0496707593292 0.9616468233704 0.91406402891709 0.91406402891709 0.9616468233704 1.0496707593292 1.1677081101019 1.3056836338746 1.4552276622462 1.6094462684496 1.7621258287495 1.9068240263503 2.0359901970285 2.1403611825098 2.2093704887871 2.233670150445
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VY 5.0265482457436 5.0265482457437 4.7010913345001 4.0992428485673 3.2666560205112 2.2528675308471 1.1143261392681 -0.085197235202693 -1.2775995451373 -2.3950706206163 -3.3749206926597 -4.163367624825 -4.7166017797865 -4.9980157000684 -4.9758091228692 -4.6305309483641 -3.9697582828795 -3.0331641822728 -1.8853296815645 -0.60616289109468 0.7164363867815 1.9922515226926 3.1338509418011 4.0617359302234 4.7103527620486 5.0361686443558 5.0265482457437
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VZ 1.0725711633263e-17 -3.9748307264642e-33 1.0794680022798e-18 -6.8620087063449e-18 -8.9198581806908e-18 1.2139347131672e-17 -4.401056128546e-18 -1.9437093561508e-17 7.5996846518342e-18 -5.7815599156968e-18 -5.0084720718496e-18 -1.8635985326174e-17 -1.5437211478314e-18 -2.3669254852644e-18 2.254637197541e-18 4.8855876448781e-18 1.7800430288194e-17 -1.2238447515274e-17 1.80599754398e-17 3.8553545427484e-18 1.7498785137957e-17 1.9327741993881e-18 3.6554011480884e-19 -1.2514122452812e-18 5.8843400565644e-18 2.413160746205e-18 0.0
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OmegaX 8.8188047524484e-19 4.1774251032926e-33 6.4341807478499e-18 5.6709976715369e-18 -5.5753564504878e-18 -8.4786063052106e-18 -8.3692377731112e-18 -2.1481335176639e-18 7.2393798310864e-18 1.5148729131e-17 1.9646278446776e-17 1.5050605208539e-17 8.8327117271011e-18 2.09558240912e-18 -1.4100263408453e-18 -5.0734764074662e-18 -1.0890739303737e-17 -1.1038465780802e-17 -9.7701658561259e-18 -4.4456701689091e-18 1.3991649461831e-18 3.6754466131499e-18 1.205330390734e-18 -5.6137862629982e-18 -1.0943229011188e-17 -9.6320435458362e-18 0.0
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OmegaY 6.8850177609866e-19 3.2613995704322e-33 -8.6675489589925e-18 -8.8560243568347e-18 1.1107740981732e-17 2.4274958421013e-17 4.3207468865959e-17 5.5551539755327e-17 6.2362242581579e-17 5.5795694322025e-17 4.6070630404015e-17 2.6217946903553e-17 1.2660596935281e-17 2.7184212339544e-18 -1.8291075464137e-18 -7.2721993921325e-18 -1.8971517885258e-17 -2.5885262635107e-17 -3.598540728679e-17 -3.8296369029593e-17 -3.6182931119692e-17 -1.8975054764653e-17 -3.4509616393394e-18 1.1184304395748e-17 1.7089321388632e-17 1.2975421531349e-17 0.0
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OmegaZ -6.7190893351988e-20 -3.1828000786991e-34 -1.1975621134559 -2.211920192304 -2.9615649661153 -3.4580603572056 -3.7456820560372 -3.8618298463882 -3.8235936635182 -3.6252371648301 -3.2388267029556 -2.6205725867499 -1.7355453701239 -0.61188841480195 0.61188841480195 1.7355453701239 2.6205725867499 3.2388267029556 3.6252371648301 3.8235936635182 3.8618298463882 3.7456820560372 3.4580603572056 2.9615649661153 2.211920192304 1.1975621134559 0.0
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AlphaX 0 3.4537525380418e-15 2.7286957463851e-15 1.2344473499237e-15 -2.4503894469237e-16 -1.0752565064966e-15 -1.5992621143815e-15 -1.8396763692062e-15 -1.8058241796526e-15 -1.5823426216702e-15 -1.0672352127391e-15 -1.7745834256543e-16 8.3296836067401e-16 1.6667809320596e-15 1.827987426556e-15 1.0667107450428e-15 4.4601507955643e-17 -9.553389789691e-16 -1.6646273966812e-15 -1.9802613372104e-15 -1.9195076490655e-15 -1.5536620786722e-15 -6.999878238056e-16 5.3852153193114e-16 1.9078475161111e-15 3.1156586871256e-15 3.5026387935724e-15
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AlphaY 0 2.6964138830569e-15 2.0255925120244e-15 7.9048429045409e-16 -1.2299345696825e-16 -3.7555889628085e-16 -3.0977525975322e-16 -7.1138810670924e-17 2.0963080536689e-16 4.296116402002e-16 4.5510990324648e-16 1.0187126653026e-16 -5.8112342575104e-16 -1.2848917076566e-15 -1.4091629205201e-15 -7.4419465572383e-16 -2.5603823499711e-17 4.0739307054476e-16 4.5195224880042e-16 2.2988050755526e-16 -7.422582227624e-17 -3.0094258450087e-16 -2.4448738783327e-16 2.7030244085177e-16 1.221699321534e-15 2.3128466831422e-15 2.7345803633278e-15
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PartSeries /Assembly1/Part3
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X 6.5961808710108e-18 6.5961808710108e-18 3.5696122579705e-18 2.7506638810068e-19 -2.9072949950063e-18 -5.5893603114763e-18 -7.4540814663763e-18 -8.2912915748099e-18 -8.0096760306265e-18 -6.6397375896229e-18 -4.3329338554242e-18 -1.3553792479983e-18 1.9335217399874e-18 5.1367860052691e-18 7.919742611073e-18 1.0107528590663e-17 1.1696075124889e-17 1.2775897012383e-17 1.3451458961724e-17 1.3801482433032e-17 1.386935349879e-17 1.3663615386232e-17 1.3158485761425e-17 1.2292704192412e-17 1.0972146944949e-17 9.091637343815e-18 6.5961802634258e-18
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Y 1.024695076596 1.024695076596 1.2427822898157 1.480179366506 1.7094926816124 1.9027558559474 2.0371231757856 2.0974505219157 2.0771579833019 1.9784435152356 1.8122207884686 1.5976653671785 1.3606750682504 1.1298555283416 0.92932235463872 0.7716757839549 0.65720896351051 0.57939960002737 0.53072023128998 0.505498382136 0.50060775643042 0.51543274971336 0.55183117514421 0.61421731212655 0.70937348794326 0.84487847035195 1.024695076596
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Z -4.5972683339022e-17 -4.5972683339025e-17 -3.9545477884536e-17 -1.9715121482818e-17 -8.7218937910051e-18 1.1416935247804e-17 2.177239447835e-17 2.7943593466426e-17 2.8471815485306e-17 2.7284827719271e-17 1.9980150147641e-17 1.5185300849948e-17 5.1732872997215e-18 5.3873742975235e-20 1.2627706485803e-19 9.2389251846039e-19 1.0979357751326e-18 1.3273629703901e-17 1.4270217862397e-17 1.3823093755895e-17 4.2403621168872e-18 6.0051812985042e-19 -1.3386652216736e-17 -2.7321435170234e-17 -4.0815035409947e-17 -4.5565265123799e-17 -4.4839356273906e-17
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Bryantx -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949 -1.5707963267949
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Bryanty -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33 -9.2444637330587e-33
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Bryantz -1.8606318149699e-16 -1.8606318149699e-16 -1.7652476827702e-16 -1.5992963777562e-16 -1.3305237472154e-16 -1.076181042527e-16 -7.8629868240549e-17 -4.9069650323464e-17 -1.9538017758256e-17 9.6434985391854e-18 3.667107905275e-17 6.295294928588e-17 8.2723715489433e-17 9.5742531744324e-17 9.7983316906459e-17 8.7055763299814e-17 6.6127724936262e-17 4.1986468463007e-17 1.2610787577615e-17 -1.8076717267761e-17 -4.9457533069339e-17 -8.1136109353492e-17 -1.1182466816209e-16 -1.4060861144468e-16 -1.646967472411e-16 -1.818653923742e-16 -1.865111049699e-16
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VX -1.3925532352577e-15 -1.6491143091194e-30 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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VY 5.0265482457437 5.0265482457437 5.7965807874272 5.9554541574998 5.391306334062 4.1756963547605 2.479272359653 0.50960861770022 -1.5150572238054 -3.3750408805278 -4.8556471087482 -5.7626331599912 -5.9645017843421 -5.47256320498 -4.5012616179576 -3.3826309438085 -2.3704927477132 -1.5524377661842 -0.905359421653 -0.36870521242667 0.12163053387858 0.62730530230774 1.2110221178878 1.9370856166725 2.8541414531161 3.9406791914288 5.0265482457437
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VZ -1.8008555064288e-18 -7.1214100282068e-33 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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OmegaX 8.8188047524484e-19 4.1774251032926e-33 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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OmegaY 6.8850177609866e-19 3.2613995704322e-33 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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OmegaZ 9.9729076219881e-35 4.7241180434735e-49 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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AX 0 -1.710942082233e-16 -8.695815097338e-17 3.5008106104243e-17 1.5835783315859e-16 2.5827983992021e-16 3.2421791005489e-16 3.5281546224141e-16 3.4326555509482e-16 2.9580148686584e-16 2.1215814306449e-16 9.8464327526895e-17 -2.8349654100876e-17 -1.3587503555378e-16 -1.9080840156929e-16 -1.8969808672996e-16 -1.5916105629562e-16 -1.25556641606e-16 -1.0078283670367e-16 -8.7269455788746e-17 -8.4618137825371e-17 -9.2628717334673e-17 -1.1178780813859e-16 -1.416781242283e-16 -1.7614379795307e-16 -1.9595855100679e-16 -1.7109420822329e-16
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AY 0 24.65727399679 12.531990282258 -5.0451997953925 -22.821768908935 -37.222047706303 -46.724725085121 -50.846066696991 -49.469780032453 -42.62948691279 -30.575210689563 -14.190205080301 4.0856157326321 19.581656303644 27.498388678614 27.338375446717 22.937525562394 18.094619019221 14.524337466368 12.576854034273 12.194758847332 13.349205019912 16.11032099448 20.417969519396 25.384996570401 28.240603433418 24.65727399679
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AZ 0 5.7724915086379e-15 4.2382588628992e-15 2.0040654836574e-15 -1.6554144911868e-16 -1.6592480597688e-15 -2.406257593056e-15 -2.621873270641e-15 -2.6555347365376e-15 -2.3077550171789e-15 -1.6796837007409e-15 -4.6431815962954e-16 1.2291910457526e-15 2.7231910439756e-15 2.912697123827e-15 1.8739033006182e-15 1.3261984738493e-17 -1.5134564679935e-15 -2.4102794039543e-15 -2.8337786460486e-15 -2.6962000468988e-15 -1.9975034090934e-15 -9.0728605449782e-16 7.5379862734945e-16 3.1219520340883e-15 5.1710233979815e-15 5.6890500963814e-15
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AlphaX 0 -2.2810110205656e-15 -2.026124174322e-15 -1.4829294524362e-15 -7.5193490299404e-16 1.4894637935254e-16 7.9869502028473e-16 1.1842299632755e-15 1.306904858054e-15 1.1060302143867e-15 6.4411185559363e-16 4.0119830555879e-17 -6.7328705342582e-16 -1.1456422170867e-15 -1.0514391807609e-15 -5.4040390377793e-16 2.2173577543879e-16 7.5567737340316e-16 1.0743453104179e-15 1.2202689061345e-15 1.1788285057586e-15 9.2270795115717e-16 5.5579180088901e-16 -1.8820671512142e-17 -8.9689598810422e-16 -1.7848288791442e-15 -2.245930674308e-15
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AlphaY 0 7.9566832002691e-15 7.014182957496e-15 5.3818613285143e-15 3.7157477115521e-15 2.6887167705558e-15 1.7465656150795e-15 8.5087413869036e-16 -8.8614720558089e-17 -1.1421692631315e-15 -2.3682773264681e-15 -3.988366360955e-15 -5.713431158332e-15 -7.1215551923394e-15 -7.3338696806241e-15 -6.0410005717416e-15 -4.2302753650566e-15 -2.5979581104864e-15 -1.2174739633374e-15 -1.1537283908154e-16 8.6020773470388e-16 1.8367592737928e-15 2.9607053377931e-15 4.3742144982296e-15 5.9896124880992e-15 7.5084467583433e-15 8.0125332662173e-15
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AlphaZ 0 4.087552802441e-31 3.5826893353261e-33 -3.4521158677864e-33 1.3262760979538e-32 8.1171161991614e-33 1.4124144796501e-32 7.0308910462956e-33 -1.2077817516131e-33 -1.1530753045819e-32 -2.5900574094376e-32 -3.6802332920262e-32 -4.688322551219e-32 -4.7595603641551e-32 -4.4083798170799e-32 -3.9257830564254e-32 -3.7470641884081e-32 -2.0378172059655e-32 -8.0303209372584e-33 3.7821041315305e-33 1.7704706269717e-32 2.6145948094541e-32 3.5655115853967e-32 4.3743981116353e-32 3.7279832929067e-32 9.0465823771797e-33 -4.8809576798355e-33
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RevoluteJointSeries /Assembly1/Joint1
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FXonI 0 215.79640691129 135.19210941797 29.323325961084 -46.132458586138 -71.028338849694 -53.627413357697 -11.938156457846 34.603453742693 66.569714556925 64.787671955484 14.388513002807 -81.334143971171 -182.61023661274 -230.23499519372 -207.928166992 -151.93456354314 -97.174945612466 -54.523450349149 -21.604359072785 7.0851446708594 37.178043139475 74.335260560401 123.23453303528 181.38656852531 226.19048380593 215.79640691129
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FYonI 0 -272.40468544671 -175.81941244008 -36.812647421629 103.51100038414 217.14758333162 292.14602403365 324.67847028493 313.81411125648 259.82312908926 164.69505232636 35.389135384238 -108.96368586343 -231.80665524215 -295.56539455952 -296.233707736 -263.62530483831 -227.2756292688 -200.47483438655 -185.88892019732 -183.0314499014 -191.66950337345 -212.37364236022 -244.72752531365 -281.88736582406 -302.33137766817 -272.40468544671
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FZonI 0 -0.14263988485617 -0.10441880438122 -0.041820259416174 0.0362440364288 0.116269759951 0.18118814607006 0.2133056352451 0.20227701683825 0.15178281059509 0.077003351977225 -0.0039645486066884 -0.075747701974638 -0.12686157031338 -0.15199849970679 -0.15551214393439 -0.14795756775884 -0.13817848895657 -0.13043687585872 -0.12602539409089 -0.12514299788106 -0.12779179080889 -0.13392933762112 -0.14298252001503 -0.15245723468915 -0.15584233495219 -0.14263988485617
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TXonI 0 -0.19394009959254 -0.18985225246565 -0.1522875221712 -0.067430830566031 0.052028461179746 0.16708658744048 0.22882037357746 0.20729940768795 0.1132349994654 -0.010091311376037 -0.1156798472257 -0.17661693757177 -0.19456820413151 -0.19081166856204 -0.18338266631016 -0.1763815982552 -0.16893853708959 -0.16188581610449 -0.15714148443225 -0.15611727035783 -0.15911392214606 -0.16524514452879 -0.1727131156142 -0.17989648433218 -0.18703671266696 -0.19394009959254
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TYonI 0 0.078956835208685 0.07647626103915 0.069190402128513 0.057557055787635 0.042307187951573 0.024399003901556 0.0049577407031451 -0.014795035576937 -0.033618185359385 -0.050328980916668 -0.06387742150591 -0.073412208777209 -0.078334236979813 -0.078334236979812 -0.073412208777199 -0.063877421505902 -0.050328980916662 -0.033618185359382 -0.014795035576936 0.0049577407031449 0.024399003901552 0.042307187951561 0.057557055787622 0.069190402128494 0.076476261039142 0.078956835208685
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TZonI 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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RevoluteJointSeries /Assembly1/Joint2
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FXonI 0 212.63813350294 132.13305897641 26.555709875943 -48.434740817643 -72.720626367756 -54.60337351376 -12.136466085972 35.19525516577 67.914441971301 66.800831192151 16.943609863044 -78.397655620083 -179.47686713355 -227.10162571453 -204.99167864091 -149.3794666829 -95.161786375799 -53.178722934774 -21.012557649708 6.8868350427336 36.202082983413 72.642973042338 120.93225080378 178.61895244017 223.13143336436 212.63813350294
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FYonI 0 -270.44268544671 -174.64284309764 -36.372157239918 103.31101346272 216.44296489658 291.1043275284 323.48842900772 312.67377955314 258.92743787031 164.22356084092 35.494748852103 -108.16432384914 -230.24049186089 -293.20755794077 -293.1090697503 -259.80691830617 -222.88013778336 -195.65514316759 -180.82458849398 -177.91740862419 -186.7038068682 -207.74502392518 -240.60353839223 -278.40385600577 -299.58394701061 -270.44268544671
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FZonI 0 -0.14263988485617 -0.10441880438122 -0.041820259416175 0.0362440364288 0.116269759951 0.18118814607006 0.2133056352451 0.20227701683825 0.15178281059509 0.077003351977225 -0.0039645486066884 -0.075747701974638 -0.12686157031338 -0.15199849970679 -0.15551214393439 -0.14795756775884 -0.13817848895657 -0.13043687585872 -0.12602539409089 -0.12514299788106 -0.12779179080889 -0.13392933762112 -0.14298252001503 -0.15245723468915 -0.15584233495219 -0.14263988485617
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TXonI 0 -0.095840099592542 -0.11024946479999 -0.11414536218518 -0.097278776832466 -0.061738304746649 -0.022854371418397 -9.8947052253767e-4 -0.0086724852833871 -0.041419315983108 -0.08113156759726 -0.10853493127003 -0.11434116573194 -0.10354005841099 -0.088160208396759 -0.072949037763256 -0.055036092683436 -0.034338647303854 -0.015319506289493 -0.0029594095722666 -3.3205190577452e-4 -0.0080588691857373 -0.024278446614828 -0.044816385763112 -0.064478459781601 -0.080670309944876 -0.095840099592541
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TYonI 0 0.12275859774118 0.14851814661442 0.1782533082355 0.19380777975308 0.17676192611673 0.11798918475662 0.025588079433893 -0.074707453391316 -0.15255533813171 -0.19025396982308 -0.18906635475947 -0.16389388060677 -0.13431372778768 -0.11436275402999 -0.10456339857142 -0.095872115107097 -0.080524315767485 -0.056424699600487 -0.025493263518064 0.0085869870275096 0.041605143623418 0.069511221669756 0.089287350274406 0.10069177184224 0.10867177397695 0.12275859774118
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TZonI 0 0.0 1.4349296274686e-42 3.5873240686715e-43 4.4841550858394e-44 -2.2420775429197e-44 1.1210387714599e-44 -7.0064923216241e-46 1.1210387714599e-44 0.0 0.0 4.4841550858394e-44 -3.5873240686715e-43 3.5873240686715e-43 0.0 3.5873240686715e-43 -1.7936620343358e-43 0.0 -1.1210387714599e-44 2.8025969286496e-45 -3.503246160812e-46 2.8025969286496e-45 0.0 -5.6051938572993e-45 -8.9683101716788e-44 7.1746481373431e-43 1.0195788231248e-56
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RevoluteJointSeries /Assembly1/Joint3
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FXonI 0 207.90072339042 127.54448331406 22.404285748232 -51.888164164902 -75.259057644851 -56.067313747853 -12.433930528161 36.082957300387 69.931533092864 69.820570047151 20.776255153399 -73.99292309345 -174.77681291476 -222.40157149574 -200.58694611428 -145.54682139255 -92.142047520799 -51.161631813211 -20.124855515091 6.5893706005448 34.73814274932 70.104541765244 117.47882745652 174.46752831246 218.54285770201 207.90072339042
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FYonI 0 -263.8010943472 -170.99819054164 -36.468201936662 99.587767744255 209.80273008807 282.53307400776 314.07645708735 303.54281499327 251.18947800495 158.93004200932 33.524638291856 -106.3524384678 -224.95399834347 -285.54604471086 -284.32135645473 -250.63870967361 -213.57270770232 -186.2469557192 -171.34156283383 -168.41713288126 -177.25288135733 -198.38554812345 -231.3548625822 -269.37084179277 -291.22671050926 -263.8010943472
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FZonI 0 -0.14263988485617 -0.10441880438122 -0.041820259416174 0.0362440364288 0.116269759951 0.18118814607006 0.2133056352451 0.20227701683825 0.15178281059509 0.077003351977225 -0.0039645486066884 -0.075747701974638 -0.12686157031338 -0.15199849970679 -0.15551214393439 -0.14795756775884 -0.13817848895657 -0.13043687585872 -0.12602539409089 -0.12514299788106 -0.12779179080889 -0.13392933762112 -0.14298252001503 -0.15245723468915 -0.15584233495219 -0.14263988485617
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TXonI 0 -0.28175726683013 -0.18348657233492 -0.063559293158762 0.046773194259269 0.12757631323663 0.17446186667323 0.19251888976291 0.18666973015068 0.15505471443918 0.091462980696776 -0.0055596238146662 -0.12417509636976 -0.23724946438745 -0.31473989547129 -0.34653147621807 -0.34663366352621 -0.33447490563591 -0.32208513865171 -0.31437054945171 -0.31278143824101 -0.31750729829927 -0.32788162909762 -0.34112522092036 -0.34922258373379 -0.33585917128604 -0.28175726683013
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TYonI 0 -1.8941161432944e-14 -1.3622520634061e-14 -6.2594011704635e-15 -5.79417243341e-16 1.6797557471554e-15 1.5059232843549e-15 -1.0670432263665e-16 -1.925777914118e-15 -2.817975272342e-15 -1.6844598012369e-15 2.5659012239406e-15 9.4270476574191e-15 1.6329805290186e-14 1.9177088590792e-14 1.6733387881244e-14 1.2039188296548e-14 7.519949347544e-15 3.9812123659816e-15 1.2326875543017e-15 -1.1689291868418e-15 -3.6532366323454e-15 -6.6392043615219e-15 -1.0619641103706e-14 -1.5282167010016e-14 -1.9124862965824e-14 -1.8988102161314e-14
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TZonI 0 -5.2424653476307e-17 -3.2389925691243e-17 -1.0165014846608e-17 6.2232845759884e-18 1.3729520972176e-17 1.3717913584624e-17 9.4468346004839e-18 3.6471565073498e-18 -1.4952699033674e-18 -3.3540461885377e-18 3.4999471654467e-19 1.0272225519356e-17 2.2714865662489e-17 3.0839261480186e-17 3.0167563683883e-17 2.2922095820253e-17 1.404342006948e-17 4.0617472514604e-18 -5.6827875453911e-18 -1.5469398322131e-17 -2.5761306862629e-17 -3.6665254348853e-17 -4.7965143628823e-17 -5.75158237583e-17 -6.1081160872484e-17 -5.2550860948014e-17
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CylindricalJointSeries /Assembly1/Joint4
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FXonI 0 207.90072339042 127.54448331406 22.404285748232 -51.888164164902 -75.259057644851 -56.067313747853 -12.433930528161 36.082957300387 69.931533092864 69.820570047151 20.776255153399 -73.99292309345 -174.77681291476 -222.40157149574 -200.58694611428 -145.54682139255 -92.142047520799 -51.161631813211 -20.124855515091 6.5893706005448 34.73814274932 70.104541765244 117.47882745652 174.46752831246 218.54285770201 207.90072339042
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FYonI 0 1.4499293699518e-15 8.9066616935531e-16 1.5753093123831e-16 -3.6185045796771e-16 -5.2688707132568e-16 -3.9539389006946e-16 -9.2792952514109e-17 2.4444908167805e-16 4.8105362295377e-16 4.8217406426364e-16 1.4427823568217e-16 -5.1110309926437e-16 -1.2089958077061e-15 -1.5391553709998e-15 -1.3880419565371e-15 -1.0064975175865e-15 -6.3695278882951e-16 -3.5282663002861e-16 -1.3753810357103e-16 4.8290039659362e-17 2.4386857281004e-16 4.9021709548838e-16 8.2013736558219e-16 1.2170228508955e-15 1.5237547965937e-15 1.4498475307771e-15
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FZonI 0 -0.14263988485614 -0.1044188043812 -0.041820259416165 0.036244036428796 0.11626975995099 0.18118814607005 0.21330563524508 0.20227701683824 0.15178281059508 0.077003351977215 -0.0039645486066918 -0.075747701974631 -0.12686157031337 -0.15199849970678 -0.15551214393437 -0.14795756775884 -0.13817848895658 -0.13043687585873 -0.12602539409091 -0.12514299788108 -0.1277917908089 -0.13392933762112 -0.14298252001502 -0.15245723468913 -0.15584233495216 -0.14263988485614
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TXonI 0 -0.13911738197397 -0.07906776795371 -0.021739033742594 0.01052915783047 0.011306553285631 -0.0067262793968274 -0.020786745482183 -0.015607286687564 0.0032719038440892 0.014459628719554 -0.0015950752079765 -0.048427394395121 -0.11038789407408 -0.1627413957645 -0.19101933228368 -0.19867609576736 -0.19629641667933 -0.19164826279298 -0.18834515536081 -0.18763844035993 -0.18971550749037 -0.19395229147649 -0.19814270090534 -0.19676534904465 -0.18001683633386 -0.13911738197397
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TYonI 0 -1.0681167433753e-14 -6.8995146828475e-15 -1.1089406896315e-15 2.5826546991873e-15 3.0243853771726e-15 1.9645726374025e-15 3.79783166147e-16 -1.0572331780423e-15 -1.9272700715525e-15 -2.088599233926e-15 -5.9744667059062e-16 2.2720606911362e-15 5.1828331023737e-15 5.9486245699609e-15 4.9137786260753e-15 3.3804425855155e-15 1.6078042924766e-15 8.5448132458924e-16 3.3632615304727e-16 -1.3516975221875e-16 -7.6773667933387e-16 -1.9729231449683e-15 -4.0787768177134e-15 -7.3367664476974e-15 -1.0249783650489e-14 -1.056188552539e-14
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TZonI 0 207.90072339042 127.54448331406 22.404285748232 -51.888164164902 -75.259057644851 -56.067313747853 -12.433930528161 36.082957300387 69.931533092864 69.820570047151 20.776255153399 -73.99292309345 -174.77681291476 -222.40157149574 -200.58694611428 -145.54682139255 -92.142047520799 -51.161631813211 -20.124855515091 6.5893706005448 34.73814274932 70.104541765244 117.47882745652 174.46752831246 218.54285770201 207.90072339042
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RotationalMotionSeries /Assembly1/Motion1
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FXonI 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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FYonI 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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FZonI 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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TXonI 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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TYonI 0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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TZonI 0 -217.13894835737 -162.37316211573 -36.420905608947 86.200984888846 141.48027975416 113.26714629028 25.890341249537 -74.38180257202 -137.02326074154 -124.42051959199 -30.305130687228 104.27268605301 201.51412595432 210.72432975443 158.38044926664 98.543048260667 55.496834389436 28.484840485605 10.741282149219 -3.4879028588444 -18.854054386736 -40.405204557922 -74.65898164548 -127.02118321496 -188.50529241095 -217.13894835737
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