217 lines
56 KiB
Plaintext
217 lines
56 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>A rectangular beam is connected to ground with a spherical (ball) joint. The beam is allowed to swing under gravity like a circular pendulum. A second beam is connected to ground with a spherical joint. A third beam is connected to the second beam with a spherical joint. The double beam is allowed to swing under gravity like a double circular pendulum.<n><n>If the instructions below are too brief, review 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 cirpendu.asm. <n><n>To create the assembly from scratch:<n>To create three pendulums:<n>Create an empty assembly and populate it with three beams (Assembly1Part1, Assembly1Part2, Assembly1Part3) each of dimensions (1.0d, 0.2d, 0.2d). Set the density of each beam to (10.0d). <n><n>To mark joint attachment points:<n>Create a marker (Assembly1Marker1) at the assembly origin. <n>Create a second marker (Assembly1Marker2) on the assembly at (2.0d, 0.0d, 0.0d).<n>On the first beam, create a marker (Assembly1Part1Marker1) at (-0.1d, 0.1d, -0.1d) relative to the z-face. <n>On the second beam, create a marker (Assembly1Part2Marker1) at (-0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.1d, 0.1d, -0.1d) relative to the z-face. <n>On the third beam, create a marker (Assembly1Part3Marker1) at (-0.1d, 0.1d, -0.1d) relative to the z-face.<n><n>To create the joints:<n>Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with spherical joint (Assembly1Joint1).<n>Connect (Assembly1Marker2) to (Assembly1Part2Marker1) with spherical joint (Assembly1Joint2).<n>Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker1) with spherical joint (Assembly1Joint3).<n><n>To set the initial conditions:<n>It is possible to set the initial positions and initial velocities of the beams precisely by RightClick/PositionPart/Direction/ and RightClick/Velocity/ over any part marker.<n><n>To set gravity:<n>Click Dynamic/Gravity/ for the gravity dialog. Enter (0.0d, -9.81d, 0.0d).<n><n>The assembly is now ready for simulation, animation and plotting.<n>You can run a Quasi Static simulation to find the static equillibrium configuration of the system.<n>' runs: (Core.RunArray runs: #(423 61 14 5 12 1 2 37 105 36 1 26 190 32 526 21 289 30 177 15 242) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #(#bold #large) nil #bold 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 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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-0.12629280485481 0.092024862097867 -0.074709789741726
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RotationMatrix
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-0.96585315162277 0.25577770367314 0.041297164600796
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-0.25801286269971 -0.93502039609601 -0.24324107705312
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-0.023601952924949 -0.2455903605359 0.96908633394036
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Velocity3D
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-0.10984828385508 -0.17151816954787 -0.025577478265984
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Omega3D
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-0.0049915753063956 -0.1988880464381 1.3551464804586
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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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0.2
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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 0.1
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RotationMatrix
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1.0 -1.2490009027033e-16 0.0
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-1.7333369499485e-33 -1.3877787807814e-17 -1.0
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1.2490009027033e-16 1.0 -1.3877787807814e-17
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Mass
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0.4
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MomentOfInertias
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0.0026666666666667 0.034666666666667 0.034666666666667
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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 0.2
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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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-0.1000000024274 0.1000000024274 -0.1000000024274
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RotationMatrix
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1.000000024274 -4.1633363423443e-17 2.0816681711722e-17
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-7.8929918156945e-17 1.000000024274 -1.1102230246252e-16
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1.3877787807814e-17 -5.5511151231258e-17 1.000000024274
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RefPoint
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Position3D
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0.0 0.0 0.2
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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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1.1000000267014 0.1000000024274 -0.1000000024274
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RotationMatrix
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1.000000024274 -4.1633363423443e-17 2.0816681711722e-17
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-7.8929918156945e-17 1.000000024274 -1.1102230246252e-16
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1.3877787807814e-17 -5.5511151231258e-17 1.000000024274
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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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SphericalJoint
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Name
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Joint1
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MarkerI
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/Assembly1/Marker1
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MarkerJ
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/Assembly1/Part1/Marker1
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Motions
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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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5.0
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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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0.05
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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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101
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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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101
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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 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101
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Time Input 0.0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1.0 1.05 1.1 1.15 1.2 1.25 1.3 1.35 1.4 1.45 1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2.0 2.05 2.1 2.15 2.2 2.25 2.3 2.35 2.4 2.45 2.5 2.55 2.6 2.65 2.7 2.75 2.8 2.85 2.9 2.95 3.0 3.05 3.1 3.15 3.2 3.25 3.3 3.35 3.4 3.45 3.5 3.55 3.6 3.65 3.7 3.75 3.8 3.85 3.9 3.95 4.0 4.05 4.1 4.15 4.2 4.25 4.3 4.35 4.4 4.45 4.5 4.55 4.6 4.65 4.7 4.75 4.8 4.85 4.9 4.95 5.0
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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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 -0.16731119280358 -0.17151816954787 -0.26517441869814 -0.36723054577973 -0.47163526490175 -0.56601183048735 -0.63243672106508 -0.65247378168318 -0.61462855161295 -0.51986372953297 -0.38480261005804 -0.23450412306223 -0.096532829850911 0.010127572706808 0.076463883391545 0.1034371917463 0.097632295735085 0.068078703580344 0.024387033574614 -0.024450438705593 -0.0695490622637 -0.10187291718395 -0.11189541279456 -0.090460255859185 -0.030328827038607 0.070607476109802 0.20565645966297 0.35643935753647 0.49602677714188 0.59664244788298 0.63984729051603 0.62398676794344 0.56201900960263 0.47129587912072 0.36920562796202 0.26851974681553 0.17554259570563 0.090633559875035 0.012024627668692 -0.065462278725198 -0.14644752769348 -0.23479500276398 -0.33075919611902 -0.42955830424646 -0.52105874227823 -0.58866742292683 -0.61463592614363 -0.58633234155793 -0.50294292296013 -0.37701481795191 -0.2335494241427 -0.097110314909817 0.010310803675805 0.079515823363155 0.11030013485743 0.10720764011885 0.079971431135396 0.037171040373016 -0.012729117036366 -0.061166092881507 -0.10020764433572 -0.12081082782204 -0.11360279860147 -0.070730742759295 0.012048377630242 0.13120196686383 0.27165303922232 0.41119685704075 0.52282727373607 0.58522808617296 0.59380587563602 0.55172771931696 0.47567147343793 0.38324076226223 0.28615113841627 0.19454673054971 0.1103074226986 0.031936579579597 -0.043840572521284 -0.12175096165014 -0.20511012060178 -0.29450638426273 -0.38672343044464 -0.47271611280431 -0.53809907786532 -0.56803092675488 -0.54786519591801 -0.47510977577318 -0.36105182416663 -0.22372676620027 -0.092382174425087 0.013960529754396 0.085036147719998 0.11702131217001 0.11697027210207 0.091927487594345 0.050172586912396 5.6600241095609e-5 -0.051018573664658 -0.095562752757454 -0.12511703313449 -0.13132338875547
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VZ -0.12017362661388 -0.025577478265984 -0.028530411880962 -0.031584678175074 -0.033733460540475 -0.033791590875854 -0.030614722099172 -0.023592379363971 -0.013002259205834 -1.5650025086994e-4 0.012921430856368 0.024254450520568 0.032412199967867 0.036942395943992 0.038096365297545 0.036594156833287 0.033130221615053 0.028193329128157 0.021946331035871 0.014246564100267 0.0047416507451854 -0.0069742507009621 -0.021109442548771 -0.037436539796322 -0.054961738262412 -0.071738616302421 -0.08497120998989 -0.091614469440347 -0.08957531336618 -0.078826912768044 -0.061726549631975 -0.042259175778502 -0.024383935312076 -0.010373701385269 -0.0021091862175514 4.8243177507268e-4 -0.0018991256323678 -0.0083584044714988 -0.017522659106341 -0.028151485086539 -0.038769549947315 -0.047520907502288 -0.052170425185902 -0.050187973699998 -0.03954905213557 -0.018829148797307 0.010931358229345 0.045990329838674 0.081245587447378 0.10980109029052 0.12747868693566 0.13274430244519 0.12719325007364 0.11398273594907 0.096388807655276 0.076969522914104 0.057148979091545 0.037192633132573 0.016547872153907 -0.0057327529066308 -0.030856465981354 -0.05945925806688 -0.091241884880538 -0.12391166175745 -0.15404758351062 -0.17611522808193 -0.18459723020651 -0.17584747610183 -0.15009300406276 -0.11218540757541 -0.069911505863678 -0.03107635107999 -0.0014674478002017 0.01646079328158 0.022962000107197 0.019536291659848 0.0087536492708958 -0.0067766497782237 -0.024624940371978 -0.041817113175035 -0.055399014809738 -0.061985498690747 -0.05779799954713 -0.039588538367458 -0.0058725418320309 0.041447320818982 0.096743307720179 0.15065659895177 0.19332132067357 0.21826485476269 0.22258477629957 0.20950959742571 0.18452622931461 0.15264862023155 0.11948354586868 0.087009302410817 0.056022941958777 0.02545599586723 -0.0063095923908768 -0.04114832081359 -0.080307087972098 -0.1239806084256
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OmegaX -0.031911422166881 -0.0049915753063956 -0.023043949602507 -0.046557071884509 -0.07468524811639 -0.10611443813347 -0.13902981825002 -0.17117910695118 -0.20008110879865 -0.22330839664994 -0.2388681888392 -0.24543869038509 -0.24242512499775 -0.22987179502686 -0.20820919104288 -0.17809402401925 -0.14016821682664 -0.094982164242038 -0.042970587276457 0.015516273592296 0.080079427256801 0.15008423854496 0.22445069969189 0.30157579739059 0.37907039248786 0.4536042112496 0.52101645109208 0.57648818889753 0.61517984542369 0.63331706379179 0.6293211381065 0.6039997171551 0.55978167712743 0.49898777639775 0.42452993765992 0.33862370873063 0.24320755436792 0.13967041318346 0.029020014089711 -0.088030641976008 -0.21058309293638 -0.33741671719472 -0.46644714646227 -0.59445243973139 -0.71682204568266 -0.82767739913533 -0.92017884662924 -0.98745337906065 -1.0242667356783 -1.0268252325573 -0.99508140464547 -0.93168702741723 -0.84128330065907 -0.72910927191424 -0.59988725763984 -0.45729036391751 -0.30428408797286 -0.14281808295546 0.025729021656731 0.20011242373446 0.37906388521345 0.56042164792669 0.74077604787555 0.91495049309242 1.0761443202259 1.2158087097136 1.3249544158859 1.3949896822844 1.4198474976493 1.3972582284591 1.329278196928 1.221294109661 1.0807434555095 0.9149874031559 0.72993342856908 0.53079884971548 0.32091309280005 0.10265626637781 -0.12213018809651 -0.35205574143019 -0.585014426992 -0.81765378247009 -1.0450011872518 -1.2597582467058 -1.4524164935483 -1.6121771440479 -1.7276871645535 -1.7895769125537 -1.7923097499567 -1.7359314836868 -1.6248122565668 -1.4677450384399 -1.2745979477923 -1.0537005167704 -0.81329388200478 -0.55850165290815 -0.29322050349592 -0.020089803252399 0.25893993339426 0.54183787358709 0.82547642622398 1.1053542048672
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OmegaY 2.4313676072474e-11 -0.1988880464381 -0.20078973594505 -0.20328530116818 -0.20624871932692 -0.20941114383598 -0.2123923658969 -0.21480821241338 -0.21628293120768 -0.21652723042474 -0.21551182242832 -0.2134229456022 -0.21060313272557 -0.20747565251912 -0.20440771210892 -0.20170203915416 -0.19955166567329 -0.19806563769878 -0.19730555449014 -0.19729364242289 -0.19803125151492 -0.19949692366491 -0.20163853060671 -0.20435649461174 -0.20746665468475 -0.21069045386313 -0.21368382436263 -0.21600339815254 -0.21717695548266 -0.21691071147727 -0.21525777046234 -0.21263852848582 -0.20960139923581 -0.20642941335173 -0.20351166091057 -0.2010635198186 -0.19924384274839 -0.19808194469889 -0.19764633628601 -0.19793240335685 -0.19894149863111 -0.20064878048409 -0.2029797597809 -0.20580111485591 -0.20890736190875 -0.21196624249987 -0.21457145662743 -0.21630007064329 -0.21690648503613 -0.21616974012168 -0.21425168104262 -0.2114979238203 -0.208360764111 -0.20526352798304 -0.20251286424573 -0.20026932367135 -0.19867785974262 -0.19778551305684 -0.19761596949108 -0.19816999973588 -0.19944026914562 -0.20138659837425 -0.20391974147052 -0.2068842157018 -0.21001195726121 -0.21294593339324 -0.21529860459234 -0.21665010748562 -0.21673859391532 -0.21553183530199 -0.21326247200349 -0.21031435957278 -0.2071535298628 -0.20416503988769 -0.20155726125789 -0.19955200663757 -0.19821547563652 -0.19759046203493 -0.19768505142269 -0.19850954614004 -0.20003903272685 -0.20222023659496 -0.20494026261343 -0.20799956677762 -0.21109638086231 -0.21387717811378 -0.21589225281253 -0.21678560661615 -0.21636999886385 -0.21474902100102 -0.21216937100261 -0.20909702626389 -0.20597686347167 -0.2030659826744 -0.20068411890214 -0.19892368044471 -0.19784285958962 -0.19748680763239 -0.19786032682084 -0.19895493635916 -0.20074017414756 -0.20314358885167
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OmegaZ 1.3058984802839 1.3551464804586 1.9839272696007 2.5898996832415 3.1575756069608 3.665918333001 4.0895771871656 4.4021018789062 4.5808853281379 4.6109776119874 4.4899804534332 4.2281910396869 3.8459741275496 3.3691477375002 2.8234433628206 2.2319588678738 1.6124263797355 0.9774558393728 0.33531343435921 -0.30863732564898 -0.9499514837058 -1.5832061203427 -2.2001932961514 -2.789468142461 -3.3347867715535 -3.8144154317415 -4.202559653609 -4.4716832633657 -4.5977166534874 -4.5669539393714 -4.3828911581524 -4.06500738594 -3.6412465537199 -3.1356062641148 -2.5738734707738 -1.9752058328974 -1.3550396389987 -0.72354069710479 -0.087482324197247 0.54852582149361 1.17960477908 1.8000418983157 2.4005373743026 2.967109875372 3.4805369516801 3.9172150442883 4.2510477312034 4.4576299449127 4.5214312141305 4.4342789073823 4.2045799814696 3.851516471065 3.4013808030937 2.881022572205 2.3133949913374 1.7158549370194 1.101820710785 0.47991199976356 -0.14413253115724 -0.76559669741149 -1.3801641987007 -1.9808173311036 -2.5569133379678 -3.092753307647 -3.5682411016009 -3.9588917512192 -4.2401750398173 -4.3900554387173 -4.3954627147797 -4.2556362240286 -3.9829140072856 -3.5991675143596 -3.1311324680135 -2.6039491013882 -2.0373158478459 -1.4479503772665 -0.84643181931194 -0.24007372166884 0.36577467985971 0.96740094701942 1.559480881636 2.1338990992914 2.6789473065993 3.177779310335 3.6089491629617 3.9488988677166 4.173721651827 4.265274576426 4.2152038629772 4.0284867997806 3.7200811816037 3.3143920301291 2.837251854079 2.3099493968588 1.7527038783941 1.1780344157128 0.59525000402671 0.010449945874615 -0.57208026153481 -1.1481639347173 -1.7116630363526 -2.2540283945217
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AX 0 -0.93099533337811 -0.47045761992139 0.19005952151415 1.0295191159179 1.9161059553076 2.6859497778749 3.0764979648537 2.9724029899426 2.3015412679884 1.2325981784267 0.05900416449395 -0.95479756960224 -1.6009937481025 -1.9514975213384 -2.0166564621823 -1.9504018294685 -1.8240980470766 -1.741710997119 -1.7414985289098 -1.8114971412716 -1.9282632368721 -2.0145271713483 -1.9678046888801 -1.6728373311864 -1.0509656278707 -0.10302429027559 1.0528576784525 2.1676103120482 2.9181734799393 3.0764439126276 2.6280255826215 1.8100639103353 1.1052980626398 0.29817730480961 -0.32797199226184 -0.74096823347686 -1.0654197519635 -1.157778381223 -1.0951341010354 -0.88439864913386 -0.48785716524227 0.10148949690992 0.8697224190621 1.6479779454226 2.3886670263933 2.8076119390842 2.6856277957013 2.2375129524979 1.2568546518413 0.19555568792226 -0.83730874720796 -1.4860267549765 -1.8052623201236 -1.8940383359442 -1.8023814473638 -1.6799598242347 -1.5887586890978 -1.5668654095389 -1.5979787679706 -1.710961892231 -1.833767619111 -1.8872571986846 -1.6743303020316 -1.2155706819839 -0.41022391683054 0.59689137923228 1.66091668104 2.4813285632493 2.790877508558 2.6228828631802 2.0363050604633 1.2598516655011 0.51913025095071 -0.090731791630148 -0.54346115207104 -0.81676639695127 -0.93265490035084 -0.942311181671 -0.77313139407515 -0.44472659015853 0.025647883695176 0.65781822891733 1.3775637389705 2.040079286045 2.4570765738727 2.4709119755895 1.9861968682934 1.1353615960806 0.21030446764145 -0.66072233331826 -1.2398837013026 -1.5342397875307 -1.7015751107326 -1.6288606195018 -1.5128653010571 -1.363884810941 -1.3150492637073 -1.3459131654542 -1.446355109219 -1.5538628565631 -1.6331351986393
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AY 0 -1.7784300938321 -1.9669380959795 -2.0959583064332 -2.0312590010453 -1.6654180647244 -0.92337933043744 0.17385625633726 1.3527960401556 2.380023262097 2.9004107204603 2.9542604719181 2.4935876864156 1.7558246496331 0.92390325635061 0.18132918065581 -0.37890565249544 -0.76337810647865 -0.9540815602805 -0.97343560489111 -0.80713756951247 -0.4590381938543 0.085119077545346 0.80183570952025 1.6140212540881 2.3762775449807 2.9006773827512 2.9773100332741 2.4829846833516 1.4796134431808 0.22650967830603 -0.89789962807038 -1.6075535484466 -1.983820537474 -2.0490956034105 -1.9186039159466 -1.7325157041459 -1.6177930723769 -1.5470182165659 -1.5847500041495 -1.6846620820873 -1.8494693518267 -1.9745517361116 -1.9298034603488 -1.6533474277744 -0.98384630576309 0.033164439709774 1.1842014240374 2.1655215099165 2.7584429316817 2.7770606315282 2.4919097313167 1.7832994168565 1.006145023824 0.31003178301823 -0.33341450101113 -0.72995166401121 -0.95636688981273 -1.0259310488754 -0.90334396952931 -0.6289646322082 -0.16995268141964 0.48185136271786 1.2532486603452 2.0594808983563 2.7172740897404 2.8855677146214 2.5937054022572 1.7591972270769 0.56349770194448 -0.37428926742433 -1.2386354199859 -1.7208904689419 -1.8481445916441 -1.9013006472067 -1.7569915356868 -1.6133607523264 -1.5384037578142 -1.5234833520668 -1.6080911451726 -1.7429701859591 -1.836214179957 -1.8205708838276 -1.5559101580171 -0.93701108757071 -0.13186555521395 0.9408306138242 1.9117641583994 2.4557299986637 2.7662332180377 2.4206704063155 1.7858003114981 1.0937371690168 0.30124233703356 -0.27036636578851 -0.68080836852876 -0.94321916381378 -1.0369437697831 -0.9870676377134 -0.78649393895368 -0.38742915358012 0.17033210523485
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AZ 0 -0.052770016416344 -0.062971608531702 -0.055879390711021 -0.025273295327012 0.0284672169886 0.10113556832232 0.1785906672538 0.23962653239203 0.26687075957104 0.24789752144101 0.19800179479682 0.12673148418687 0.056897777810649 -0.0056391013617633 -0.051813846512636 -0.085245613457679 -0.11193173344492 -0.13849628073417 -0.17089819317184 -0.21115465005399 -0.259032440718 -0.30751796089104 -0.34374304471653 -0.3494206350508 -0.30685838739204 -0.20624766739347 -0.052053993923241 0.12851116161806 0.28787190642313 0.37982950305588 0.38037831182504 0.30507363957607 0.22381117729057 0.10693357697729 -6.0337602959198e-4 -0.086598080686079 -0.15987107326046 -0.20196550106656 -0.21668660926093 -0.20052988387989 -0.14187200475905 -0.033017320371088 0.13013470125976 0.31246617888786 0.51258603344105 0.66275348693526 0.70048871608662 0.65629434597545 0.47030403508445 0.23371864926991 -0.014466154470664 -0.19970522919914 -0.31494345597419 -0.3749763362245 -0.39435565319439 -0.39741845235469 -0.40524071675243 -0.43015550388075 -0.47094552561997 -0.53680251553044 -0.61011761832962 -0.66822622140389 -0.64468492797982 -0.54353128113325 -0.32186035633898 -0.0063652387682143 0.35415261296401 0.66774864186838 0.83737662645874 0.83764583953152 0.69632830945463 0.46869640034803 0.22838731119103 0.022012264629693 -0.14947183170667 -0.26699487142803 -0.33264213429895 -0.35907034944605 -0.31810246311348 -0.21015891294476 -0.03717719627431 0.21537150186849 0.52380733257051 0.83318928103998 1.053744498416 1.1234021141832 0.97896862156546 0.65583685455299 0.28737063229985 -0.097481936474309 -0.37692693278247 -0.54030385175701 -0.65834188759594 -0.66358019443308 -0.64491919229279 -0.61029062258042 -0.61702216648612 -0.6615382646873 -0.74228161111184 -0.83074942135978 -0.91055982470402
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AlphaX 0 -0.30258606424805 -0.41786063635574 -0.51989327307027 -0.60099395978228 -0.6502348117608 -0.65880754504142 -0.61818799974299 -0.52853343364707 -0.39363680227708 -0.22405929416308 -0.036452620400871 0.1567601242841 0.34318169390594 0.51978863424204 0.68250964514758 0.83261690964158 0.97326294321091 1.106068316867 1.2324427689377 1.3487617989589 1.4483455700491 1.5217943729092 1.5556285489898 1.5323554004764 1.4350068687552 1.2468992344742 0.95934222496114 0.5800199977312 0.14407245368212 -0.30019140225182 -0.70057555938781 -1.0451029376884 -1.3599169165493 -1.6103277917078 -1.817039445803 -1.9910281078281 -2.1443148555257 -2.280054694531 -2.4019914790033 -2.49903446358 -2.5673605894591 -2.5842545134922 -2.5230367142731 -2.3541119825782 -2.0563094973188 -1.6150557731757 -1.0387395426405 -0.39890518239107 0.29753682917512 0.96343355648462 1.5566968177415 2.0429591471305 2.4251711383997 2.7224811636456 2.9637146686608 3.1502832657448 3.3049048473719 3.4373740679088 3.5388452094381 3.6125165601485 3.6331859699527 3.5700423734282 3.3800430723645 3.0378858218602 2.510579401527 1.8187780294628 0.96357446140343 0.01875051287911 -0.92553140780442 -1.7837122174312 -2.5097948498896 -3.0788694626051 -3.5092105988245 -3.8546461628563 -4.09981145544 -4.2887002372622 -4.4407597804143 -4.5530277529574 -4.6384722798491 -4.6742431763466 -4.6199531402589 -4.4490718114868 -4.1085832336217 -3.5544449498187 -2.789413955106 -1.798521357919 -0.64703482159618 0.56579722425 1.700406700045 2.711745795851 3.522595446303 4.1341693275724 4.6315730235692 4.9664815793436 5.2114551975623 5.390918715987 5.527894249941 5.6292328696723 5.6853211963772 5.6542876049738 5.5171403279154
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SphericalJointSeries /Assembly1/Joint1
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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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 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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