SmartBench/cmvr-es
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Merge branch 'dev' of http://192.168.1.100:18088/smart_bench/cmvr-es

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lgv 2025-08-22 17:51:04 +08:00
commit e8cb8bb2b2
9 changed files with 550 additions and 211 deletions
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4
config/cabin_robot.xml
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@ -83,12 +83,12 @@
</BioHead >
<Microphone>
<!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
<ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>
<!-- <ffmpegMicPhone id="mic2" alsa="hw:1" channels="2" sampleRate="44100" volume="80"/>-->
</Microphone>
<Speaker>
<!-- <ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="500000" volume="80"/>-->
<ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="500000" volume="80"/>
</Speaker>
<Canbus>

39
config/robot_description/hc_description/dual_arm.urdf
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@ -559,7 +559,37 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.002"/>
<sphere radius="0.004"/>
</geometry>
<material name="">
<color rgba="0 1 1 1"/> <!-- 绿色 -->
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
</link>
<joint name="R_FINGER_TIP_FIXED" type="fixed">
<origin xyz="0.006 -0.2851 -0.01" rpy="0 0 -1.5707963267"/>
<parent link="R_WRIST_R_S"/>
<child link="R_FINGER_TIP"/>
<axis xyz="0 0 1"/>
</joint>
<link name="R_CAM">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.004"/>
</geometry>
<material name="">
<color rgba="0 1 0 1"/> <!-- 绿色 -->
@ -573,10 +603,11 @@
</collision>
</link>
<joint name="R_FINGER_TIP_FIXED" type="fixed">
<origin xyz="-0.01212 -0.17655 0.07506" rpy="-1.5707963267948966 0 3.141592653589793"/>
<joint name="R_CAM_FIXED" type="fixed">
<origin xyz="-0.01212 -0.17655 0.07506" rpy="-1.5707963267 0 3.1415926535"/>
<parent link="R_WRIST_R_S"/>
<child link="R_FINGER_TIP"/>
<child link="R_CAM"/>
<axis xyz="0 0 1"/>
</joint>
</robot>

65
python/hand_eye_calibration/check_precesion.py Normal file
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@ -0,0 +1,65 @@
import numpy as np
import pandas as pd
from pathlib import Path
def get_T_cp():
pass
# ---------- 用户给出的 T_ee->cam ----------
# R_ec = np.array([[ 0.92095 , 0.33864198, 0.19280227],
# [-0.2465026 , 0.88946636, -0.38481952],
# [-0.30180718, 0.30687328, 0.90263017]])
# t_ec = np.array([[-0.00596568],
# [-0.61356453],
# [ 0.02675161]])
R_ec = np.array([[ 1 , 0, 0],
[0 , 1, 0],
[0, 0, 1]])
t_ec = np.array([[-0.035],
[-0.18],
[ 0.08]])
T_ec = np.eye(4)
T_ec[:3, :3] = R_ec
T_ec[:3, 3] = t_ec.ravel()
# ---------- 读取 RobotToolPose.csv ----------
csv_path = Path("RobotToolPose.csv")
if not csv_path.exists():
raise FileNotFoundError("RobotToolPose.csv 未上传到工作目录")
mat = np.loadtxt(csv_path, delimiter=',') # 3 × (4*N)
if mat.shape[0] != 3 or mat.shape[1] % 4 != 0:
raise ValueError("RobotToolPose.csv 格式应为 3×(4*N)")
N = mat.shape[1] // 4
T_list = []
for i in range(N):
block = mat[:, 4*i:4*i+4] # 3×4
T = np.eye(4)
T[:3,:4] = block
T_list.append(T)
# ---------- 计算 T_base->cam = T_base->ee * T_ee->cam ----------
T_bc_list = [T_be @ T_ec for T_be in T_list]
# 简单检查：平移范数 & 旋转角度（相对于第一帧）
def rot_to_axis_angle(R):
angle = np.arccos(max(min((np.trace(R)-1)/2,1),-1))
return angle
trans_norms = [np.linalg.norm(T[:3,3]) for T in T_bc_list]
rot_angles = [rot_to_axis_angle(T[:3,:3] @ T_bc_list[0][:3,:3].T) for T in T_bc_list]
df = pd.DataFrame({
'frame': np.arange(N),
'tx': [T[0,3] for T in T_bc_list],
'ty': [T[1,3] for T in T_bc_list],
'tz': [T[2,3] for T in T_bc_list],
'||t|| (m)': trans_norms,
'Δθ w.r.t #0 (rad)': rot_angles
})
print(df)

10
python/hand_eye_calibration/compute_in_hand.py
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@ -4,15 +4,17 @@
眼在手上 用采集到的图片信息和机械臂位姿信息计算 相机坐标系相对于机械臂末端坐标系的 旋转矩阵和平移向量
A2^{-1}*A1*X=X*B2*B1^{−1}
"""
import os
import logging
import yaml
import cv2
import numpy as np
from scipy.spatial.transform import Rotation as R
from libs.auxiliary import find_latest_data_folder
from libs.log_setting import CommonLog
@ -46,12 +48,15 @@ def func():
# 获取标定板角点的位置
objp = np.zeros((XX * YY, 3), np.float32)
objp[:, :2] = np.mgrid[0:XX, 0:YY].T.reshape(-1, 2) # 将世界坐标系建在标定板上，所有点的Z坐标全部为0，所以只需要赋值x和y
objp = L*objp
obj_points = [] # 存储3D点
img_points = [] # 存储2D点
images_num = [f for f in os.listdir(images_path) if f.endswith('.jpg')]
for i in range(1, len(images_num) + 1): #标定好的图片在images_path路径下，从0.jpg到x.jpg
@ -62,6 +67,7 @@ def func():
logger_.info(f'读 {image_file}')
img = cv2.imread(image_file)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
@ -70,6 +76,7 @@ def func():
if ret:
obj_points.append(objp)
corners2 = cv2.cornerSubPix(gray, corners, (5, 5), (-1, -1), criteria) # 在原角点的基础上寻找亚像素角点
@ -130,4 +137,3 @@ if __name__ == '__main__':
logger_.info(f"平移向量是:\n { translation_vector}")
logger_.info(f"四元数是：\n { quaternion}")

5
python/hand_eye_calibration/config/config.yaml Normal file
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@ -0,0 +1,5 @@
# 棋盘格参数
checkerboard_args:
XX : 11 #标定板的中长度对应的角点的个数
YY : 8 #标定板的中宽度对应的角点的个数
L : 0.015 #标定板一格的长度 单位为米

151
python/hand_eye_calibration/data_collect.py Normal file
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@ -0,0 +1,151 @@
import os
import time
import pyrealsense2 as rs
import numpy as np
import cv2
# =============================
# 1. 关节点位定义（20组，每组7个）
# =============================
# JOINT_POSITIONS = [
# [-0.1756037771702, 1.1800090074539, 1.8522456884384, 1.5761110782623, -2.7331359386444, 0.2563314139843, -0.0606026798487],
# [-0.1923076510429, 1.1099290847778, 1.8832376003265, 1.7514026165009, -2.6219944953918, 0.1934144645929, 0.2889180481434],
# [0.2704087197781, 0.9557962417603, 1.7136577367783, 1.6711657047272, -2.5147924423218, 0.0584972538054, 0.783962905407],
# [0.383531242609, 0.7108500599861, 1.7350907325745, 1.8691725730896, -2.2797479629517, -0.1232690215111, 1.2245988845825],
# [0.3922453224659, 0.7737803459167, 1.8068689107895, 1.6336191892624, -2.1118586063385, -0.0338453501463, 1.1426001787186],
# [0.2443187087774, 0.7818641066551, 1.9731577634811, 1.5233805179596, -1.872123837471, 0.0405574627221, 1.1054704189301],
# [0.1276659220457, 0.9156659245491, 2.0081288814545, 1.4481414556503, -1.8519257307053, 0.2532368600368, 0.8394842743874],
# [0.1861536949873, 1.0141937732697, 1.8355123996735, 1.1459348201752, -2.2625010013580, 0.5969776511192, 0.2645072638988],
# [-0.0192848723382, 0.9415585398674, 1.8732609748840, 1.1809715032578, -2.6499755382538, 0.6354467868805, -0.2003904730082],
# [-0.1747295111418, 1.0453623533249, 1.8939573764801, 1.4446462392807, -2.6536157131195, 0.5147834420204, -0.1335265636444],
# [-0.0191576723009, 1.0618592500687, 1.8731262683868, 1.4747705459595, -2.4312825202942, 0.3830471336842, 0.2654716968536],
# [0.1436645090580, 0.8961057662964, 1.9278227090836, 1.5483351945877, -2.1520030498505, 0.2300240248442, 0.7717508077621],
# [-0.2458887547255, 1.3182551860809, 1.8035455942154, 1.7302685976028, -2.8433899879456, 0.0447540767491, -0.0295310281217],
# [-0.1628440171480, 1.1346882581711, 1.7724473476410, 1.8686875104904, -2.8621222972870, 0.0011371960863, 0.3351055085659],
# [0.2227641940117, 0.9846931695938, 1.5547094345093, 1.9238842725754, -2.8571910858154, -0.1052865162492, 0.8961741328239],
# [0.4523145258427, 0.7738097310066, 1.5341449975967, 1.9425786733627, -2.5897336006165, -0.1147941574454, 1.2599183320999],
# [0.6323996782303, 0.7300637960434, 1.3266047239304, 2.0460503101349, -2.7566838264465, -0.1049704179168, 1.4412622451782],
# [0.6435400247574, 0.7136778831482, 1.3097128868103, 2.0483627319336, -2.7511403560638, -0.1215622797608, 1.5219746828079],
# [0.0131992585957, 1.1347451210022, 1.4958723783493, 1.7922105789185, -3.1400320529938, -0.2474720925093, 0.4145260155201],
# [-0.1823624074459, 1.4246475696564, 1.7136197090149, 1.6952623128891, -2.9659118652344, -0.1499162465334, -0.0364842526615],
# ]
# JOINT_POSITIONS = [
# [-0.718823, 1.40293, 2.16063, 1.88231, -2.7615, 0.489431, -0.26], # 0.05 -0.3 -0.2
# [-0.708813, 1.12828, 2.50833, 1.80323, -2.31185, 0.655554, 0.0481596], # 0.05 -0.4 -0.12
# [ -0.741438, 1.25175, 2.32353, 1.87691, -2.52151, 0.551262, -0.127302], # 0.05 -0.35 -0.16
# [-0.450394, 1.09129, 2.19947, 1.44129, -2.64341, 0.614236, -0.26], # 0.1 -0.4 -0.21
# [-0.594676, 1.36527, 1.89605, 1.89043, -2.83642, 0.234229, -0.204878], # 0.1 -0.25 -0.21
# [ -0.741438, 1.25175, 2.32353, 1.87691, -2.52151, 0.551262, -0.127302], # 0.1 -0.33 -0.15
# [-0.390978, 1.16001, 2.05936, 1.90062, -2.5732, 0.280691, 0.125318], # 0.15 -0.31 -0.14
# [-0.373488, 1.2204, 1.93236, 1.6772, -2.73648, 0.297523, -0.140674], # 0.15 -0.3 -0.21
# [-0.401033, 1.34807, 1.77306, 1.81898, -2.87362, 0.135286, -0.111775], # 0.15 -0.23 -0.21
# [ -0.175812, 1.17802, 1.85193, 1.57614, -2.73311, 0.256294, -0.0606398], # 0.2 -0.3 -0.2
# [-0.373488, 1.2204, 1.93236, 1.6772, -2.73648, 0.297523, -0.140674], # 0.2 -0.25 -0.17
# [-0.0984266, 1.07668, 1.88658, 1.2654, -2.72499, 0.414404, -0.234536], # 0.2 -0.36 -0.23
# [0.0871982, 1.09615, 1.7789, 1.19035, -2.75303, 0.346485, -0.173718], # 0.25 -0.34 -0.22
# [ 0.0222405, 1.18277, 1.74292, 1.51783, -2.75674, 0.178517, 0.0381994], # 0.25 -0.28 -0.18
# [0.047511, 1.19839, 1.72007, 1.29276, -2.81499, 0.234448, -0.163403], # 0.25 -0.29 -0.23
# ]
JOINT_POSITIONS = [
[1.1838487386703, 0.4235305488110, 1.2719281911850, 1.5996315479279, -1.8642479181290, -0.1892226040363, 1.5996874570847], # 0.05 -0.3 -0.2
[1.1144028902054, 0.9934917092323, 1.2339128255844, 1.9597420692444, -2.7524161338806, -0.1010338962078, 2.0266277790070], # 0.05 -0.4 -0.12
[0.7585971355438, 1.2986438274384, 1.5511839389801, 1.9102549552917, -3.1083328723907,0.3383120596409, 1.7495325803757], # 0.05 -0.35 -0.16
[0.7717612981796, -0.0227999277413, 1.2341349124908, 0.8974148035049, -1.1484123468399, 1.0799195766449, 1.3140604496002], # 0.1 -0.4 -0.21
[0.3262319564819, 1.4255702495575, 1.0224531888962, 1.6128582954407, -3.1161243915558, -1.0476765632629, 0.5188082456589], # 0.1 -0.25 -0.21
[0.6811909079552, -0.0465415082872, 0.6306891441345, 0.7774662375450, -0.9128333926201, 1.0805308818817, 0.7373644113541], # 0.1 -0.33 -0.15
[0.5894140601158, 0.5544267892838, 0.1245087385178, 0.6875356435776, -1.0255894660950, 1.0803401470184, -0.3253187835217], # 0.15 -0.31 -0.14
[-0.0615737587214, 0.5200612545013, 2.2596797943115, 1.9721800088882, -1.8687928915024, -0.0344338789582, 1.2385385036469], # 0.15 -0.3 -0.21
[0.9264683723450, 1.2653641700745, 1.7594407796860, 1.5681478977203, -2.9171006679535, 0.1166879013181, 1.7105128765106], # 0.15 -0.23 -0.21
[1.0020719766617, 0.4507283568382, 1.0405201911926, 1.0608046054840, -1.5450072288513, 0.1164857149124, 1.1358253955841], # 0.2 -0.3 -0.2
[0.7424476146698, 0.0144095467404, 0.9496489167213, 0.8356217741966, -1.2565077543259, 1.0145307779312, 0.8847945928574], # 0.2 -0.25 -0.17
[0.2278160750866, 0.7444448471069, 0.9402200579643, 0.5896779298782, -1.5535788536072, 1.0801521539688, -0.3112177252769], # 0.2 -0.36 -0.23
[-0.0866613686085, 1.3698191642761, 1.1545568704605, 1.6992814540863, -2.7753651142120, -0.8176611065865, -0.1862865835428], # 0.25 -0.34 -0.22
[0.2748872637749, 1.5703777074814, 1.0753053426743, 1.0457334518433, -2.9064140319824, -0.9773108959198, -0.3075242042542], # 0.25 -0.28 -0.18
[0.2410523593426, 0.9616132378578, 1.6866004467010, 1.9817161560059, -2.7480125427246, 0.0709219276905, 1.1297777891159],
[0.5065582394600, 0.8918085694313, 2.1731114387512, 1.3742331266403, -2.4524819850922, 1.0801626443863, 1.1498324871063],
[0.5651561021805, 0.7603342533112, 1.1436395645142, 1.9550926685333, -1.9175499677658, -1.0519500970840, 0.6535356044769],
[-0.3106776177883, 0.8671860694885, 2.9035902023315, 1.7579817771912, -1.5784481763840, 1.0808564424515, 1.4593633413315],
[0.0202996153384, -0.2583181858063, 1.7621537446976, 1.8765900135040, -1.8188692331314, -0.0442187041044, 0.7810990214348], # 0.25 -0.29 -0.23
]
input_i = int(input("set index: "))
# =============================
# 2. 初始化RealSense
# =============================
TARGET_SERIAL = "243122075614"
ctx = rs.context()
devices = ctx.query_devices()
if len(devices) == 0:
raise RuntimeError("未检测到任何 RealSense 相机，请检查连接")
selected_device = None
for dev in devices:
if dev.get_info(rs.camera_info.serial_number) == TARGET_SERIAL:
selected_device = dev
break
if selected_device is None:
raise RuntimeError(f"未找到序列号为 {TARGET_SERIAL} 的 RealSense 相机")
pipeline = rs.pipeline()
config = rs.config()
config.enable_device(TARGET_SERIAL)
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
pipeline.start(config)
align = rs.align(rs.stream.color)
# =============================
# 3. 数据采集流程
# =============================
output_joint_file = "data/20250804-1331/joints_record.txt"
with open(output_joint_file, "a") as f:
# for idx, q in enumerate(JOINT_POSITIONS, start=1):
idx = input_i
q = JOINT_POSITIONS[input_i]
print(f"\n===== 采集点 {idx} =====")
cmd = "moveJ one right " + " ".join(str(v) for v in q)
os.system(cmd)
print("运动完成，等待1秒...")
time.sleep(1)
# 获取关节角度输出
tmp_file = "./data/tmp_joint_output.txt"
os.system(f"getJoint > {tmp_file}")
with open(tmp_file, "r") as tf:
lines = tf.readlines()
joint_output = lines[-1].strip() if lines else ""
print("getJoint 输出：\n", joint_output)
# 保存关节数据
f.write(f"{idx} {joint_output}\n")
f.flush()
# 捕获对齐后的彩色图像
for i in range(10):
try:
frames = pipeline.wait_for_frames(timeout_ms=5000)
if frames:
break
except RuntimeError:
print("⚠️ 读取帧超时，重试中...")
time.sleep(1)
frames = pipeline.wait_for_frames()
aligned_frames = align.process(frames)
color_frame = aligned_frames.get_color_frame()
if not color_frame:
print("未获取彩色图像，跳过")
exit(-1)
color_image = np.asanyarray(color_frame.get_data())
img_path = os.path.join(os.path.dirname(output_joint_file), f"img_{idx}.png")
cv2.imwrite(img_path, color_image)
print(f"保存图像 {img_path}")
# 停止RealSense
pipeline.stop()
print("\n=== 数据采集完成 ===")

79
python/math/rpy2rotation.py Normal file
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@ -0,0 +1,79 @@
import numpy as np
def rpy_to_matrix(roll, pitch, yaw, degrees=False):
"""
URDF: R = Rz(yaw) @ Ry(pitch) @ Rx(roll)
roll, pitch, yaw 默认为弧度；degrees=True 时按角度输入。
"""
if degrees:
roll, pitch, yaw = np.deg2rad([roll, pitch, yaw])
cr, sr = np.cos(roll), np.sin(roll)
cp, sp = np.cos(pitch), np.sin(pitch)
cy, sy = np.cos(yaw), np.sin(yaw)
Rx = np.array([[1, 0, 0],
[0, cr, -sr],
[0, sr, cr]], dtype=float)
Ry = np.array([[ cp, 0, sp],
[ 0, 1, 0],
[-sp, 0, cp]], dtype=float)
Rz = np.array([[cy, -sy, 0],
[sy, cy, 0],
[ 0, 0, 1]], dtype=float)
return Rz @ Ry @ Rx
def matrix_to_rpy(R, degrees=False, eps=1e-9):
"""
从旋转矩阵恢复 URDF 的 (roll, pitch, yaw)，满足 R = Rz(yaw)·Ry(pitch)·Rx(roll)。
返回弧度；degrees=True 时返回角度。
含万向节锁处理。
"""
R = np.asarray(R, dtype=float)
assert R.shape == (3, 3)
# 可选：小幅正交化以抑制数值误差（不想要可注释掉）
# 使用极分解的简化：R ≈ U*V^T
U, _, Vt = np.linalg.svd(R)
R = U @ Vt
# R[2,0] = -sin(pitch)
sp_neg = R[2, 0]
sp_neg = np.clip(sp_neg, -1.0, 1.0)
# 非万向节锁：|sp_neg| < 1
if abs(sp_neg) < 1.0 - eps:
pitch = np.arcsin(-sp_neg) # pitch
roll = np.arctan2(R[2, 1], R[2, 2]) # roll
yaw = np.arctan2(R[1, 0], R[0, 0]) # yaw
else:
# 万向节锁：|sp_neg| ≈ 1，此时 yaw 与 roll 耦合
# 令 yaw = 0，通过 R 的其它项恢复 roll
pitch = np.pi/2 if sp_neg < 0 else -np.pi/2
yaw = 0.0
# 当 pitch = ±pi/2 时，R[0,1] 与 R[1,1] 携带 roll 信息
# 推导自 R = Rz(yaw)·Ry(±pi/2)·Rx(roll)
roll = np.arctan2(-R[0, 1] if sp_neg < 0 else R[0, 1],
R[1, 1])
if degrees:
return tuple(np.rad2deg([roll, pitch, yaw]))
return (roll, pitch, yaw)
# ---------- 简单自检 ----------
if __name__ == "__main__":
# rpy = (0.3, -0.6, 1.2) # roll, pitch, yaw (rad)
# R = rpy_to_matrix(*rpy)
# rpy_back = matrix_to_rpy(R)
# print("R:\n", R)
# print("rpy back:", rpy_back)
# print("max abs diff:", np.max(np.abs(np.array(rpy) - np.array(rpy_back))))
R = np.array([
[-1, 0, 0],
[0, -1, 0],
[0, 0, 1]
])
print(matrix_to_rpy(R))

6
src/devices/canbus/CMakeLists.txt
View File

@ -4,7 +4,7 @@ find_package(protobuf REQUIRED)
add_library(canbus SHARED
${CMAKE_CURRENT_SOURCE_DIR}/can_client/socket/socket_can_client_raw.cc
${CMAKE_CURRENT_SOURCE_DIR}/can_client/pcan/pcan_client.cc
# ${CMAKE_CURRENT_SOURCE_DIR}/can_client/pcan/pcan_client.cc
${CMAKE_CURRENT_SOURCE_DIR}/common/byte.cc)
target_include_directories(canbus PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@ -13,9 +13,11 @@ add_library(cmvr_es::device::canbus ALIAS canbus)
target_link_libraries(canbus
PRIVATE
proto-objects
gRPC::grpc++
protobuf::libprotobuf
glog::glog
PUBLIC pcanbasic
# PUBLIC pcanbasic
)
# --------------------------------------------------------

402
src/devices/robot/humanoid_robot/joint_positions_1.csv
View File

@ -1,201 +1,201 @@
idx,q0, q1, q2, q3, q4, q5, q6,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R,pLx, pLy, pLz, pRx, pRy, pRz
0,-0.060915,-0.408236,-1.315908,-1.570092,1.967174,0.099621,0.174091,0.076603,1.162435,1.720999,1.810691,-2.709591,0.039061,0.356226,0.250063,0.349893,-0.099981,0.250748,-0.25,-0.1
1,-0.060358,-0.401354,-1.32106,-1.576596,1.961162,0.102057,0.168042,0.079723,1.162522,1.719628,1.807672,-2.710127,0.039137,0.35604,0.250106,0.349963,-0.096917,0.251478,-0.249999,-0.099996
2,-0.05968,-0.39443,-1.326281,-1.583948,1.955119,0.105347,0.16177,0.082918,1.162616,1.718223,1.804555,-2.71068,0.039224,0.355827,0.250116,0.349818,-0.093782,0.252227,-0.249999,-0.099996
3,-0.059082,-0.387617,-1.331445,-1.5915,1.949159,0.108962,0.155437,0.086114,1.162716,1.71682,1.801428,-2.711233,0.039315,0.355606,0.250119,0.349573,-0.09065,0.252977,-0.249999,-0.099996
4,-0.058629,-0.380953,-1.336515,-1.599206,1.943318,0.112876,0.149029,0.089308,1.16282,1.715421,1.798294,-2.711785,0.039412,0.355376,0.250119,0.349229,-0.087527,0.253727,-0.249999,-0.099996
5,-0.058345,-0.374454,-1.341473,-1.607054,1.937613,0.117085,0.142542,0.0925,1.162929,1.714026,1.795153,-2.712338,0.039512,0.355139,0.250119,0.348787,-0.084416,0.254477,-0.249999,-0.099996
6,-0.05825,-0.368135,-1.346304,-1.615036,1.932059,0.121585,0.135974,0.095689,1.163043,1.712635,1.792005,-2.712891,0.039617,0.354894,0.250118,0.348247,-0.08132,0.255227,-0.249999,-0.099996
7,-0.058365,-0.362008,-1.350992,-1.623146,1.926671,0.126373,0.129323,0.098876,1.163161,1.711247,1.78885,-2.713444,0.039725,0.354641,0.250116,0.347611,-0.078242,0.255977,-0.249999,-0.099996
8,-0.058709,-0.356088,-1.355519,-1.631377,1.921466,0.131446,0.122585,0.102061,1.163284,1.709863,1.785688,-2.713997,0.039839,0.354381,0.250113,0.346878,-0.075186,0.256727,-0.249999,-0.099996
9,-0.059306,-0.350389,-1.359868,-1.639721,1.91646,0.136799,0.115756,0.105243,1.163411,1.708483,1.782519,-2.71455,0.039956,0.354113,0.250109,0.34605,-0.072155,0.257477,-0.249999,-0.099996
10,-0.060176,-0.344926,-1.364019,-1.648171,1.911668,0.142428,0.108834,0.108424,1.163543,1.707107,1.779343,-2.715104,0.040077,0.353837,0.250104,0.345128,-0.06915,0.258227,-0.249999,-0.099996
11,-0.061344,-0.339714,-1.367952,-1.656721,1.907109,0.148328,0.101812,0.111602,1.16368,1.705734,1.776159,-2.715657,0.040203,0.353553,0.250097,0.344111,-0.066176,0.258977,-0.249998,-0.099996
12,-0.062969,-0.334882,-1.371537,-1.665188,1.9029,0.154381,0.094696,0.114728,1.163818,1.704388,1.773028,-2.7162,0.040328,0.353274,0.250106,0.343021,-0.063264,0.259714,-0.249998,-0.099994
13,-0.06483,-0.330233,-1.374954,-1.673896,1.898871,0.160799,0.087449,0.1179,1.163963,1.703023,1.769834,-2.716753,0.040461,0.352976,0.2501,0.341822,-0.060361,0.260464,-0.249998,-0.099994
14,-0.067019,-0.325859,-1.378112,-1.682702,1.895108,0.167483,0.080102,0.121072,1.164112,1.701662,1.766629,-2.717307,0.040599,0.35267,0.250087,0.340532,-0.057495,0.261214,-0.249998,-0.099994
15,-0.069586,-0.321792,-1.380972,-1.691582,1.891642,0.174418,0.072639,0.124242,1.164266,1.700303,1.763418,-2.71786,0.040741,0.352355,0.250072,0.339154,-0.054671,0.261964,-0.249998,-0.099993
16,-0.072563,-0.31805,-1.383506,-1.700525,1.888495,0.181599,0.065052,0.12741,1.164424,1.698949,1.760199,-2.718414,0.040887,0.352033,0.250055,0.337689,-0.051892,0.262714,-0.249998,-0.099993
17,-0.075974,-0.314651,-1.38569,-1.709523,1.885686,0.189019,0.057333,0.130576,1.164587,1.697598,1.756973,-2.718968,0.041036,0.351703,0.250035,0.336137,-0.04916,0.263463,-0.249998,-0.099993
18,-0.079841,-0.31161,-1.3875,-1.718567,1.883232,0.196671,0.049476,0.13374,1.164754,1.696251,1.75374,-2.719521,0.04119,0.351366,0.250014,0.334502,-0.046479,0.264213,-0.249998,-0.099993
19,-0.084184,-0.308942,-1.388914,-1.727648,1.881153,0.204548,0.041475,0.136902,1.164925,1.694908,1.750499,-2.720075,0.041348,0.351021,0.24999,0.332783,-0.04385,0.264963,-0.249997,-0.099993
20,-0.089019,-0.306661,-1.38991,-1.736757,1.879464,0.212643,0.033326,0.140062,1.1651,1.693569,1.747252,-2.72063,0.04151,0.350668,0.249965,0.330984,-0.041278,0.265713,-0.249997,-0.099993
21,-0.094363,-0.304781,-1.390468,-1.745886,1.878182,0.22095,0.025024,0.14322,1.16528,1.692233,1.743997,-2.721184,0.041675,0.350308,0.249939,0.329106,-0.038763,0.266463,-0.249997,-0.099993
22,-0.100423,-0.303377,-1.390478,-1.75511,1.877391,0.229577,0.016412,0.146428,1.165467,1.690878,1.740672,-2.721748,0.041851,0.349924,0.249921,0.327118,-0.036287,0.267226,-0.249998,-0.099995
23,-0.106906,-0.302383,-1.390049,-1.764226,1.877016,0.238282,0.00775,0.149584,1.165655,1.689548,1.7374,-2.722303,0.042025,0.349548,0.249901,0.325084,-0.033897,0.267976,-0.249998,-0.099995
24,-0.1139,-0.301816,-1.389145,-1.773337,1.877083,0.247173,-0.001063,0.152737,1.165848,1.688223,1.734123,-2.722858,0.042202,0.349164,0.249878,0.322977,-0.031573,0.268726,-0.249998,-0.099995
25,-0.121686,-0.301807,-1.387596,-1.782444,1.877728,0.256313,-0.010194,0.155921,1.166046,1.686888,1.730797,-2.723419,0.042388,0.348762,0.249873,0.320774,-0.029305,0.269485,-0.249998,-0.099997
26,-0.129825,-0.302184,-1.385632,-1.791483,1.878778,0.265551,-0.019371,0.159071,1.166246,1.68557,1.727504,-2.723974,0.042573,0.348362,0.249859,0.318524,-0.027119,0.270235,-0.249998,-0.099997
27,-0.13871,-0.303127,-1.38302,-1.800472,1.880419,0.274993,-0.028835,0.162239,1.166452,1.684247,1.724178,-2.724533,0.042765,0.347948,0.249863,0.316188,-0.024998,0.27099,-0.249999,-0.099998
28,-0.147884,-0.304436,-1.380018,-1.809418,1.882456,0.284547,-0.038334,0.165385,1.166661,1.682937,1.72087,-2.725089,0.042957,0.347533,0.249854,0.313804,-0.022959,0.27174,-0.249999,-0.099998
29,-0.157749,-0.306312,-1.376376,-1.818277,1.885089,0.29427,-0.048092,0.168543,1.166874,1.681624,1.717538,-2.725647,0.043156,0.347106,0.249864,0.311343,-0.020992,0.272494,-0.249999,-0.099999
30,-0.167836,-0.308537,-1.372367,-1.8271,1.88811,0.304106,-0.057867,0.171685,1.167091,1.680321,1.714215,-2.726202,0.043356,0.346676,0.249859,0.308834,-0.019107,0.273244,-0.249999,-0.099999
31,-0.178284,-0.311188,-1.3679,-1.835862,1.891596,0.314072,-0.067738,0.174826,1.167311,1.679021,1.710885,-2.726758,0.043559,0.346238,0.249851,0.306268,-0.017303,0.273993,-0.249999,-0.099999
32,-0.189344,-0.314406,-1.362807,-1.844489,1.895686,0.324168,-0.077835,0.177975,1.167536,1.677722,1.707536,-2.727316,0.043768,0.345789,0.249868,0.303633,-0.015576,0.274746,-0.249999,-0.099999
33,-0.200505,-0.317941,-1.357395,-1.85307,1.900141,0.334361,-0.087902,0.181112,1.167764,1.676429,1.704191,-2.727873,0.043979,0.345336,0.249867,0.300957,-0.013936,0.275496,-0.249999,-0.099999
34,-0.211906,-0.321871,-1.351569,-1.861564,1.90504,0.344657,-0.098013,0.184249,1.167996,1.675141,1.700838,-2.728429,0.044193,0.344875,0.249865,0.298231,-0.012381,0.276246,-0.249999,-0.099999
35,-0.223529,-0.326198,-1.345331,-1.869954,1.910385,0.355043,-0.10816,0.187384,1.168232,1.673855,1.697478,-2.728986,0.044412,0.344406,0.249864,0.295457,-0.010913,0.276996,-0.249999,-0.099999
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143,-0.13996,-0.812254,-1.035867,-1.552796,2.303199,0.365674,0.26,0.525308,1.211975,1.553483,1.280002,-2.792204,0.08526,0.24643,0.250034,0.228129,-0.197474,0.357986,-0.249997,-0.099996
144,-0.133274,-0.813212,-1.049883,-1.546152,2.306672,0.351724,0.26,0.528532,1.21252,1.552508,1.275494,-2.792838,0.085774,0.245036,0.250032,0.231208,-0.198116,0.358735,-0.249996,-0.099995
145,-0.127013,-0.813809,-1.063462,-1.539696,2.309687,0.338045,0.26,0.531759,1.213067,1.551535,1.270969,-2.793473,0.08629,0.243631,0.25003,0.234305,-0.198661,0.359485,-0.249996,-0.099995
146,-0.121294,-0.813902,-1.07638,-1.533529,2.31207,0.324821,0.26,0.534966,1.213613,1.55057,1.266474,-2.794106,0.086801,0.242236,0.250036,0.237402,-0.199082,0.360229,-0.249995,-0.099993
147,-0.115848,-0.813728,-1.089036,-1.527471,2.31413,0.311744,0.26,0.538202,1.214164,1.549601,1.261919,-2.794744,0.087321,0.240811,0.250035,0.240526,-0.199431,0.360979,-0.249995,-0.099993
148,-0.110778,-0.813166,-1.101235,-1.521609,2.31572,0.298973,0.26,0.541442,1.214718,1.548634,1.257348,-2.795384,0.087844,0.239375,0.250033,0.243661,-0.199685,0.361728,-0.249995,-0.099993
149,-0.106081,-0.812196,-1.112948,-1.515958,2.316817,0.286536,0.26,0.544687,1.215274,1.547668,1.25276,-2.796025,0.088368,0.237928,0.250031,0.246802,-0.19984,0.362478,-0.249995,-0.099993
150,-0.101742,-0.810805,-1.124164,-1.510524,2.317415,0.274449,0.26,0.547937,1.215832,1.546704,1.248156,-2.796668,0.088896,0.23647,0.250029,0.249946,-0.199898,0.363228,-0.249995,-0.099993
151,-0.097855,-0.808869,-1.134674,-1.505405,2.317359,0.262888,0.26,0.551154,1.216388,1.545752,1.243602,-2.797305,0.089413,0.23503,0.250033,0.253072,-0.199833,0.363968,-0.249993,-0.09999
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153,-0.090829,-0.80393,-1.154564,-1.495666,2.316019,0.240555,0.26,0.557676,1.217515,1.543832,1.234314,-2.798598,0.090478,0.232061,0.250029,0.259349,-0.199457,0.365467,-0.249993,-0.09999
154,-0.087869,-0.800706,-1.163538,-1.49124,2.314457,0.230136,0.26,0.560889,1.218075,1.54289,1.229741,-2.799236,0.090997,0.230602,0.250034,0.262452,-0.199103,0.366204,-0.24999,-0.099986
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160,-0.074985,-0.77274,-1.207618,-1.469363,2.295216,0.175117,0.26,0.580517,1.221512,1.537204,1.201522,-2.803144,0.09423,0.221429,0.250025,0.280819,-0.195072,0.370678,-0.249985,-0.099979
161,-0.073599,-0.766586,-1.213226,-1.4666,2.290301,0.167338,0.26,0.583823,1.222095,1.536257,1.196729,-2.803804,0.094782,0.219848,0.250021,0.283798,-0.194071,0.371427,-0.249985,-0.099979
162,-0.072387,-0.760035,-1.218367,-1.464098,2.284931,0.15995,0.26,0.587136,1.22268,1.535311,1.191918,-2.804465,0.095336,0.218255,0.250016,0.286745,-0.192982,0.372176,-0.249985,-0.099978
163,-0.071224,-0.75335,-1.223466,-1.461899,2.279459,0.152798,0.259729,0.590454,1.223267,1.534367,1.187087,-2.805129,0.095892,0.21665,0.250015,0.289652,-0.19179,0.372926,-0.249985,-0.099978
164,-0.070077,-0.746586,-1.228599,-1.459991,2.273949,0.145843,0.259163,0.593779,1.223857,1.533425,1.182238,-2.805794,0.09645,0.215033,0.250018,0.292517,-0.190501,0.373675,-0.249984,-0.099978
165,-0.068931,-0.73975,-1.233768,-1.45836,2.2684,0.139081,0.258333,0.59711,1.224448,1.532483,1.177369,-2.806461,0.097011,0.213403,0.25002,0.29534,-0.189123,0.374424,-0.249984,-0.099978
166,-0.067781,-0.732847,-1.238973,-1.457005,2.262812,0.132517,0.257241,0.600447,1.225042,1.531543,1.17248,-2.80713,0.097574,0.211762,0.250023,0.298118,-0.187656,0.375174,-0.249984,-0.099977
167,-0.066626,-0.72588,-1.244215,-1.455929,2.257183,0.126158,0.255893,0.603792,1.225639,1.530604,1.167572,-2.807801,0.098139,0.210108,0.250026,0.300849,-0.186103,0.375923,-0.249984,-0.099977
168,-0.065462,-0.718854,-1.249494,-1.455133,2.251513,0.12001,0.254291,0.607142,1.226238,1.529666,1.162644,-2.808473,0.098707,0.208441,0.250029,0.303529,-0.184465,0.376672,-0.249984,-0.099977
169,-0.064288,-0.711771,-1.254812,-1.454617,2.245801,0.11408,0.25244,0.6105,1.226839,1.528729,1.157695,-2.809148,0.099277,0.206762,0.250032,0.306157,-0.182744,0.377421,-0.249983,-0.099977
170,-0.063101,-0.704637,-1.260168,-1.454382,2.240046,0.108372,0.250343,0.613865,1.227442,1.527794,1.152726,-2.809824,0.099849,0.20507,0.250035,0.308729,-0.180941,0.378171,-0.249983,-0.099976
171,-0.061899,-0.697456,-1.265563,-1.454429,2.234248,0.102894,0.248005,0.617237,1.228048,1.526859,1.147736,-2.810503,0.100424,0.203365,0.250038,0.311244,-0.179058,0.37892,-0.249983,-0.099976
172,-0.060681,-0.690231,-1.270997,-1.454757,2.228408,0.097651,0.24543,0.620616,1.228656,1.525926,1.142725,-2.811183,0.101001,0.201647,0.250041,0.313698,-0.177097,0.379669,-0.249983,-0.099976
173,-0.059446,-0.682966,-1.27647,-1.455366,2.222524,0.092649,0.242622,0.624002,1.229266,1.524993,1.137693,-2.811866,0.101581,0.199916,0.250044,0.316089,-0.17506,0.380418,-0.249983,-0.099976
174,-0.058191,-0.675667,-1.281982,-1.456256,2.216598,0.087892,0.239587,0.627396,1.229879,1.524062,1.13264,-2.81255,0.102163,0.198172,0.250047,0.318415,-0.172949,0.381167,-0.249982,-0.099975
175,-0.056917,-0.668337,-1.287533,-1.457425,2.21063,0.083387,0.236329,0.630798,1.230494,1.523131,1.127564,-2.813237,0.102747,0.196414,0.250051,0.320673,-0.170766,0.381916,-0.249982,-0.099975
176,-0.055623,-0.660981,-1.293123,-1.458872,2.204622,0.079138,0.232854,0.634208,1.231112,1.522202,1.122467,-2.813925,0.103334,0.194643,0.250054,0.322862,-0.168513,0.382666,-0.249982,-0.099975
177,-0.054309,-0.653604,-1.29875,-1.460596,2.198575,0.07515,0.229166,0.637626,1.231732,1.521273,1.117347,-2.814616,0.103923,0.192858,0.250057,0.324979,-0.166192,0.383415,-0.249982,-0.099975
178,-0.052974,-0.646209,-1.304414,-1.462594,2.192489,0.071428,0.225271,0.641052,1.232354,1.520345,1.112204,-2.815309,0.104515,0.191059,0.250061,0.327022,-0.163807,0.384164,-0.249982,-0.099974
179,-0.05162,-0.638803,-1.310115,-1.464866,2.186368,0.067976,0.221174,0.644486,1.232979,1.519418,1.107039,-2.816004,0.105109,0.189246,0.250064,0.328988,-0.161358,0.384913,-0.249981,-0.099974
180,-0.050246,-0.631389,-1.31585,-1.467408,2.180214,0.064799,0.216881,0.647929,1.233607,1.518492,1.10185,-2.816702,0.105706,0.18742,0.250068,0.330877,-0.158848,0.385662,-0.249981,-0.099974
181,-0.048735,-0.623867,-1.321716,-1.470336,2.173943,0.061916,0.212374,0.651486,1.23425,1.517539,1.096448,-2.817422,0.106337,0.185494,0.250054,0.332698,-0.156254,0.386434,-0.249985,-0.09998
182,-0.04731,-0.616446,-1.327526,-1.473428,2.167724,0.059309,0.207705,0.654957,1.234884,1.516612,1.091192,-2.818126,0.106942,0.183629,0.250055,0.334424,-0.153629,0.387185,-0.249986,-0.09998
183,-0.04588,-0.609037,-1.333361,-1.476772,2.161484,0.056984,0.202857,0.658429,1.235519,1.515687,1.085927,-2.818831,0.107547,0.181757,0.250058,0.336067,-0.150952,0.387935,-0.249985,-0.09998
184,-0.044439,-0.601642,-1.339224,-1.480373,2.155223,0.054948,0.197834,0.66191,1.236157,1.514763,1.080638,-2.819538,0.108154,0.179871,0.250061,0.337625,-0.148225,0.388684,-0.249985,-0.09998
185,-0.042988,-0.594267,-1.345111,-1.484228,2.148947,0.053204,0.192645,0.665399,1.236797,1.513839,1.075325,-2.820248,0.108764,0.17797,0.250063,0.339097,-0.14545,0.389433,-0.249985,-0.099979
186,-0.041532,-0.586915,-1.35102,-1.488334,2.142659,0.051755,0.187293,0.668899,1.237439,1.512916,1.069986,-2.82096,0.109376,0.176053,0.250066,0.34048,-0.14263,0.390182,-0.249985,-0.099979
187,-0.040074,-0.579595,-1.356948,-1.492685,2.136364,0.050603,0.181785,0.672408,1.238084,1.511993,1.064622,-2.821674,0.109991,0.174122,0.250069,0.341775,-0.139768,0.390931,-0.249984,-0.099979
188,-0.038618,-0.57231,-1.362891,-1.497278,2.130068,0.049751,0.176126,0.675927,1.238732,1.511071,1.059231,-2.822392,0.110609,0.172175,0.250072,0.342978,-0.136867,0.39168,-0.249984,-0.099978
189,-0.03717,-0.565068,-1.368844,-1.502108,2.123777,0.0492,0.170323,0.679457,1.239383,1.510149,1.053814,-2.823111,0.111229,0.170212,0.250075,0.34409,-0.133929,0.392429,-0.249984,-0.099978
190,-0.035734,-0.557874,-1.374804,-1.50717,2.117497,0.048953,0.16438,0.682997,1.240036,1.509227,1.04837,-2.823834,0.111852,0.168233,0.250077,0.345109,-0.130958,0.393179,-0.249984,-0.099978
191,-0.034318,-0.550735,-1.380764,-1.512459,2.111234,0.04901,0.158303,0.686548,1.240691,1.508306,1.042898,-2.824559,0.112477,0.166239,0.25008,0.346035,-0.127956,0.393928,-0.249984,-0.099977
192,-0.032928,-0.543659,-1.38672,-1.51797,2.104996,0.049372,0.152097,0.69011,1.24135,1.507384,1.037399,-2.825286,0.113106,0.164228,0.250083,0.346865,-0.124927,0.394676,-0.249983,-0.099977
193,-0.03157,-0.536651,-1.392664,-1.523698,2.098789,0.050041,0.145767,0.693683,1.242011,1.506463,1.031872,-2.826017,0.113737,0.1622,0.250085,0.3476,-0.121873,0.395425,-0.249983,-0.099977
194,-0.030255,-0.529718,-1.398589,-1.529636,2.092623,0.051016,0.139319,0.697267,1.242675,1.505542,1.026316,-2.82675,0.114371,0.160156,0.250088,0.348238,-0.118797,0.396174,-0.249983,-0.099976
195,-0.02899,-0.522868,-1.404489,-1.535779,2.086505,0.052298,0.132757,0.700863,1.243342,1.504621,1.020731,-2.827486,0.115008,0.158095,0.25009,0.348779,-0.115703,0.396923,-0.249982,-0.099976
196,-0.027785,-0.516108,-1.410355,-1.542122,2.080443,0.053887,0.126085,0.704471,1.244011,1.5037,1.015116,-2.828226,0.115647,0.156017,0.250092,0.349223,-0.112593,0.397672,-0.249982,-0.099976
197,-0.02665,-0.509445,-1.416176,-1.548657,2.074446,0.055783,0.119309,0.708091,1.244683,1.502779,1.009472,-2.828968,0.11629,0.153921,0.250094,0.349569,-0.10947,0.398421,-0.249982,-0.099975
198,-0.025597,-0.502888,-1.421945,-1.55538,2.068525,0.057984,0.112431,0.711723,1.245359,1.501858,1.003797,-2.829713,0.116935,0.151808,0.250096,0.349816,-0.106339,0.39917,-0.249982,-0.099975
199,-0.024639,-0.496444,-1.427648,-1.562284,2.062687,0.06049,0.105457,0.715368,1.246037,1.500936,0.99809,-2.830461,0.117584,0.149677,0.250097,0.349965,-0.1032,0.399918,-0.249981,-0.099975
idx,q0, q1, q2, q3, q4, q5, q6,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R,pLx, pLy, pLz, pRx, pRy, pRz
0,-0.060915,-0.408236,-1.315908,-1.570092,1.967174,0.099621,0.174091,0.076603,1.162435,1.720999,1.810691,-2.709591,0.039061,0.356226,0.250063,0.349893,-0.099981,0.250748,-0.25,-0.1
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141,-0.154652,-0.809315,-1.006594,-1.56662,2.29492,0.394309,0.26,0.518873,1.210892,1.555438,1.288973,-2.790939,0.084239,0.249187,0.250037,0.22204,-0.195904,0.356486,-0.249997,-0.099996
142,-0.147083,-0.810949,-1.021432,-1.559621,2.299278,0.379875,0.26,0.522089,1.211432,1.554459,1.284495,-2.791571,0.084749,0.247814,0.250035,0.225073,-0.196737,0.357236,-0.249997,-0.099996
143,-0.13996,-0.812254,-1.035867,-1.552796,2.303199,0.365674,0.26,0.525308,1.211975,1.553483,1.280002,-2.792204,0.08526,0.24643,0.250034,0.228129,-0.197474,0.357986,-0.249997,-0.099996
144,-0.133274,-0.813212,-1.049883,-1.546152,2.306672,0.351724,0.26,0.528532,1.21252,1.552508,1.275494,-2.792838,0.085774,0.245036,0.250032,0.231208,-0.198116,0.358735,-0.249996,-0.099995
145,-0.127013,-0.813809,-1.063462,-1.539696,2.309687,0.338045,0.26,0.531759,1.213067,1.551535,1.270969,-2.793473,0.08629,0.243631,0.25003,0.234305,-0.198661,0.359485,-0.249996,-0.099995
146,-0.121294,-0.813902,-1.07638,-1.533529,2.31207,0.324821,0.26,0.534966,1.213613,1.55057,1.266474,-2.794106,0.086801,0.242236,0.250036,0.237402,-0.199082,0.360229,-0.249995,-0.099993
147,-0.115848,-0.813728,-1.089036,-1.527471,2.31413,0.311744,0.26,0.538202,1.214164,1.549601,1.261919,-2.794744,0.087321,0.240811,0.250035,0.240526,-0.199431,0.360979,-0.249995,-0.099993
148,-0.110778,-0.813166,-1.101235,-1.521609,2.31572,0.298973,0.26,0.541442,1.214718,1.548634,1.257348,-2.795384,0.087844,0.239375,0.250033,0.243661,-0.199685,0.361728,-0.249995,-0.099993
149,-0.106081,-0.812196,-1.112948,-1.515958,2.316817,0.286536,0.26,0.544687,1.215274,1.547668,1.25276,-2.796025,0.088368,0.237928,0.250031,0.246802,-0.19984,0.362478,-0.249995,-0.099993
150,-0.101742,-0.810805,-1.124164,-1.510524,2.317415,0.274449,0.26,0.547937,1.215832,1.546704,1.248156,-2.796668,0.088896,0.23647,0.250029,0.249946,-0.199898,0.363228,-0.249995,-0.099993
151,-0.097855,-0.808869,-1.134674,-1.505405,2.317359,0.262888,0.26,0.551154,1.216388,1.545752,1.243602,-2.797305,0.089413,0.23503,0.250033,0.253072,-0.199833,0.363968,-0.249993,-0.09999
152,-0.094191,-0.806611,-1.144867,-1.500425,2.316936,0.251539,0.26,0.554412,1.21695,1.544791,1.238968,-2.797951,0.089944,0.233552,0.250032,0.256213,-0.199693,0.364718,-0.249993,-0.09999
153,-0.090829,-0.80393,-1.154564,-1.495666,2.316019,0.240555,0.26,0.557676,1.217515,1.543832,1.234314,-2.798598,0.090478,0.232061,0.250029,0.259349,-0.199457,0.365467,-0.249993,-0.09999
154,-0.087869,-0.800706,-1.163538,-1.49124,2.314457,0.230136,0.26,0.560889,1.218075,1.54289,1.229741,-2.799236,0.090997,0.230602,0.250034,0.262452,-0.199103,0.366204,-0.24999,-0.099986
155,-0.085092,-0.797135,-1.172188,-1.486964,2.312509,0.219943,0.26,0.564159,1.218644,1.541935,1.22506,-2.799886,0.091534,0.229092,0.250032,0.265565,-0.19867,0.366952,-0.24999,-0.099986
156,-0.082572,-0.793139,-1.180341,-1.482922,2.310069,0.210131,0.26,0.567438,1.219215,1.540981,1.220356,-2.800538,0.092074,0.227569,0.250029,0.268665,-0.198144,0.367702,-0.24999,-0.099985
157,-0.080307,-0.788702,-1.187974,-1.479129,2.307123,0.200725,0.26,0.570723,1.219789,1.540028,1.215634,-2.801191,0.092617,0.226033,0.250026,0.271747,-0.197521,0.368451,-0.249989,-0.099985
158,-0.078367,-0.783783,-1.194913,-1.475669,2.303601,0.191891,0.26,0.57393,1.220354,1.539099,1.211038,-2.80183,0.093137,0.224548,0.25003,0.274775,-0.196793,0.369181,-0.249986,-0.09998
159,-0.076574,-0.778469,-1.201508,-1.47239,2.299646,0.183307,0.26,0.577217,1.220932,1.538152,1.206296,-2.802486,0.093681,0.222997,0.250028,0.27781,-0.195978,0.369929,-0.249985,-0.099979
160,-0.074985,-0.77274,-1.207618,-1.469363,2.295216,0.175117,0.26,0.580517,1.221512,1.537204,1.201522,-2.803144,0.09423,0.221429,0.250025,0.280819,-0.195072,0.370678,-0.249985,-0.099979
161,-0.073599,-0.766586,-1.213226,-1.4666,2.290301,0.167338,0.26,0.583823,1.222095,1.536257,1.196729,-2.803804,0.094782,0.219848,0.250021,0.283798,-0.194071,0.371427,-0.249985,-0.099979
162,-0.072387,-0.760035,-1.218367,-1.464098,2.284931,0.15995,0.26,0.587136,1.22268,1.535311,1.191918,-2.804465,0.095336,0.218255,0.250016,0.286745,-0.192982,0.372176,-0.249985,-0.099978
163,-0.071224,-0.75335,-1.223466,-1.461899,2.279459,0.152798,0.259729,0.590454,1.223267,1.534367,1.187087,-2.805129,0.095892,0.21665,0.250015,0.289652,-0.19179,0.372926,-0.249985,-0.099978
164,-0.070077,-0.746586,-1.228599,-1.459991,2.273949,0.145843,0.259163,0.593779,1.223857,1.533425,1.182238,-2.805794,0.09645,0.215033,0.250018,0.292517,-0.190501,0.373675,-0.249984,-0.099978
165,-0.068931,-0.73975,-1.233768,-1.45836,2.2684,0.139081,0.258333,0.59711,1.224448,1.532483,1.177369,-2.806461,0.097011,0.213403,0.25002,0.29534,-0.189123,0.374424,-0.249984,-0.099978
166,-0.067781,-0.732847,-1.238973,-1.457005,2.262812,0.132517,0.257241,0.600447,1.225042,1.531543,1.17248,-2.80713,0.097574,0.211762,0.250023,0.298118,-0.187656,0.375174,-0.249984,-0.099977
167,-0.066626,-0.72588,-1.244215,-1.455929,2.257183,0.126158,0.255893,0.603792,1.225639,1.530604,1.167572,-2.807801,0.098139,0.210108,0.250026,0.300849,-0.186103,0.375923,-0.249984,-0.099977
168,-0.065462,-0.718854,-1.249494,-1.455133,2.251513,0.12001,0.254291,0.607142,1.226238,1.529666,1.162644,-2.808473,0.098707,0.208441,0.250029,0.303529,-0.184465,0.376672,-0.249984,-0.099977
169,-0.064288,-0.711771,-1.254812,-1.454617,2.245801,0.11408,0.25244,0.6105,1.226839,1.528729,1.157695,-2.809148,0.099277,0.206762,0.250032,0.306157,-0.182744,0.377421,-0.249983,-0.099977
170,-0.063101,-0.704637,-1.260168,-1.454382,2.240046,0.108372,0.250343,0.613865,1.227442,1.527794,1.152726,-2.809824,0.099849,0.20507,0.250035,0.308729,-0.180941,0.378171,-0.249983,-0.099976
171,-0.061899,-0.697456,-1.265563,-1.454429,2.234248,0.102894,0.248005,0.617237,1.228048,1.526859,1.147736,-2.810503,0.100424,0.203365,0.250038,0.311244,-0.179058,0.37892,-0.249983,-0.099976
172,-0.060681,-0.690231,-1.270997,-1.454757,2.228408,0.097651,0.24543,0.620616,1.228656,1.525926,1.142725,-2.811183,0.101001,0.201647,0.250041,0.313698,-0.177097,0.379669,-0.249983,-0.099976
173,-0.059446,-0.682966,-1.27647,-1.455366,2.222524,0.092649,0.242622,0.624002,1.229266,1.524993,1.137693,-2.811866,0.101581,0.199916,0.250044,0.316089,-0.17506,0.380418,-0.249983,-0.099976
174,-0.058191,-0.675667,-1.281982,-1.456256,2.216598,0.087892,0.239587,0.627396,1.229879,1.524062,1.13264,-2.81255,0.102163,0.198172,0.250047,0.318415,-0.172949,0.381167,-0.249982,-0.099975
175,-0.056917,-0.668337,-1.287533,-1.457425,2.21063,0.083387,0.236329,0.630798,1.230494,1.523131,1.127564,-2.813237,0.102747,0.196414,0.250051,0.320673,-0.170766,0.381916,-0.249982,-0.099975
176,-0.055623,-0.660981,-1.293123,-1.458872,2.204622,0.079138,0.232854,0.634208,1.231112,1.522202,1.122467,-2.813925,0.103334,0.194643,0.250054,0.322862,-0.168513,0.382666,-0.249982,-0.099975
177,-0.054309,-0.653604,-1.29875,-1.460596,2.198575,0.07515,0.229166,0.637626,1.231732,1.521273,1.117347,-2.814616,0.103923,0.192858,0.250057,0.324979,-0.166192,0.383415,-0.249982,-0.099975
178,-0.052974,-0.646209,-1.304414,-1.462594,2.192489,0.071428,0.225271,0.641052,1.232354,1.520345,1.112204,-2.815309,0.104515,0.191059,0.250061,0.327022,-0.163807,0.384164,-0.249982,-0.099974
179,-0.05162,-0.638803,-1.310115,-1.464866,2.186368,0.067976,0.221174,0.644486,1.232979,1.519418,1.107039,-2.816004,0.105109,0.189246,0.250064,0.328988,-0.161358,0.384913,-0.249981,-0.099974
180,-0.050246,-0.631389,-1.31585,-1.467408,2.180214,0.064799,0.216881,0.647929,1.233607,1.518492,1.10185,-2.816702,0.105706,0.18742,0.250068,0.330877,-0.158848,0.385662,-0.249981,-0.099974
181,-0.048735,-0.623867,-1.321716,-1.470336,2.173943,0.061916,0.212374,0.651486,1.23425,1.517539,1.096448,-2.817422,0.106337,0.185494,0.250054,0.332698,-0.156254,0.386434,-0.249985,-0.09998
182,-0.04731,-0.616446,-1.327526,-1.473428,2.167724,0.059309,0.207705,0.654957,1.234884,1.516612,1.091192,-2.818126,0.106942,0.183629,0.250055,0.334424,-0.153629,0.387185,-0.249986,-0.09998
183,-0.04588,-0.609037,-1.333361,-1.476772,2.161484,0.056984,0.202857,0.658429,1.235519,1.515687,1.085927,-2.818831,0.107547,0.181757,0.250058,0.336067,-0.150952,0.387935,-0.249985,-0.09998
184,-0.044439,-0.601642,-1.339224,-1.480373,2.155223,0.054948,0.197834,0.66191,1.236157,1.514763,1.080638,-2.819538,0.108154,0.179871,0.250061,0.337625,-0.148225,0.388684,-0.249985,-0.09998
185,-0.042988,-0.594267,-1.345111,-1.484228,2.148947,0.053204,0.192645,0.665399,1.236797,1.513839,1.075325,-2.820248,0.108764,0.17797,0.250063,0.339097,-0.14545,0.389433,-0.249985,-0.099979
186,-0.041532,-0.586915,-1.35102,-1.488334,2.142659,0.051755,0.187293,0.668899,1.237439,1.512916,1.069986,-2.82096,0.109376,0.176053,0.250066,0.34048,-0.14263,0.390182,-0.249985,-0.099979
187,-0.040074,-0.579595,-1.356948,-1.492685,2.136364,0.050603,0.181785,0.672408,1.238084,1.511993,1.064622,-2.821674,0.109991,0.174122,0.250069,0.341775,-0.139768,0.390931,-0.249984,-0.099979
188,-0.038618,-0.57231,-1.362891,-1.497278,2.130068,0.049751,0.176126,0.675927,1.238732,1.511071,1.059231,-2.822392,0.110609,0.172175,0.250072,0.342978,-0.136867,0.39168,-0.249984,-0.099978
189,-0.03717,-0.565068,-1.368844,-1.502108,2.123777,0.0492,0.170323,0.679457,1.239383,1.510149,1.053814,-2.823111,0.111229,0.170212,0.250075,0.34409,-0.133929,0.392429,-0.249984,-0.099978
190,-0.035734,-0.557874,-1.374804,-1.50717,2.117497,0.048953,0.16438,0.682997,1.240036,1.509227,1.04837,-2.823834,0.111852,0.168233,0.250077,0.345109,-0.130958,0.393179,-0.249984,-0.099978
191,-0.034318,-0.550735,-1.380764,-1.512459,2.111234,0.04901,0.158303,0.686548,1.240691,1.508306,1.042898,-2.824559,0.112477,0.166239,0.25008,0.346035,-0.127956,0.393928,-0.249984,-0.099977
192,-0.032928,-0.543659,-1.38672,-1.51797,2.104996,0.049372,0.152097,0.69011,1.24135,1.507384,1.037399,-2.825286,0.113106,0.164228,0.250083,0.346865,-0.124927,0.394676,-0.249983,-0.099977
193,-0.03157,-0.536651,-1.392664,-1.523698,2.098789,0.050041,0.145767,0.693683,1.242011,1.506463,1.031872,-2.826017,0.113737,0.1622,0.250085,0.3476,-0.121873,0.395425,-0.249983,-0.099977
194,-0.030255,-0.529718,-1.398589,-1.529636,2.092623,0.051016,0.139319,0.697267,1.242675,1.505542,1.026316,-2.82675,0.114371,0.160156,0.250088,0.348238,-0.118797,0.396174,-0.249983,-0.099976
195,-0.02899,-0.522868,-1.404489,-1.535779,2.086505,0.052298,0.132757,0.700863,1.243342,1.504621,1.020731,-2.827486,0.115008,0.158095,0.25009,0.348779,-0.115703,0.396923,-0.249982,-0.099976
196,-0.027785,-0.516108,-1.410355,-1.542122,2.080443,0.053887,0.126085,0.704471,1.244011,1.5037,1.015116,-2.828226,0.115647,0.156017,0.250092,0.349223,-0.112593,0.397672,-0.249982,-0.099976
197,-0.02665,-0.509445,-1.416176,-1.548657,2.074446,0.055783,0.119309,0.708091,1.244683,1.502779,1.009472,-2.828968,0.11629,0.153921,0.250094,0.349569,-0.10947,0.398421,-0.249982,-0.099975
198,-0.025597,-0.502888,-1.421945,-1.55538,2.068525,0.057984,0.112431,0.711723,1.245359,1.501858,1.003797,-2.829713,0.116935,0.151808,0.250096,0.349816,-0.106339,0.39917,-0.249982,-0.099975
199,-0.024639,-0.496444,-1.427648,-1.562284,2.062687,0.06049,0.105457,0.715368,1.246037,1.500936,0.99809,-2.830461,0.117584,0.149677,0.250097,0.349965,-0.1032,0.399918,-0.249981,-0.099975

1 idx q0 q1 q2 q3 q4 q5 q6 R_SHOULDER_P R_SHOULDER_R R_SHOULDER_Y R_ELBOW_R R_WRIST_P R_WRIST_Y R_WRIST_R pLx pLy pLz pRx pRy pRz
2 0 -0.060915 -0.408236 -1.315908 -1.570092 1.967174 0.099621 0.174091 0.076603 1.162435 1.720999 1.810691 -2.709591 0.039061 0.356226 0.250063 0.349893 -0.099981 0.250748 -0.25 -0.1
3 1 -0.060358 -0.401354 -1.32106 -1.576596 1.961162 0.102057 0.168042 0.079723 1.162522 1.719628 1.807672 -2.710127 0.039137 0.35604 0.250106 0.349963 -0.096917 0.251478 -0.249999 -0.099996
4 2 -0.05968 -0.39443 -1.326281 -1.583948 1.955119 0.105347 0.16177 0.082918 1.162616 1.718223 1.804555 -2.71068 0.039224 0.355827 0.250116 0.349818 -0.093782 0.252227 -0.249999 -0.099996
5 3 -0.059082 -0.387617 -1.331445 -1.5915 1.949159 0.108962 0.155437 0.086114 1.162716 1.71682 1.801428 -2.711233 0.039315 0.355606 0.250119 0.349573 -0.09065 0.252977 -0.249999 -0.099996
6 4 -0.058629 -0.380953 -1.336515 -1.599206 1.943318 0.112876 0.149029 0.089308 1.16282 1.715421 1.798294 -2.711785 0.039412 0.355376 0.250119 0.349229 -0.087527 0.253727 -0.249999 -0.099996
7 5 -0.058345 -0.374454 -1.341473 -1.607054 1.937613 0.117085 0.142542 0.0925 1.162929 1.714026 1.795153 -2.712338 0.039512 0.355139 0.250119 0.348787 -0.084416 0.254477 -0.249999 -0.099996
8 6 -0.05825 -0.368135 -1.346304 -1.615036 1.932059 0.121585 0.135974 0.095689 1.163043 1.712635 1.792005 -2.712891 0.039617 0.354894 0.250118 0.348247 -0.08132 0.255227 -0.249999 -0.099996
9 7 -0.058365 -0.362008 -1.350992 -1.623146 1.926671 0.126373 0.129323 0.098876 1.163161 1.711247 1.78885 -2.713444 0.039725 0.354641 0.250116 0.347611 -0.078242 0.255977 -0.249999 -0.099996
10 8 -0.058709 -0.356088 -1.355519 -1.631377 1.921466 0.131446 0.122585 0.102061 1.163284 1.709863 1.785688 -2.713997 0.039839 0.354381 0.250113 0.346878 -0.075186 0.256727 -0.249999 -0.099996
11 9 -0.059306 -0.350389 -1.359868 -1.639721 1.91646 0.136799 0.115756 0.105243 1.163411 1.708483 1.782519 -2.71455 0.039956 0.354113 0.250109 0.34605 -0.072155 0.257477 -0.249999 -0.099996
12 10 -0.060176 -0.344926 -1.364019 -1.648171 1.911668 0.142428 0.108834 0.108424 1.163543 1.707107 1.779343 -2.715104 0.040077 0.353837 0.250104 0.345128 -0.06915 0.258227 -0.249999 -0.099996
13 11 -0.061344 -0.339714 -1.367952 -1.656721 1.907109 0.148328 0.101812 0.111602 1.16368 1.705734 1.776159 -2.715657 0.040203 0.353553 0.250097 0.344111 -0.066176 0.258977 -0.249998 -0.099996
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89 87 -0.479483 -0.730741 -0.878866 -1.996329 2.36745 0.768784 -0.258941 0.348991 1.185213 1.611738 1.511591 -2.758406 0.060149 0.30945 0.249977 0.158249 -0.060214 0.315955 -0.249993 -0.099989
90 88 -0.474399 -0.737002 -0.874227 -1.9913 2.37151 0.769686 -0.250648 0.352095 1.185621 1.610627 1.507774 -2.758986 0.060529 0.308567 0.249978 0.15704 -0.063112 0.316705 -0.249993 -0.099989
91 89 -0.469059 -0.743085 -0.869935 -1.986023 2.37519 0.7702 -0.241976 0.355199 1.186032 1.609518 1.503947 -2.759566 0.060912 0.307676 0.249978 0.155922 -0.066047 0.317454 -0.249993 -0.099988
92 90 -0.46348 -0.748987 -0.865988 -1.980504 2.378491 0.770328 -0.23294 0.358304 1.186446 1.608413 1.50011 -2.760147 0.061297 0.306777 0.249978 0.154898 -0.069016 0.318204 -0.249993 -0.099988
93 91 -0.457679 -0.754705 -0.862385 -1.974752 2.381417 0.77007 -0.223557 0.36141 1.186862 1.60731 1.496263 -2.760728 0.061685 0.305869 0.249978 0.153968 -0.072015 0.318954 -0.249993 -0.099988
94 92 -0.451673 -0.760236 -0.859123 -1.968772 2.383972 0.769427 -0.213844 0.364516 1.187281 1.60621 1.492406 -2.76131 0.062076 0.304953 0.249978 0.153133 -0.075042 0.319704 -0.249993 -0.099988
95 93 -0.44548 -0.765575 -0.856199 -1.962573 2.386161 0.768404 -0.20382 0.367623 1.187702 1.605113 1.488539 -2.761893 0.062469 0.304029 0.249977 0.152394 -0.078094 0.320454 -0.249993 -0.099988
96 94 -0.439118 -0.770721 -0.853608 -1.956162 2.38799 0.767001 -0.193504 0.37073 1.188127 1.604019 1.484661 -2.762477 0.062864 0.303096 0.249977 0.151751 -0.081167 0.321203 -0.249992 -0.099988
97 95 -0.432604 -0.775671 -0.851345 -1.949546 2.389468 0.765224 -0.182916 0.373839 1.188554 1.602928 1.480773 -2.763061 0.063262 0.302155 0.249977 0.151206 -0.084259 0.321953 -0.249992 -0.099988
98 96 -0.425956 -0.780421 -0.849403 -1.942734 2.390601 0.763076 -0.172076 0.376948 1.188983 1.601839 1.476874 -2.763646 0.063663 0.301206 0.249977 0.150759 -0.087367 0.322703 -0.249992 -0.099988
99 97 -0.419191 -0.784971 -0.847776 -1.935733 2.391399 0.760563 -0.161004 0.380058 1.189415 1.600753 1.472966 -2.764232 0.064066 0.300249 0.249977 0.150409 -0.090487 0.323453 -0.249992 -0.099988
100 98 -0.412328 -0.789317 -0.846456 -1.92855 2.391871 0.757691 -0.149722 0.383169 1.18985 1.599671 1.469046 -2.764818 0.064472 0.299283 0.249976 0.150159 -0.093617 0.324202 -0.249992 -0.099988
101 99 -0.405384 -0.793458 -0.845435 -1.921196 2.392027 0.754465 -0.138251 0.386281 1.190288 1.598591 1.465116 -2.765405 0.06488 0.298308 0.249976 0.150007 -0.096753 0.324952 -0.249992 -0.099988
102 100 -0.398282 -0.797423 -0.844734 -1.913546 2.391833 0.750789 -0.126435 0.389455 1.190735 1.597493 1.461081 -2.766004 0.065307 0.29729 0.249983 0.149967 -0.099933 0.325718 -0.249994 -0.099991
103 101 -0.391221 -0.801146 -0.84429 -1.905863 2.391383 0.746868 -0.114642 0.392573 1.191178 1.596418 1.457125 -2.766594 0.065721 0.296297 0.249984 0.150015 -0.103074 0.326468 -0.249994 -0.099991
104 102 -0.384132 -0.80466 -0.844115 -1.898037 2.390654 0.742618 -0.102728 0.395688 1.191623 1.595346 1.453161 -2.767183 0.066137 0.295297 0.249983 0.150161 -0.106211 0.327218 -0.249994 -0.099991
105 103 -0.377028 -0.807962 -0.844202 -1.890071 2.389654 0.738045 -0.090712 0.398805 1.192071 1.594276 1.449187 -2.767774 0.066555 0.294288 0.249983 0.150406 -0.109342 0.327968 -0.249994 -0.099991
106 104 -0.369922 -0.811052 -0.844539 -1.881975 2.388394 0.733157 -0.078613 0.401924 1.192521 1.59321 1.445202 -2.768365 0.066976 0.29327 0.249983 0.150749 -0.112464 0.328717 -0.249994 -0.099991
107 105 -0.362831 -0.813929 -0.845119 -1.873756 2.386887 0.727962 -0.066451 0.405043 1.192974 1.592146 1.441206 -2.768957 0.0674 0.292245 0.249983 0.15119 -0.115574 0.329467 -0.249994 -0.099991
108 106 -0.355767 -0.816592 -0.845929 -1.865423 2.385144 0.722469 -0.054248 0.408164 1.193429 1.591085 1.437199 -2.76955 0.067825 0.29121 0.249983 0.151729 -0.118669 0.330217 -0.249994 -0.099991
109 107 -0.348744 -0.819041 -0.846959 -1.856985 2.383177 0.716687 -0.042023 0.411287 1.193887 1.590026 1.43318 -2.770143 0.068253 0.290167 0.249983 0.152365 -0.121745 0.330967 -0.249994 -0.099991
110 108 -0.341775 -0.821275 -0.8482 -1.84845 2.380998 0.710626 -0.029794 0.41441 1.194348 1.58897 1.42915 -2.770738 0.068684 0.289115 0.249983 0.153098 -0.124799 0.331717 -0.249994 -0.099991
111 109 -0.33487 -0.823294 -0.84964 -1.839826 2.378619 0.704296 -0.01758 0.417536 1.19481 1.587917 1.425109 -2.771333 0.069117 0.288054 0.249982 0.153926 -0.12783 0.332466 -0.249994 -0.099991
112 110 -0.328042 -0.825099 -0.85127 -1.831123 2.37605 0.697705 -0.0054 0.420663 1.195276 1.586866 1.421056 -2.77193 0.069552 0.286985 0.249982 0.154849 -0.130832 0.333216 -0.249994 -0.099991
113 111 -0.321299 -0.826689 -0.853079 -1.822348 2.373303 0.690863 0.006729 0.423792 1.195744 1.585818 1.416991 -2.772527 0.06999 0.285907 0.249982 0.155866 -0.133805 0.333966 -0.249994 -0.09999
114 112 -0.314653 -0.828064 -0.855058 -1.813509 2.370388 0.683781 0.018791 0.426922 1.196214 1.584773 1.412915 -2.773125 0.07043 0.28482 0.249982 0.156976 -0.136744 0.334716 -0.249994 -0.09999
115 113 -0.30811 -0.829226 -0.857197 -1.804617 2.367317 0.676469 0.03077 0.430055 1.196686 1.58373 1.408827 -2.773724 0.070873 0.283724 0.249982 0.158177 -0.139647 0.335466 -0.249993 -0.09999
116 114 -0.30168 -0.830174 -0.859486 -1.795678 2.364099 0.668935 0.04265 0.433189 1.197162 1.582689 1.404728 -2.774324 0.071318 0.282619 0.249982 0.15947 -0.14251 0.336215 -0.249993 -0.09999
117 115 -0.295369 -0.83091 -0.861916 -1.786701 2.360745 0.66119 0.054418 0.436325 1.197639 1.581651 1.400616 -2.774925 0.071765 0.281505 0.249982 0.160851 -0.145332 0.336965 -0.249993 -0.09999
118 116 -0.289184 -0.831434 -0.864478 -1.777695 2.357263 0.653244 0.066059 0.439463 1.198119 1.580615 1.396492 -2.775526 0.072215 0.280383 0.249982 0.162321 -0.148109 0.337715 -0.249993 -0.09999
119 117 -0.28313 -0.831747 -0.867164 -1.768668 2.353664 0.645107 0.07756 0.442603 1.198601 1.579582 1.392356 -2.776129 0.072667 0.279251 0.249982 0.163877 -0.150839 0.338465 -0.249993 -0.09999
120 118 -0.277213 -0.83185 -0.869966 -1.759627 2.349955 0.636787 0.08891 0.445745 1.199086 1.578551 1.388208 -2.776733 0.073121 0.27811 0.249982 0.165519 -0.153518 0.339214 -0.249993 -0.09999
121 119 -0.271436 -0.831746 -0.872875 -1.750583 2.346145 0.628297 0.100096 0.44889 1.199573 1.577523 1.384047 -2.777338 0.073578 0.276961 0.249982 0.167243 -0.156144 0.339964 -0.249993 -0.09999
122 120 -0.265803 -0.831434 -0.875883 -1.741541 2.342241 0.619643 0.111108 0.452036 1.200063 1.576497 1.379874 -2.777943 0.074037 0.275802 0.249982 0.169049 -0.158716 0.340714 -0.249993 -0.09999
123 121 -0.260318 -0.830917 -0.878985 -1.732512 2.338253 0.610838 0.121936 0.455185 1.200555 1.575474 1.375689 -2.77855 0.074498 0.274634 0.249982 0.170935 -0.161229 0.341464 -0.249993 -0.09999
124 122 -0.254982 -0.830196 -0.882173 -1.723502 2.334186 0.601889 0.13257 0.458337 1.201049 1.574453 1.371491 -2.779158 0.074962 0.273456 0.249982 0.172899 -0.163681 0.342214 -0.249993 -0.09999
125 123 -0.249797 -0.829273 -0.885439 -1.71452 2.330047 0.592807 0.143001 0.461491 1.201545 1.573434 1.36728 -2.779767 0.075428 0.27227 0.249982 0.174939 -0.166071 0.342963 -0.249993 -0.099989
126 124 -0.244764 -0.82815 -0.88878 -1.705574 2.325842 0.5836 0.153221 0.464647 1.202044 1.572417 1.363056 -2.780376 0.075896 0.271074 0.249982 0.177054 -0.168396 0.343713 -0.249993 -0.099989
127 125 -0.239884 -0.826828 -0.892187 -1.696671 2.321578 0.574278 0.163223 0.467806 1.202546 1.571403 1.358819 -2.780987 0.076366 0.269868 0.249982 0.17924 -0.170653 0.344463 -0.249993 -0.099989
128 126 -0.235158 -0.82531 -0.895657 -1.687821 2.317259 0.564851 0.173 0.470967 1.203049 1.570391 1.354569 -2.781599 0.076839 0.268654 0.249982 0.181496 -0.17284 0.345212 -0.249993 -0.099989
129 127 -0.230584 -0.823598 -0.899184 -1.67903 2.312892 0.555326 0.182545 0.474132 1.203555 1.569381 1.350306 -2.782212 0.077314 0.26743 0.249982 0.183819 -0.174956 0.345962 -0.249992 -0.099989
130 128 -0.226163 -0.821694 -0.902764 -1.670306 2.30848 0.545714 0.191852 0.477299 1.204063 1.568374 1.34603 -2.782827 0.077792 0.266196 0.249982 0.186208 -0.176997 0.346712 -0.249992 -0.099989
131 129 -0.221892 -0.819599 -0.906391 -1.661658 2.304027 0.536023 0.200916 0.480469 1.204574 1.567369 1.34174 -2.783442 0.078271 0.264953 0.249982 0.18866 -0.178963 0.347462 -0.249992 -0.099989
132 130 -0.217771 -0.817317 -0.910063 -1.653092 2.299539 0.526263 0.209732 0.483641 1.205087 1.566366 1.337437 -2.784058 0.078753 0.2637 0.249983 0.191172 -0.18085 0.348211 -0.249992 -0.099989
133 131 -0.213798 -0.814849 -0.913775 -1.644617 2.295018 0.516441 0.218297 0.486817 1.205602 1.565365 1.33312 -2.784676 0.079237 0.262438 0.249983 0.193742 -0.182658 0.348961 -0.249992 -0.099989
134 132 -0.20997 -0.812198 -0.917524 -1.636239 2.290467 0.506566 0.226604 0.489996 1.206119 1.564366 1.328789 -2.785295 0.079724 0.261166 0.249983 0.196367 -0.184384 0.349711 -0.249992 -0.099989
135 133 -0.206308 -0.809373 -0.921271 -1.628116 2.28594 0.49679 0.234542 0.493109 1.20663 1.56339 1.32456 -2.785902 0.080193 0.259931 0.249977 0.199014 -0.186 0.350443 -0.249989 -0.099984
136 134 -0.20276 -0.806363 -0.925086 -1.619963 2.281339 0.486841 0.242327 0.496288 1.207151 1.562397 1.320212 -2.786522 0.080682 0.258644 0.249977 0.201742 -0.187558 0.351191 -0.249989 -0.099984
137 135 -0.199349 -0.803179 -0.92893 -1.611923 2.276715 0.476859 0.24985 0.499476 1.207676 1.561405 1.315841 -2.787144 0.081174 0.257344 0.249977 0.204518 -0.18903 0.351941 -0.249989 -0.099983
138 136 -0.196073 -0.799821 -0.932801 -1.60401 2.272072 0.466858 0.257105 0.502667 1.208202 1.560415 1.311455 -2.787767 0.08167 0.256033 0.249978 0.207339 -0.190415 0.35269 -0.249988 -0.099983
139 137 -0.189338 -0.799968 -0.943864 -1.596137 2.273566 0.453765 0.26 0.506047 1.208753 1.559373 1.306741 -2.788426 0.082223 0.25458 0.25003 0.210233 -0.191671 0.353486 -0.249997 -0.099996
140 138 -0.179941 -0.802736 -0.960093 -1.588503 2.279525 0.438622 0.26 0.509267 1.209287 1.558381 1.302288 -2.789056 0.08273 0.253233 0.250032 0.213137 -0.192872 0.35424 -0.249998 -0.099997
141 139 -0.171151 -0.805136 -0.975801 -1.58111 2.284954 0.42378 0.26 0.512455 1.209818 1.557401 1.297883 -2.78968 0.083228 0.251902 0.250039 0.216063 -0.193958 0.354986 -0.249997 -0.099996
142 140 -0.162675 -0.807369 -0.991373 -1.573787 2.290138 0.408954 0.26 0.515662 1.210354 1.556419 1.293436 -2.790309 0.083732 0.25055 0.250038 0.219036 -0.194976 0.355736 -0.249997 -0.099996
143 141 -0.154652 -0.809315 -1.006594 -1.56662 2.29492 0.394309 0.26 0.518873 1.210892 1.555438 1.288973 -2.790939 0.084239 0.249187 0.250037 0.22204 -0.195904 0.356486 -0.249997 -0.099996
144 142 -0.147083 -0.810949 -1.021432 -1.559621 2.299278 0.379875 0.26 0.522089 1.211432 1.554459 1.284495 -2.791571 0.084749 0.247814 0.250035 0.225073 -0.196737 0.357236 -0.249997 -0.099996
145 143 -0.13996 -0.812254 -1.035867 -1.552796 2.303199 0.365674 0.26 0.525308 1.211975 1.553483 1.280002 -2.792204 0.08526 0.24643 0.250034 0.228129 -0.197474 0.357986 -0.249997 -0.099996
146 144 -0.133274 -0.813212 -1.049883 -1.546152 2.306672 0.351724 0.26 0.528532 1.21252 1.552508 1.275494 -2.792838 0.085774 0.245036 0.250032 0.231208 -0.198116 0.358735 -0.249996 -0.099995
147 145 -0.127013 -0.813809 -1.063462 -1.539696 2.309687 0.338045 0.26 0.531759 1.213067 1.551535 1.270969 -2.793473 0.08629 0.243631 0.25003 0.234305 -0.198661 0.359485 -0.249996 -0.099995
148 146 -0.121294 -0.813902 -1.07638 -1.533529 2.31207 0.324821 0.26 0.534966 1.213613 1.55057 1.266474 -2.794106 0.086801 0.242236 0.250036 0.237402 -0.199082 0.360229 -0.249995 -0.099993
149 147 -0.115848 -0.813728 -1.089036 -1.527471 2.31413 0.311744 0.26 0.538202 1.214164 1.549601 1.261919 -2.794744 0.087321 0.240811 0.250035 0.240526 -0.199431 0.360979 -0.249995 -0.099993
150 148 -0.110778 -0.813166 -1.101235 -1.521609 2.31572 0.298973 0.26 0.541442 1.214718 1.548634 1.257348 -2.795384 0.087844 0.239375 0.250033 0.243661 -0.199685 0.361728 -0.249995 -0.099993
151 149 -0.106081 -0.812196 -1.112948 -1.515958 2.316817 0.286536 0.26 0.544687 1.215274 1.547668 1.25276 -2.796025 0.088368 0.237928 0.250031 0.246802 -0.19984 0.362478 -0.249995 -0.099993
152 150 -0.101742 -0.810805 -1.124164 -1.510524 2.317415 0.274449 0.26 0.547937 1.215832 1.546704 1.248156 -2.796668 0.088896 0.23647 0.250029 0.249946 -0.199898 0.363228 -0.249995 -0.099993
153 151 -0.097855 -0.808869 -1.134674 -1.505405 2.317359 0.262888 0.26 0.551154 1.216388 1.545752 1.243602 -2.797305 0.089413 0.23503 0.250033 0.253072 -0.199833 0.363968 -0.249993 -0.09999
154 152 -0.094191 -0.806611 -1.144867 -1.500425 2.316936 0.251539 0.26 0.554412 1.21695 1.544791 1.238968 -2.797951 0.089944 0.233552 0.250032 0.256213 -0.199693 0.364718 -0.249993 -0.09999
155 153 -0.090829 -0.80393 -1.154564 -1.495666 2.316019 0.240555 0.26 0.557676 1.217515 1.543832 1.234314 -2.798598 0.090478 0.232061 0.250029 0.259349 -0.199457 0.365467 -0.249993 -0.09999
156 154 -0.087869 -0.800706 -1.163538 -1.49124 2.314457 0.230136 0.26 0.560889 1.218075 1.54289 1.229741 -2.799236 0.090997 0.230602 0.250034 0.262452 -0.199103 0.366204 -0.24999 -0.099986
157 155 -0.085092 -0.797135 -1.172188 -1.486964 2.312509 0.219943 0.26 0.564159 1.218644 1.541935 1.22506 -2.799886 0.091534 0.229092 0.250032 0.265565 -0.19867 0.366952 -0.24999 -0.099986
158 156 -0.082572 -0.793139 -1.180341 -1.482922 2.310069 0.210131 0.26 0.567438 1.219215 1.540981 1.220356 -2.800538 0.092074 0.227569 0.250029 0.268665 -0.198144 0.367702 -0.24999 -0.099985
159 157 -0.080307 -0.788702 -1.187974 -1.479129 2.307123 0.200725 0.26 0.570723 1.219789 1.540028 1.215634 -2.801191 0.092617 0.226033 0.250026 0.271747 -0.197521 0.368451 -0.249989 -0.099985
160 158 -0.078367 -0.783783 -1.194913 -1.475669 2.303601 0.191891 0.26 0.57393 1.220354 1.539099 1.211038 -2.80183 0.093137 0.224548 0.25003 0.274775 -0.196793 0.369181 -0.249986 -0.09998
161 159 -0.076574 -0.778469 -1.201508 -1.47239 2.299646 0.183307 0.26 0.577217 1.220932 1.538152 1.206296 -2.802486 0.093681 0.222997 0.250028 0.27781 -0.195978 0.369929 -0.249985 -0.099979
162 160 -0.074985 -0.77274 -1.207618 -1.469363 2.295216 0.175117 0.26 0.580517 1.221512 1.537204 1.201522 -2.803144 0.09423 0.221429 0.250025 0.280819 -0.195072 0.370678 -0.249985 -0.099979
163 161 -0.073599 -0.766586 -1.213226 -1.4666 2.290301 0.167338 0.26 0.583823 1.222095 1.536257 1.196729 -2.803804 0.094782 0.219848 0.250021 0.283798 -0.194071 0.371427 -0.249985 -0.099979
164 162 -0.072387 -0.760035 -1.218367 -1.464098 2.284931 0.15995 0.26 0.587136 1.22268 1.535311 1.191918 -2.804465 0.095336 0.218255 0.250016 0.286745 -0.192982 0.372176 -0.249985 -0.099978
165 163 -0.071224 -0.75335 -1.223466 -1.461899 2.279459 0.152798 0.259729 0.590454 1.223267 1.534367 1.187087 -2.805129 0.095892 0.21665 0.250015 0.289652 -0.19179 0.372926 -0.249985 -0.099978
166 164 -0.070077 -0.746586 -1.228599 -1.459991 2.273949 0.145843 0.259163 0.593779 1.223857 1.533425 1.182238 -2.805794 0.09645 0.215033 0.250018 0.292517 -0.190501 0.373675 -0.249984 -0.099978
167 165 -0.068931 -0.73975 -1.233768 -1.45836 2.2684 0.139081 0.258333 0.59711 1.224448 1.532483 1.177369 -2.806461 0.097011 0.213403 0.25002 0.29534 -0.189123 0.374424 -0.249984 -0.099978
168 166 -0.067781 -0.732847 -1.238973 -1.457005 2.262812 0.132517 0.257241 0.600447 1.225042 1.531543 1.17248 -2.80713 0.097574 0.211762 0.250023 0.298118 -0.187656 0.375174 -0.249984 -0.099977
169 167 -0.066626 -0.72588 -1.244215 -1.455929 2.257183 0.126158 0.255893 0.603792 1.225639 1.530604 1.167572 -2.807801 0.098139 0.210108 0.250026 0.300849 -0.186103 0.375923 -0.249984 -0.099977
170 168 -0.065462 -0.718854 -1.249494 -1.455133 2.251513 0.12001 0.254291 0.607142 1.226238 1.529666 1.162644 -2.808473 0.098707 0.208441 0.250029 0.303529 -0.184465 0.376672 -0.249984 -0.099977
171 169 -0.064288 -0.711771 -1.254812 -1.454617 2.245801 0.11408 0.25244 0.6105 1.226839 1.528729 1.157695 -2.809148 0.099277 0.206762 0.250032 0.306157 -0.182744 0.377421 -0.249983 -0.099977
172 170 -0.063101 -0.704637 -1.260168 -1.454382 2.240046 0.108372 0.250343 0.613865 1.227442 1.527794 1.152726 -2.809824 0.099849 0.20507 0.250035 0.308729 -0.180941 0.378171 -0.249983 -0.099976
173 171 -0.061899 -0.697456 -1.265563 -1.454429 2.234248 0.102894 0.248005 0.617237 1.228048 1.526859 1.147736 -2.810503 0.100424 0.203365 0.250038 0.311244 -0.179058 0.37892 -0.249983 -0.099976
174 172 -0.060681 -0.690231 -1.270997 -1.454757 2.228408 0.097651 0.24543 0.620616 1.228656 1.525926 1.142725 -2.811183 0.101001 0.201647 0.250041 0.313698 -0.177097 0.379669 -0.249983 -0.099976
175 173 -0.059446 -0.682966 -1.27647 -1.455366 2.222524 0.092649 0.242622 0.624002 1.229266 1.524993 1.137693 -2.811866 0.101581 0.199916 0.250044 0.316089 -0.17506 0.380418 -0.249983 -0.099976
176 174 -0.058191 -0.675667 -1.281982 -1.456256 2.216598 0.087892 0.239587 0.627396 1.229879 1.524062 1.13264 -2.81255 0.102163 0.198172 0.250047 0.318415 -0.172949 0.381167 -0.249982 -0.099975
177 175 -0.056917 -0.668337 -1.287533 -1.457425 2.21063 0.083387 0.236329 0.630798 1.230494 1.523131 1.127564 -2.813237 0.102747 0.196414 0.250051 0.320673 -0.170766 0.381916 -0.249982 -0.099975
178 176 -0.055623 -0.660981 -1.293123 -1.458872 2.204622 0.079138 0.232854 0.634208 1.231112 1.522202 1.122467 -2.813925 0.103334 0.194643 0.250054 0.322862 -0.168513 0.382666 -0.249982 -0.099975
179 177 -0.054309 -0.653604 -1.29875 -1.460596 2.198575 0.07515 0.229166 0.637626 1.231732 1.521273 1.117347 -2.814616 0.103923 0.192858 0.250057 0.324979 -0.166192 0.383415 -0.249982 -0.099975
180 178 -0.052974 -0.646209 -1.304414 -1.462594 2.192489 0.071428 0.225271 0.641052 1.232354 1.520345 1.112204 -2.815309 0.104515 0.191059 0.250061 0.327022 -0.163807 0.384164 -0.249982 -0.099974
181 179 -0.05162 -0.638803 -1.310115 -1.464866 2.186368 0.067976 0.221174 0.644486 1.232979 1.519418 1.107039 -2.816004 0.105109 0.189246 0.250064 0.328988 -0.161358 0.384913 -0.249981 -0.099974
182 180 -0.050246 -0.631389 -1.31585 -1.467408 2.180214 0.064799 0.216881 0.647929 1.233607 1.518492 1.10185 -2.816702 0.105706 0.18742 0.250068 0.330877 -0.158848 0.385662 -0.249981 -0.099974
183 181 -0.048735 -0.623867 -1.321716 -1.470336 2.173943 0.061916 0.212374 0.651486 1.23425 1.517539 1.096448 -2.817422 0.106337 0.185494 0.250054 0.332698 -0.156254 0.386434 -0.249985 -0.09998
184 182 -0.04731 -0.616446 -1.327526 -1.473428 2.167724 0.059309 0.207705 0.654957 1.234884 1.516612 1.091192 -2.818126 0.106942 0.183629 0.250055 0.334424 -0.153629 0.387185 -0.249986 -0.09998
185 183 -0.04588 -0.609037 -1.333361 -1.476772 2.161484 0.056984 0.202857 0.658429 1.235519 1.515687 1.085927 -2.818831 0.107547 0.181757 0.250058 0.336067 -0.150952 0.387935 -0.249985 -0.09998
186 184 -0.044439 -0.601642 -1.339224 -1.480373 2.155223 0.054948 0.197834 0.66191 1.236157 1.514763 1.080638 -2.819538 0.108154 0.179871 0.250061 0.337625 -0.148225 0.388684 -0.249985 -0.09998
187 185 -0.042988 -0.594267 -1.345111 -1.484228 2.148947 0.053204 0.192645 0.665399 1.236797 1.513839 1.075325 -2.820248 0.108764 0.17797 0.250063 0.339097 -0.14545 0.389433 -0.249985 -0.099979
188 186 -0.041532 -0.586915 -1.35102 -1.488334 2.142659 0.051755 0.187293 0.668899 1.237439 1.512916 1.069986 -2.82096 0.109376 0.176053 0.250066 0.34048 -0.14263 0.390182 -0.249985 -0.099979
189 187 -0.040074 -0.579595 -1.356948 -1.492685 2.136364 0.050603 0.181785 0.672408 1.238084 1.511993 1.064622 -2.821674 0.109991 0.174122 0.250069 0.341775 -0.139768 0.390931 -0.249984 -0.099979
190 188 -0.038618 -0.57231 -1.362891 -1.497278 2.130068 0.049751 0.176126 0.675927 1.238732 1.511071 1.059231 -2.822392 0.110609 0.172175 0.250072 0.342978 -0.136867 0.39168 -0.249984 -0.099978
191 189 -0.03717 -0.565068 -1.368844 -1.502108 2.123777 0.0492 0.170323 0.679457 1.239383 1.510149 1.053814 -2.823111 0.111229 0.170212 0.250075 0.34409 -0.133929 0.392429 -0.249984 -0.099978
192 190 -0.035734 -0.557874 -1.374804 -1.50717 2.117497 0.048953 0.16438 0.682997 1.240036 1.509227 1.04837 -2.823834 0.111852 0.168233 0.250077 0.345109 -0.130958 0.393179 -0.249984 -0.099978
193 191 -0.034318 -0.550735 -1.380764 -1.512459 2.111234 0.04901 0.158303 0.686548 1.240691 1.508306 1.042898 -2.824559 0.112477 0.166239 0.25008 0.346035 -0.127956 0.393928 -0.249984 -0.099977
194 192 -0.032928 -0.543659 -1.38672 -1.51797 2.104996 0.049372 0.152097 0.69011 1.24135 1.507384 1.037399 -2.825286 0.113106 0.164228 0.250083 0.346865 -0.124927 0.394676 -0.249983 -0.099977
195 193 -0.03157 -0.536651 -1.392664 -1.523698 2.098789 0.050041 0.145767 0.693683 1.242011 1.506463 1.031872 -2.826017 0.113737 0.1622 0.250085 0.3476 -0.121873 0.395425 -0.249983 -0.099977
196 194 -0.030255 -0.529718 -1.398589 -1.529636 2.092623 0.051016 0.139319 0.697267 1.242675 1.505542 1.026316 -2.82675 0.114371 0.160156 0.250088 0.348238 -0.118797 0.396174 -0.249983 -0.099976
197 195 -0.02899 -0.522868 -1.404489 -1.535779 2.086505 0.052298 0.132757 0.700863 1.243342 1.504621 1.020731 -2.827486 0.115008 0.158095 0.25009 0.348779 -0.115703 0.396923 -0.249982 -0.099976
198 196 -0.027785 -0.516108 -1.410355 -1.542122 2.080443 0.053887 0.126085 0.704471 1.244011 1.5037 1.015116 -2.828226 0.115647 0.156017 0.250092 0.349223 -0.112593 0.397672 -0.249982 -0.099976
199 197 -0.02665 -0.509445 -1.416176 -1.548657 2.074446 0.055783 0.119309 0.708091 1.244683 1.502779 1.009472 -2.828968 0.11629 0.153921 0.250094 0.349569 -0.10947 0.398421 -0.249982 -0.099975
200 198 -0.025597 -0.502888 -1.421945 -1.55538 2.068525 0.057984 0.112431 0.711723 1.245359 1.501858 1.003797 -2.829713 0.116935 0.151808 0.250096 0.349816 -0.106339 0.39917 -0.249982 -0.099975
201 199 -0.024639 -0.496444 -1.427648 -1.562284 2.062687 0.06049 0.105457 0.715368 1.246037 1.500936 0.99809 -2.830461 0.117584 0.149677 0.250097 0.349965 -0.1032 0.399918 -0.249981 -0.099975