commit 7faabd0dbef1c4efb0b27cf2be09b49541f6c5bd Author: Sutou Kouhei Date: Tue Jul 22 16:07:59 2025 +0900 Import diff --git a/.github/ISSUE_TEMPLATE/1-bug-report.yml b/.github/ISSUE_TEMPLATE/1-bug-report.yml new file mode 100644 index 0000000..cd35d2a --- /dev/null +++ b/.github/ISSUE_TEMPLATE/1-bug-report.yml @@ -0,0 +1,25 @@ +# Copyright 2025 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +name: Bug Report +description: File a bug report. +type: Bug +body: + - type: textarea + id: description + attributes: + label: Describe the problem you got + description: It's better that you provide information as much as possible. + validations: + required: true diff --git a/.github/ISSUE_TEMPLATE/2-feature-request.yml b/.github/ISSUE_TEMPLATE/2-feature-request.yml new file mode 100644 index 0000000..5c17335 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/2-feature-request.yml @@ -0,0 +1,25 @@ +# Copyright 2025 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +name: Feature Request +description: Request a feature. +type: Feature +body: + - type: textarea + id: description + attributes: + label: Describe the feature you want + description: It's better that you also provide your use case. + validations: + required: true diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml new file mode 100644 index 0000000..b2d4658 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -0,0 +1,22 @@ +# Copyright 2025 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +blank_issues_enabled: false +contact_links: + - name: Discord + url: https://discord.gg/FsZaZ4z3We + about: Please ask and answer questions here. + - name: GitHub Discussions + url: https://github.com/enactic/openarm_description/discussions + about: If you prefer GitHub Discussions to Discord, you can use GitHub Discussions too. diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..7096ecb --- /dev/null +++ b/.gitignore @@ -0,0 +1,15 @@ +# Copyright 2025 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +*.urdf diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..d56a33b --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,42 @@ +# Copyright 2025 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +cmake_minimum_required(VERSION 3.8) +project(openarm_description) + +find_package(ament_cmake REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install(DIRECTORY +launch +meshes +rviz +urdf +# worlds +config +DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md new file mode 100644 index 0000000..bee83e9 --- /dev/null +++ b/CODE_OF_CONDUCT.md @@ -0,0 +1,133 @@ + +# Contributor Covenant Code of Conduct + +## Our Pledge + +We as members, contributors, and leaders pledge to make participation in our +community a harassment-free experience for everyone, regardless of age, body +size, visible or invisible disability, ethnicity, sex characteristics, gender +identity and expression, level of experience, education, socio-economic status, +nationality, personal appearance, race, caste, color, religion, or sexual +identity and orientation. + +We pledge to act and interact in ways that contribute to an open, welcoming, +diverse, inclusive, and healthy community. + +## Our Standards + +Examples of behavior that contributes to a positive environment for our +community include: + +* Demonstrating empathy and kindness toward other people +* Being respectful of differing opinions, viewpoints, and experiences +* Giving and gracefully accepting constructive feedback +* Accepting responsibility and apologizing to those affected by our mistakes, + and learning from the experience +* Focusing on what is best not just for us as individuals, but for the overall + community + +Examples of unacceptable behavior include: + +* The use of sexualized language or imagery, and sexual attention or advances of + any kind +* Trolling, insulting or derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or email address, + without their explicit permission +* Other conduct which could reasonably be considered inappropriate in a + professional setting + +## Enforcement Responsibilities + +Community leaders are responsible for clarifying and enforcing our standards of +acceptable behavior and will take appropriate and fair corrective action in +response to any behavior that they deem inappropriate, threatening, offensive, +or harmful. + +Community leaders have the right and responsibility to remove, edit, or reject +comments, commits, code, wiki edits, issues, and other contributions that are +not aligned to this Code of Conduct, and will communicate reasons for moderation +decisions when appropriate. + +## Scope + +This Code of Conduct applies within all community spaces, and also applies when +an individual is officially representing the community in public spaces. +Examples of representing our community include using an official email address, +posting via an official social media account, or acting as an appointed +representative at an online or offline event. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be +reported to the community leaders responsible for enforcement at +hi_public@reazon.jp. +All complaints will be reviewed and investigated promptly and fairly. + +All community leaders are obligated to respect the privacy and security of the +reporter of any incident. + +## Enforcement Guidelines + +Community leaders will follow these Community Impact Guidelines in determining +the consequences for any action they deem in violation of this Code of Conduct: + +### 1. Correction + +**Community Impact**: Use of inappropriate language or other behavior deemed +unprofessional or unwelcome in the community. + +**Consequence**: A private, written warning from community leaders, providing +clarity around the nature of the violation and an explanation of why the +behavior was inappropriate. A public apology may be requested. + +### 2. Warning + +**Community Impact**: A violation through a single incident or series of +actions. + +**Consequence**: A warning with consequences for continued behavior. No +interaction with the people involved, including unsolicited interaction with +those enforcing the Code of Conduct, for a specified period of time. This +includes avoiding interactions in community spaces as well as external channels +like social media. Violating these terms may lead to a temporary or permanent +ban. + +### 3. Temporary Ban + +**Community Impact**: A serious violation of community standards, including +sustained inappropriate behavior. + +**Consequence**: A temporary ban from any sort of interaction or public +communication with the community for a specified period of time. No public or +private interaction with the people involved, including unsolicited interaction +with those enforcing the Code of Conduct, is allowed during this period. +Violating these terms may lead to a permanent ban. + +### 4. Permanent Ban + +**Community Impact**: Demonstrating a pattern of violation of community +standards, including sustained inappropriate behavior, harassment of an +individual, or aggression toward or disparagement of classes of individuals. + +**Consequence**: A permanent ban from any sort of public interaction within the +community. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], +version 2.1, available at +[https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1]. + +Community Impact Guidelines were inspired by +[Mozilla's code of conduct enforcement ladder][Mozilla CoC]. + +For answers to common questions about this code of conduct, see the FAQ at +[https://www.contributor-covenant.org/faq][FAQ]. Translations are available at +[https://www.contributor-covenant.org/translations][translations]. + +[homepage]: https://www.contributor-covenant.org +[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html +[Mozilla CoC]: https://github.com/mozilla/diversity +[FAQ]: https://www.contributor-covenant.org/faq +[translations]: https://www.contributor-covenant.org/translations diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..d6d4edf --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,19 @@ +# How to contribute + +## Did you find a bug? + +Please report it to [GitHub Issues](https://github.com/enactic/openarm_description/issues/new?template=1-bug-report.yml)! + +## Did you have a feature request? + +Please share it to [GitHub Issues](https://github.com/enactic/openarm_description/issues/new?template=2-feature-request.yml)! + +## Did you write a patch? + +Please open a pull request with it! + +Please make sure to review [our license](https://github.com/enactic/openarm_description/blob/main/LICENSE.txt) before you open a pull request. + +## Others? + +Please share it on [Discord](https://discord.gg/FsZaZ4z3We) or [GitHub Discussions](https://github.com/enactic/openarm_description/discussions)! diff --git a/LICENSE.txt b/LICENSE.txt new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE.txt @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 0000000..ba10c36 --- /dev/null +++ b/README.md @@ -0,0 +1,36 @@ +# Robot Description files for OpenArm + +This package contains description files to generate OpenArm URDFs (Universal Robot Description Files). + +To generate or view the URDF, install ROS2, source the setup script, and clone this package into a workspace. + +For example, for ROS2 Humble: +```sh +source /opt/ros/humble/setup.bash +mkdir -p ~/ros2_ws/src +git clone https://github.com/enactic/openarm_description.git ~/ros2_ws/src/openarm_description +colcon build +source ~/ros2_ws/install/setup.bash +``` + +Then to view the bimanual URDF: +```sh +ros2 launch openarm_description display_openarm.launch.py arm_type:=v10 bimanual:=true +``` + +Or to generate a URDF: +```sh +URDF_NAME=openarm_bimanual.urdf +xacro ~/ros2_ws/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=true > $URDF_NAME +``` + +## License + +Licensed under the Apache License 2.0. See `LICENSE.txt` for details. + +Copyright 2025 Enactic, Inc. + +## Code of Conduct + +All participation in the OpenArm project is governed by our +[Code of Conduct](CODE_OF_CONDUCT.md). diff --git a/config/arm/v10/inertials.yaml b/config/arm/v10/inertials.yaml new file mode 100644 index 0000000..b897dd6 --- /dev/null +++ b/config/arm/v10/inertials.yaml @@ -0,0 +1,135 @@ +link0: + origin: + x: -0.0009483362816297526 + y: 0.0001580207020448382 + z: 0.03076860287587199 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + mass: 1.1432284943239561 + inertia: + xx: 0.001128 + xy: -4.0e-06 + xz: -3.3e-05 + yy: 0.000962 + yz: -7.0e-06 + zz: 0.00147 + +link1: + origin: + x: 0.0011467657911800769 + y: 3.319987657026362e-05 + z: 0.05395284380736254 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + mass: 1.1416684646202298 + inertia: + xx: 0.001567 + xy: -1.0e-06 + xz: -2.9e-05 + yy: 0.001273 + yz: 1e-06 + zz: 0.001016 + +link2: + origin: + x: 0.00839629182351943 + y: -2.0145102027597523e-08 + z: 0.03256649300522363 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + mass: 0.2775092746011571 + inertia: + xx: 0.000359 + xy: 1e-06 + xz: -0.000109 + yy: 0.000376 + yz: 1e-06 + zz: 0.000232 + +link3: + origin: + x: -0.002104752099628911 + y: 0.0005549085042607548 + z: 0.08847470545721961 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + mass: 1.073863338202347 + inertia: + xx: 0.004372 + xy: 1e-06 + xz: 1.1e-05 + yy: 0.004319 + yz: -3.6e-05 + zz: 0.000661 + +link4: + origin: + x: -0.0029006831074562967 + y: -0.03030575826634669 + z: 0.06339637422196209 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + mass: 0.5598534566833373 + inertia: + xx: 0.000623 + xy: -1.0e-06 + xz: -1.9e-05 + yy: 0.000511 + yz: 3.8e-05 + zz: 0.000334 + +link5: + origin: + x: -0.003049665024221911 + y: 0.0008866902457326625 + z: 0.043079803024980934 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + mass: 0.5506588026168502 + inertia: + xx: 0.000423 + xy: -8.0e-06 + xz: 6.0e-06 + yy: 0.000445 + yz: -6.0e-06 + zz: 0.000324 + +link6: + origin: + x: -0.037136587005447405 + y: 0.00033230528343419053 + z: -9.498374522309838e-05 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + mass: 0.385202773187987 + inertia: + xx: 0.000143 + xy: 1e-06 + xz: 1e-06 + yy: 0.000157 + yz: 1e-06 + zz: 0.000159 + +link7: + origin: + x: 6.875510271106056e-05 + y: 0.01266175250761268 + z: 0.06951945409987448 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + mass: 0.3859771327380578 + inertia: + xx: 0.000639 + xy: 1e-06 + xz: 1e-06 + yy: 0.000497 + yz: 8.9e-05 + zz: 0.000342 diff --git a/config/arm/v10/joint_limits.yaml b/config/arm/v10/joint_limits.yaml new file mode 100644 index 0000000..a1435ae --- /dev/null +++ b/config/arm/v10/joint_limits.yaml @@ -0,0 +1,62 @@ +joint1: + limit: + lower: -1.396263 + upper: 3.490659 + velocity: 16.754666 + effort: 40 + +joint2: + limit: + lower: -1.745329 + upper: 1.745329 + velocity: 16.754666 + effort: 40 + +joint3: + limit: + lower: -1.570796 + upper: 1.570796 + velocity: 5.445426 + effort: 27 + +joint4: + limit: + lower: 0.0 + upper: 2.443461 + velocity: 5.445426 + effort: 27 + +joint5: + limit: + lower: -1.570796 + upper: 1.570796 + velocity: 20.943946 + effort: 7 + +joint6: + limit: + lower: -0.785398 + upper: 0.785398 + velocity: 20.943946 + effort: 7 + +joint7: + limit: + lower: -1.570796 + upper: 1.570796 + velocity: 20.943946 + effort: 7 + +# joint_gripper1: +# limit: +# lower: 0.0 +# upper: 0.043 +# velocity: 100 +# effort: 100 + +# joint_gripper2: +# limit: +# lower: 0.0 +# upper: 0.043 +# velocity: 100 +# effort: 100 diff --git a/config/arm/v10/kinematics.yaml b/config/arm/v10/kinematics.yaml new file mode 100644 index 0000000..1de25dd --- /dev/null +++ b/config/arm/v10/kinematics.yaml @@ -0,0 +1,89 @@ +joint1: + kinematic: + x: 0.0 + y: 0.0 + z: 0.0625 + roll: 0 + pitch: 0 + yaw: 0 + +joint2: + kinematic: + x: -0.0301 + y: 0.0 + z: 0.06 + roll: 0 + pitch: 0 + yaw: 0 + +joint3: + kinematic: + x: 0.0301 + y: 0.0 + z: 0.06625 + roll: 0 + pitch: 0 + yaw: 0 + +joint4: + kinematic: + x: -0.0 + y: 0.0315 + z: 0.15375 + roll: 0 + pitch: 0 + yaw: 0 + +joint5: + kinematic: + x: 0.0 + y: -0.0315 + z: 0.0955 + roll: 0 + pitch: 0 + yaw: 0 + +joint6: + kinematic: + x: 0.0375 + y: 0.0 + z: 0.1205 + roll: 0 + pitch: 0 + yaw: 0 + +# joint7: +# kinematic: +# x: -0.0375 +# y: 0.0205 +# z: 0.0 +# roll: 0 +# pitch: 0 +# yaw: 0 + +joint7: + kinematic: + x: -0.0375 + y: 0.0 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 + +# joint8: +# kinematic: +# x: 1e-06 +# y: -0.098 +# z: 0.114501 +# roll: 0 +# pitch: 0 +# yaw: 0 + +joint8: + kinematic: + x: 1e-06 + y: 0.0205 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 diff --git a/config/arm/v10/kinematics_link.yaml b/config/arm/v10/kinematics_link.yaml new file mode 100644 index 0000000..8720d35 --- /dev/null +++ b/config/arm/v10/kinematics_link.yaml @@ -0,0 +1,80 @@ +link0: + kinematic: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +link1: + kinematic: + x: -0.0 + y: 0.0 + z: -0.0625 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +link2: + kinematic: + x: 0.0301 + y: 0.0 + z: -0.1225 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +link3: + kinematic: + x: -0.0 + y: -0.0 + z: -0.18875 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +link4: + kinematic: + x: 0.0 + y: -0.0315 + z: -0.3425 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +link5: + kinematic: + x: -0.0 + y: -0.0 + z: -0.438 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +link6: + kinematic: + x: -0.0375 + y: -0.0 + z: -0.5585 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +# link7: +# kinematic: +# x: 0.0 +# y: -0.0205 +# z: -0.5585 +# roll: 0.0 +# pitch: 0.0 +# yaw: 0.0 + +link7: + kinematic: + x: 0.0 + y: -0.0 + z: -0.5585 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 \ No newline at end of file diff --git a/config/arm/v10/kinematics_offset.yaml b/config/arm/v10/kinematics_offset.yaml new file mode 100644 index 0000000..1fa2065 --- /dev/null +++ b/config/arm/v10/kinematics_offset.yaml @@ -0,0 +1,71 @@ +joint1: + kinematic_offset: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 + +joint2: + kinematic_offset: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 1.57079632679 + pitch: 0 + yaw: 0 + +joint3: + kinematic_offset: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 + +joint4: + kinematic_offset: + x: -0.0 + y: 0.0 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 + +joint5: + kinematic_offset: + x: 0.0 + y: -0.0 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 + +joint6: + kinematic_offset: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 + +joint7: + kinematic_offset: + x: -0.0 + y: 0.0 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 + +joint8: + kinematic_offset: + x: 0.0 + y: -0.0 + z: 0.0 + roll: 0 + pitch: 0 + yaw: 0 diff --git a/config/body/v10/inertials.yaml b/config/body/v10/inertials.yaml new file mode 100644 index 0000000..203789b --- /dev/null +++ b/config/body/v10/inertials.yaml @@ -0,0 +1,14 @@ +body_link0: + origin: + xyz: 0.0 0.0 0.0 + rpy: 0.0 0.0 0.0 + mass: 13.89 + inertia: + xx: 1.653 + xy: 0.0 + xz: 0.0 + yy: 1.653 + yz: 0.0 + zz: 0.051 + + \ No newline at end of file diff --git a/config/body/v10/kinematics.yaml b/config/body/v10/kinematics.yaml new file mode 100644 index 0000000..f6e760d --- /dev/null +++ b/config/body/v10/kinematics.yaml @@ -0,0 +1,8 @@ +body_link0: + kinematic: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 \ No newline at end of file diff --git a/config/body/v10/kinematics_link.yaml b/config/body/v10/kinematics_link.yaml new file mode 100644 index 0000000..f6e760d --- /dev/null +++ b/config/body/v10/kinematics_link.yaml @@ -0,0 +1,8 @@ +body_link0: + kinematic: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 \ No newline at end of file diff --git a/config/hand/openarm_hand/inertials.yaml b/config/hand/openarm_hand/inertials.yaml new file mode 100644 index 0000000..6b93608 --- /dev/null +++ b/config/hand/openarm_hand/inertials.yaml @@ -0,0 +1,70 @@ +hand: + origin: + x: 0.0 + y: 0.002 + z: 0.019 + roll: 0 + pitch: 0 + yaw: 0 + mass: 0.3 + inertia: + xx: 0.0001 + yy: 0.00025 + zz: 0.00017 + xy: 1e-06 + xz: 1e-06 + yz: 1e-06 + +left_finger: + origin: + x: 0.0064528 + y: 0.017020 + z: 0.0219685 + roll: 0 + pitch: 0 + yaw: 0 + mass: 0.03602545343277134 + inertia: + xx: 2.3749999999999997e-06 + yy: 2.3749999999999997e-06 + zz: 7.5e-07 + xy: 1e-06 + xz: 1e-06 + yz: 1e-06 + +right_finger: + origin: + x: 0.0064528 + y: -0.017020 + z: 0.0219685 + roll: 0 + pitch: 0 + yaw: 0 + mass: 0.03602545343277134 + inertia: + xx: 2.3749999999999997e-06 + yy: 2.3749999999999997e-06 + zz: 7.5e-07 + xy: 1e-06 + xz: 1e-06 + yz: 1e-06 + +# left_finger: &finger +# origin: +# x: 00064528 +# y: 0.017020 +# z: 0.0219685 +# roll: 0 +# pitch: 0 +# yaw: 0 +# mass: 0.03602545343277134 +# inertia: +# xx: 2.3749999999999997e-06 +# yy: 2.3749999999999997e-06 +# zz: 7.5e-07 +# xy: 0 +# xz: 0 +# yz: 0 +# right_finger: *finger + + diff --git a/config/hand/openarm_hand/joint_limits.yaml b/config/hand/openarm_hand/joint_limits.yaml new file mode 100644 index 0000000..e69de29 diff --git a/config/hand/openarm_hand/kinematics.yaml b/config/hand/openarm_hand/kinematics.yaml new file mode 100644 index 0000000..e69de29 diff --git a/config/hand/openarm_hand/kinematics_link.yaml b/config/hand/openarm_hand/kinematics_link.yaml new file mode 100644 index 0000000..da49734 --- /dev/null +++ b/config/hand/openarm_hand/kinematics_link.yaml @@ -0,0 +1,62 @@ +# hand: +# kinematic: +# x: 0.0 +# y: -0.0205 +# z: -0.5585 +# roll: 0.0 +# pitch: 0.0 +# yaw: 0.0 + +hand: + kinematic: + x: 0.0 + y: 0.005 + z: -0.6585 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +# left_finger: +# kinematic: +# x: 0.0 +# y: 0.0775 +# z: -0.673001 +# roll: 0.0 +# pitch: 0.0 +# yaw: 0.0 + +# left_finger: +# kinematic: +# x: 0.0 +# y: 0.053 +# z: -0.673001 +# roll: 0.0 +# pitch: 0.0 +# yaw: 0.0 + +# right_finger: +# kinematic: +# x: 0.0 +# y: 0.143 +# z: -0.673001 +# roll: 0.0 +# pitch: 0.0 +# yaw: 0.0 + +left_finger: + kinematic: + x: 0.0 + y: -0.05 + z: -0.673001 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + +right_finger: + kinematic: + x: 0.0 + y: 0.05 + z: -0.673001 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 \ No newline at end of file diff --git a/launch/display_openarm.launch.py b/launch/display_openarm.launch.py new file mode 100644 index 0000000..18d87fc --- /dev/null +++ b/launch/display_openarm.launch.py @@ -0,0 +1,120 @@ +# Copyright 2025 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +import xacro + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription, LaunchContext +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.substitutions import LaunchConfiguration + +from launch_ros.actions import Node + + +def robot_state_publisher_spawner(context: LaunchContext, arm_type, ee_type, bimanual): + arm_type_str = context.perform_substitution(arm_type) + ee_type_str = context.perform_substitution(ee_type) + bimanual_str = context.perform_substitution(bimanual) + + xacro_path = os.path.join( + get_package_share_directory("openarm_description"), + "urdf", "robot", f"{arm_type_str}.urdf.xacro" + ) + + robot_description = xacro.process_file( + xacro_path, + mappings={ + "arm_type": arm_type_str, + "ee_type": ee_type_str, + "bimanual": bimanual_str, + } + ).toprettyxml(indent=" ") + + return [ + Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="screen", + parameters=[{"robot_description": robot_description}], + ) + ] + + +def rviz_spawner(context: LaunchContext, bimanual): + bimanual_str = context.perform_substitution(bimanual) + + rviz_config_file = "bimanual.rviz" if bimanual_str.lower() == "true" else "arm_only.rviz" + rviz_config_path = os.path.join( + get_package_share_directory("openarm_description"), + "rviz", rviz_config_file + ) + + return [ + Node( + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=["--display-config", rviz_config_path], + output="screen" + ), + ] + + +def generate_launch_description(): + arm_type_arg = DeclareLaunchArgument( + "arm_type", + description="Type of arm to visualize (e.g., v10)" + ) + + ee_type_arg = DeclareLaunchArgument( + "ee_type", + default_value="openarm_hand", + description="Type of end-effector to attach (e.g., openarm_hand or none)" + ) + + bimanual_arg = DeclareLaunchArgument( + "bimanual", + default_value="false", + description="Whether to use bimanual configuration" + ) + + arm_type = LaunchConfiguration("arm_type") + ee_type = LaunchConfiguration("ee_type") + bimanual = LaunchConfiguration("bimanual") + + robot_state_publisher_loader = OpaqueFunction( + function=robot_state_publisher_spawner, + args=[arm_type, ee_type, bimanual] + ) + + rviz_loader = OpaqueFunction( + function=rviz_spawner, + args=[bimanual] + ) + + return LaunchDescription([ + arm_type_arg, + ee_type_arg, + bimanual_arg, + robot_state_publisher_loader, + Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + name="joint_state_publisher_gui" + ), + rviz_loader, + ]) diff --git a/meshes/arm/v10/collision/link0_symp.stl b/meshes/arm/v10/collision/link0_symp.stl new file mode 100644 index 0000000..684ade7 Binary files /dev/null and b/meshes/arm/v10/collision/link0_symp.stl differ diff --git a/meshes/arm/v10/collision/link1_symp.stl b/meshes/arm/v10/collision/link1_symp.stl new file mode 100644 index 0000000..1195e8b Binary files /dev/null and b/meshes/arm/v10/collision/link1_symp.stl differ diff --git a/meshes/arm/v10/collision/link2_symp.stl b/meshes/arm/v10/collision/link2_symp.stl new file mode 100644 index 0000000..487cc2b Binary files /dev/null and b/meshes/arm/v10/collision/link2_symp.stl differ diff --git a/meshes/arm/v10/collision/link3_symp.stl b/meshes/arm/v10/collision/link3_symp.stl new file mode 100644 index 0000000..cbfa6d0 Binary files /dev/null and b/meshes/arm/v10/collision/link3_symp.stl differ diff --git a/meshes/arm/v10/collision/link4_symp.stl b/meshes/arm/v10/collision/link4_symp.stl new file mode 100644 index 0000000..122cc70 Binary files /dev/null and b/meshes/arm/v10/collision/link4_symp.stl differ diff --git a/meshes/arm/v10/collision/link5_symp.stl b/meshes/arm/v10/collision/link5_symp.stl new file mode 100644 index 0000000..08e16be Binary files /dev/null and b/meshes/arm/v10/collision/link5_symp.stl differ diff --git a/meshes/arm/v10/collision/link6_symp.stl b/meshes/arm/v10/collision/link6_symp.stl new file mode 100644 index 0000000..6ecb0f0 Binary files /dev/null and b/meshes/arm/v10/collision/link6_symp.stl differ diff --git a/meshes/arm/v10/collision/link7_symp.stl b/meshes/arm/v10/collision/link7_symp.stl new file mode 100644 index 0000000..5825245 Binary files /dev/null and b/meshes/arm/v10/collision/link7_symp.stl differ diff --git a/meshes/arm/v10/visual/link0.dae b/meshes/arm/v10/visual/link0.dae new file mode 100644 index 0000000..e273430 --- /dev/null +++ b/meshes/arm/v10/visual/link0.dae @@ -0,0 +1,240 @@ + + + + + + ImageToStl.com + ImageToStl.com + + 2025-06-25T04:18:31 + 2025-06-25T04:18:31 + Z_UP + + + + + + + + 0.98431 0.97647 0.95686 1 + + + 0.05 0.05 0.05 1 + + + 64 + + + 1 + + + + + + + + + + + 0.09412 0.09412 0.09412 1 + + + 0.05 0.05 0.05 1 + + + 64 + + + 1 + + + + + + + + + + + + + + + + + + + -10.92103195 -16.5157814 0.80000001 -10.11942863 -15.12736511 0.80000001 -10.05244446 -15.11171913 0.850187 -10.90432549 -16.58644867 0.84980154 -9.98556614 -15.09600735 0.90024996 -10.88750458 -16.65718269 0.89973545 -9.91879272 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554.02166748 30.71887398 24.45172119 553.95904541 30.59859276 24.66907692 554.05804443 31.07971954 23.76257515 554.58178711 30.95943832 23.91899681 554.18774414 30.8391552 24.19383049 553.96484375 30.71887398 24.48217201 553.93078613 30.59859276 24.68859291 554.05090332 31.07971954 23.73444939 554.48181152 30.95943832 23.92932701 554.10528564 30.8391552 24.22498322 553.91088867 30.71887398 24.51528358 553.90576172 30.59859276 24.70871925 554.04577637 31.07971954 23.71641731 554.3795166 30.95943832 23.94781303 554.02429199 30.8391552 24.26135445 553.86029053 30.71887398 24.55072784 553.88409424 30.59859276 24.72925758 554.04272461 31.07971954 23.70865631 554.27593994 30.95943832 23.97427177 553.94555664 30.8391552 24.30258369 553.81359863 30.71887398 24.58815193 553.86602783 30.59859276 24.75 554.04168701 31.07971954 23.71124649 554.17218018 30.95943832 24.00844002 553.86981201 30.8391552 24.34825706 553.77124023 30.71887398 24.62718582 553.85186768 30.59859276 24.77074242 554.04272461 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553.62811279 30.71887398 24.87281418 553.85186768 30.59859276 24.88391495 554.09039307 31.07971954 24.00430489 553.52264404 30.95943832 24.42630386 553.4821167 30.8391552 24.75 553.625 30.71887398 24.91184807 553.86602783 30.59859276 24.8991394 554.10455322 31.07971954 24.08042908 553.45202637 30.95943832 24.50436974 553.45367432 30.8391552 24.81222916 553.62811279 30.71887398 24.94927216 553.88409424 30.59859276 24.91288185 554.12011719 31.07971954 24.16320801 553.38934326 30.95943832 24.58487892 553.4331665 30.8391552 24.87384224 553.63739014 30.71887398 24.98471642 553.90576172 30.59859276 24.92500496 554.13696289 31.07971954 24.25181961 553.33520508 30.95943832 24.66702652 553.4208374 30.8391552 24.93422127 553.652771 30.71887398 25.01782799 553.93078613 30.59859276 24.93539047 554.15496826 31.07971954 24.34538078 553.2901001 30.95943832 24.75 553.41668701 30.8391552 24.99277115 553.67407227 30.71887398 25.0482769 553.95904541 30.59859276 24.94393158 554.17388916 31.07971954 24.44296265 553.25463867 30.95943832 24.83297348 553.4208374 30.8391552 25.04890823 553.70111084 30.71887398 25.0757637 553.99023438 30.59859276 24.95054626 554.19360352 31.07971954 24.54359818 553.22900391 30.95943832 24.91512108 553.4331665 30.8391552 25.10207558 553.73358154 30.71887398 25.10000992 554.02392578 30.59859276 24.95516777 554.21380615 31.07971954 24.6462841 553.21350098 30.95943832 24.99562836 553.45367432 30.8391552 25.15174294 553.77124023 30.71887398 25.12077904 554.05993652 30.59859276 24.95775032 554.23443604 31.07971954 24.75 553.20831299 30.95943832 25.07369614 553.4821167 30.8391552 25.19741631 553.81359863 30.71887398 25.13786316 554.09777832 30.59859276 24.95826912 554.25518799 31.07971954 24.8537159 553.21350098 30.95943832 25.14854431 553.51812744 30.8391552 25.23864555 553.86029053 30.71887398 25.15109253 554.137146 30.59859276 24.95671654 554.27587891 31.07971954 24.95640182 553.22900391 30.95943832 25.21943283 553.5614624 30.8391552 25.27501678 553.91088867 30.71887398 25.16033745 554.17767334 30.59859276 24.95310974 554.29638672 31.07971954 25.05703735 553.25463867 30.95943832 25.28565598 553.6116333 30.8391552 25.30616951 553.96484375 30.71887398 25.16550064 554.21887207 30.59859276 24.94748497 554.31634521 31.07971954 25.15461922 553.2901001 30.95943832 25.34655571 553.66815186 30.8391552 25.33179665 554.02166748 30.71887398 25.16653633 554.26037598 30.59859276 24.93989754 554.33569336 31.07971954 25.24818039 553.33520508 30.95943832 25.4015255 553.73040771 30.8391552 25.3516407 554.08074951 30.71887398 25.16343307 554.30181885 31.07971954 25.33679199 553.38934326 30.95943832 25.45002174 553.79785156 30.8391552 25.36550522 554.14147949 30.71887398 25.15621948 554.3427124 31.07971954 25.41957092 553.45202637 30.95943832 25.49155998 553.86981201 30.8391552 25.37325287 554.20330811 30.71887398 25.14496994 554.38269043 31.07971954 25.49569511 553.52264404 30.95943832 25.52572823 553.94555664 30.8391552 25.37480545 554.26556396 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551.63702393 11.50712109 31.8391552 551.152771 11.42351437 31.71887398 551.43084717 11.50595284 31.59859276 551.65496826 11.44857121 31.8391552 551.17407227 11.39306545 31.71887398 551.45910645 11.49741077 31.59859276 551.67388916 11.60836983 31.95943832 550.9208374 11.39243412 31.8391552 551.20111084 11.36557961 31.71887398 551.49023438 11.49079609 31.59859276 551.69360352 11.52622128 31.95943832 550.93322754 11.33926773 31.8391552 551.23364258 11.34133244 31.71887398 551.52398682 11.48617458 31.59859276 551.71386719 11.445714 31.95943832 550.95373535 11.28960037 31.8391552 551.27124023 11.32056332 31.71887398 551.55993652 11.48359203 31.59859276 551.73443604 11.36764717 31.95943832 550.9821167 11.24392605 31.8391552 551.31359863 11.30347919 31.71887398 551.59777832 11.48307419 31.59859276 551.75524902 11.58762646 32.07971954 550.71356201 11.29279804 31.95943832 551.01818848 11.20269871 31.8391552 551.36035156 11.29024982 31.71887398 551.637146 11.48462677 31.59859276 551.77593994 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31.8391552 551.70330811 11.29637337 31.71887398 551.88275146 11.53513813 31.59859276 551.88787842 10.94564819 32.07971954 551.02270508 10.91561508 31.95943832 551.44555664 11.0665369 31.8391552 551.765625 11.31154919 31.71887398 551.92138672 11.54964066 31.59859276 551.902771 10.87693501 32.07971954 551.10058594 10.88915634 31.95943832 551.52435303 11.0711937 31.8391552 551.82775879 11.3304987 31.71887398 551.95837402 11.5655508 31.59859276 551.91607666 10.81631565 32.07971954 551.18487549 10.87066936 31.95943832 551.60534668 11.08201313 31.8391552 551.88909912 11.35303497 31.71887398 551.9932251 11.58271027 31.59859276 551.92779541 10.76439285 32.07971954 551.27478027 10.86034012 31.95943832 551.68774414 11.0988884 31.8391552 551.94909668 11.37893391 31.71887398 552.02575684 11.60095024 31.59859276 551.93774414 10.72168255 32.07971954 551.3694458 10.85826874 31.95943832 551.77081299 11.12165165 31.8391552 552.00708008 11.407938 31.71887398 552.05548096 11.62008858 31.59859276 551.94580078 10.68860912 32.07971954 551.46789551 10.86447716 31.95943832 551.8536377 11.15007687 31.8391552 552.0625 11.43975735 31.71887398 552.08215332 11.63993549 31.59859276 551.9519043 10.66550159 32.07971954 551.56915283 10.87890339 31.95943832 551.93548584 11.18388176 31.8391552 552.11486816 11.47407818 31.71887398 552.10559082 11.66029263 31.59859276 551.95605469 10.65258884 32.07971954 551.67218018 10.90140343 31.95943832 552.01544189 11.22272968 31.8391552 552.16357422 11.51055813 31.71887398 552.12542725 11.68095875 31.59859276 551.95812988 10.64999962 32.07971954 551.77600098 10.93175507 31.95943832 552.09277344 11.26623535 31.8391552 552.20819092 11.5488348 31.71887398 552.14154053 11.70172787 31.59859276 551.95812988 10.65776062 32.07971954 551.87957764 10.96965504 31.95943832 552.16668701 11.31396484 31.8391552 552.24822998 11.58852768 31.71887398 552.15380859 11.72239304 31.59859276 551.95605469 10.67579269 32.07971954 551.98181152 11.01472759 31.95943832 552.2364502 11.36544609 31.8391552 552.2833252 11.62924194 31.71887398 552.16204834 11.74275112 31.59859276 551.9519043 10.70391846 32.07971954 552.08178711 11.06652546 31.95943832 552.30145264 11.42016602 31.8391552 552.31311035 11.67057419 31.71887398 552.16619873 11.76259708 31.59859276 551.94580078 10.74185753 32.07971954 552.1784668 11.1245327 31.95943832 552.36090088 11.47758007 31.8391552 552.33734131 11.71211243 31.71887398 552.16619873 11.78173542 31.59859276 551.93774414 10.78923321 32.07971954 552.27087402 11.18817234 31.95943832 552.41430664 11.53711987 31.8391552 552.35571289 11.75344372 31.71887398 552.16204834 11.7999754 31.59859276 551.92779541 10.84557438 32.07971954 552.35809326 11.256814 31.95943832 552.46112061 11.59819126 31.8391552 552.36804199 11.79415894 31.71887398 552.15380859 11.81713581 31.59859276 551.91607666 10.91032124 32.07971954 552.43927002 11.32977295 31.95943832 552.50085449 11.66018963 31.8391552 552.37426758 11.83385181 31.71887398 552.14154053 11.83304596 31.59859276 551.902771 10.98283005 32.07971954 552.51361084 11.40632629 31.95943832 552.53308105 11.72249699 31.8391552 552.37426758 11.87212753 31.71887398 552.12542725 11.84754753 31.59859276 551.88787842 11.06237984 32.07971954 552.5803833 11.48571205 31.95943832 552.55761719 11.7844944 31.8391552 552.36804199 11.90860748 31.71887398 552.10559082 11.86049652 31.59859276 551.87164307 11.14818096 32.07971954 552.63885498 11.56714153 31.95943832 552.57403564 11.84556675 31.8391552 552.35571289 11.94292831 31.71887398 552.08215332 11.87176514 31.59859276 551.85418701 11.23938084 32.07971954 552.6885376 11.64980507 31.95943832 552.58233643 11.90510559 31.8391552 552.33734131 11.97474861 31.71887398 552.05548096 11.88123989 31.59859276 551.83569336 11.33507156 32.07971954 552.72888184 11.73288155 31.95943832 552.58233643 11.9625206 31.8391552 552.31311035 12.00375175 31.71887398 552.02575684 11.88882828 31.59859276 551.81640625 11.43430424 32.07971954 552.75946045 11.81554508 31.95943832 552.57403564 12.01723957 31.8391552 552.2833252 12.02965069 31.71887398 551.9932251 11.89445305 31.59859276 551.79638672 11.53609085 32.07971954 552.7800293 11.89697456 31.95943832 552.55761719 12.06872082 31.8391552 552.24822998 12.05218697 31.71887398 551.95837402 11.89805984 31.59859276 551.77593994 11.63942051 32.07971954 552.79040527 11.97635937 31.95943832 552.53308105 12.11645126 31.8391552 552.20819092 12.07113743 31.71887398 551.92138672 11.89961147 31.59859276 551.75524902 11.74326611 32.07971954 552.79040527 12.05291271 31.95943832 552.50085449 12.15995598 31.8391552 552.16357422 12.08631229 31.71887398 551.88275146 11.89909363 31.59859276 551.73443604 11.84659576 32.07971954 552.7800293 12.12587261 31.95943832 552.46112061 12.1988039 31.8391552 552.11486816 12.09756279 31.71887398 551.8427124 11.89651108 31.59859276 551.71386719 11.94838238 32.07971954 552.75946045 12.19451332 31.95943832 552.41430664 12.2326088 31.8391552 552.0625 12.10477638 31.71887398 551.80181885 11.89188957 31.59859276 551.69360352 12.0476141 32.07971954 552.72888184 12.25815392 31.95943832 552.36090088 12.26103401 31.8391552 552.00708008 12.10787964 31.71887398 551.76043701 11.88527489 31.59859276 551.67388916 12.14330482 32.07971954 552.6885376 12.3161602 31.95943832 552.30145264 12.28379726 31.8391552 551.94909668 12.1068449 31.71887398 551.71887207 11.87673283 31.59859276 551.65496826 12.2345047 32.07971954 552.63885498 12.36795807 31.95943832 552.2364502 12.30067253 31.8391552 551.88909912 12.1016798 31.71887398 551.67767334 11.86634827 31.59859276 551.63702393 12.32030582 32.07971954 552.5803833 12.41303062 31.95943832 552.16668701 12.31149292 31.8391552 551.82775879 12.09243679 31.71887398 551.637146 11.85422421 31.59859276 551.62011719 12.39985657 32.07971954 552.51361084 12.45093155 31.95943832 552.09277344 12.31614876 31.8391552 551.765625 12.07920742 31.71887398 551.59777832 11.84048176 31.59859276 551.60455322 12.47236538 32.07971954 552.43927002 12.48128223 31.95943832 552.01544189 12.31459522 31.8391552 551.70330811 12.0621233 31.71887398 551.55993652 11.8252573 31.59859276 551.5904541 12.53711128 32.07971954 552.35809326 12.50378323 31.95943832 551.93548584 12.30684757 31.8391552 551.64147949 12.04135418 31.71887398 551.52398682 11.80870152 31.59859276 551.57788086 12.59345245 32.07971954 552.27087402 12.5182085 31.95943832 551.8536377 12.29298306 31.8391552 551.58074951 12.01710606 31.71887398 551.49023438 11.79097939 31.59859276 551.56707764 12.64082813 32.07971954 552.1784668 12.52441692 31.95943832 551.77081299 12.273139 31.8391552 551.52166748 11.98962116 31.71887398 551.45910645 11.77226734 31.59859276 551.55804443 12.6787672 32.07971954 552.08178711 12.5223465 31.95943832 551.68774414 12.24751282 31.8391552 551.46490479 11.9591713 31.71887398 551.43084717 11.7527504 31.59859276 551.55096436 12.70689297 32.07971954 551.98181152 12.5120163 31.95943832 551.60534668 12.21635914 31.8391552 551.41094971 11.92605972 31.71887398 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50.80838776 15.37303066 34.75 50.82328415 15.5209446 34.75 50.84557724 15.66756248 34.75 50.87521744 15.81252098 34.75 50.91212845 15.95545959 34.75 50.95621872 16.09602356 34.75 51.00737762 16.23386192 34.75 51.06548309 16.36863136 34.75 51.13038635 16.5 34.75 51.20192337 16.62763786 34.75 51.27992249 16.75123024 34.75 51.36418533 16.87047005 34.75 51.45450592 16.98505783 34.75 51.55065536 17.0947113 34.75 51.65240097 17.19915581 34.75 51.75948334 17.29813385 34.75 51.87163544 17.39139748 34.75 51.98858643 17.4787159 34.75 52.11003876 17.55987358 34.75 52.23569489 17.63466454 34.75 52.36523819 17.70290565 34.75 52.49834824 17.76442909 34.75 52.63469696 17.81907845 34.75 52.77394104 17.86671829 34.75 52.91573334 17.90723228 34.75 53.05972672 17.94051743 34.75 53.20556259 17.9664917 34.75 53.35287476 17.98509216 34.75 53.501297 17.99627113 34.75 53.6504631 18.24596024 35 53.63800049 18.25 35 53.79999924 18.1852951 34.99148178 53.79999924 18.00851822 34.8147049 53.79999924 18.00477791 34.8147049 53.94996262 18.03349304 34.875 53.79999924 18.02972221 34.875 53.95120621 18.06940269 34.92677689 53.95318604 18.07322311 34.92677689 53.79999924 17.99356842 34.8147049 54.09955215 18.125 34.96650696 53.79999924 18.12111473 34.96650696 53.95576859 18.01841927 34.875 54.10203934 18.24596024 35 53.96199799 18.18133545 34.99148178 53.95877457 18.05795097 34.92677689 54.10599518 17.97491646 34.8147049 54.24839783 18.10947037 34.96650696 54.11114883 17.99961281 34.875 54.25211716 18.23385048 35 54.12359619 18.16946602 34.99148178 54.11715317 18.03889847 34.92677689 54.25804138 17.9488678 34.8147049 54.39612579 18.09009552 34.96650696 54.26575851 17.97334671 34.875 54.40107346 18.14971733 34.99148178 54.27474213 18.21369934 35 54.28438568 18.01228905 34.92677689 54.40894699 17.91548729 34.8147049 54.54237366 18.06303978 34.96650696 54.41920853 17.93968964 34.875 54.54853821 18.18556023 35 54.44397354 18.12213898 34.99148178 54.43115234 17.97819138 34.92677689 54.55834198 17.87485886 34.8147049 54.68677521 18.02836609 34.96650696 54.5711174 17.8987236 34.875 54.69413757 18.1495018 35 54.60196304 18.08679771 34.99148178 54.58599472 17.93668938 34.92677689 54.70584869 17.82708359 34.8147049 54.82897568 17.98616409 34.96650696 54.7211113 17.85055161 34.875 54.83751678 18.04378128 34.99148178 54.73888397 18.1056118 35 54.75795364 17.88788605 34.92677689 54.85110474 17.77227783 34.8147049 54.96861267 17.9365387 34.96650696 54.86881256 17.7952919 34.875 54.97831345 18.05400085 35 54.91156387 17.99319839 34.99148178 54.88943481 17.83190155 34.92677689 54.99374771 17.71058083 34.8147049 55.10534668 17.87961388 34.96650696 55.0138588 17.73308372 34.875 55.11618423 17.93517303 34.99148178 55.03728104 17.99479675 35 55.06241226 17.76887894 34.92677689 55.13342285 17.64214516 34.8147049 55.23883438 17.81552696 34.96650696 55.1558876 17.66407967 34.875 55.25078201 17.92814827 35 55.21012115 17.86985207 34.99148178 55.1820488 17.69897079 34.92677689 55.26978302 17.56714058 34.8147049 55.36874771 17.74444199 34.96650696 55.29454422 17.58845329 34.875 55.38177109 17.85421944 35 55.35432434 17.79739571 34.99148178 55.32337952 17.6223526 34.92677689 55.40248871 17.48575401 34.8147049 55.49475861 17.66653442 34.96650696 55.42948532 17.50638962 34.875 55.50882721 17.71798325 34.99148178 55.46092606 17.77319527 35 55.49466324 17.539217 34.92677689 55.53120804 17.39818764 34.8147049 55.61655807 17.58199692 34.96650696 55.56037521 17.41809654 34.875 55.63163757 17.68527603 35 55.63079071 17.63181496 34.99148178 55.59434128 17.44976616 34.92677689 55.65562439 17.30465889 34.8147049 55.73383713 17.49103928 34.96650696 55.68688965 17.3237915 34.875 55.74989319 17.59068108 35 55.76236343 17.53910255 34.99148178 55.72329712 17.489645 35 55.88906097 17.35422516 34.92677689 55.77542877 17.20540047 34.8147049 55.84631348 17.39388847 34.96650696 55.80871201 17.22370911 34.875 55.86330032 17.44007683 34.99148178 55.84746933 17.25283241 34.92677689 55.89032364 17.10065842 34.8147049 55.9536972 17.29078674 34.96650696 55.92554092 17.11809731 34.875 55.97157669 17.38241768 35 56.0105629 17.33498573 34.99148178 55.96655273 17.14583778 34.92677689 56.00001907 16.99069405 34.8147049 56.05572891 17.18198967 34.96650696 56.03708267 17.00721931 34.875 56.07445526 17.22409058 34.99148178 56.08024597 17.26926994 35 56.12656784 17.15047836 35 56.2367897 17.0335083 34.92677689 56.10424423 16.87578011 34.8147049 56.15215302 17.0677681 34.96650696 56.14306641 16.8913517 34.875 56.17168045 17.10766411 34.99148178 56.18827438 16.91612434 34.92677689 56.20274353 16.75620461 34.8147049 56.24272919 16.94840622 34.96650696 56.2432251 16.77078247 34.875 56.26300812 16.98599815 34.99148178 56.29036331 17.02634239 35 56.34095383 16.79397392 34.92677689 56.2952652 16.63226128 34.8147049 56.32723236 16.82419968 34.96650696 56.33730698 16.64581108 34.875 56.3482132 16.89716721 35 56.438797 16.85939598 34.99148178 56.38626099 16.66736603 34.92677689 56.38158798 16.50425911 34.8147049 56.40545273 16.69545746 34.96650696 56.42507935 16.51674652 34.875 56.42708206 16.72817039 34.99148178 56.4757309 16.76327515 35 56.5300827 16.625 35 56.61458206 16.53661156 34.92677689 56.46149063 16.37251854 34.8147049 56.47719574 16.5625 34.96650696 56.50632858 16.38391304 34.875 56.49942017 16.59264755 34.99148178 56.55854797 16.48268509 35 56.69208527 16.40203667 34.92677689 56.53477478 16.23736572 34.8147049 56.5422821 16.42565918 34.96650696 56.58084869 16.2476368 34.875 56.56504822 16.45316505 34.99148178 56.63450623 16.26397705 34.92677689 56.60126114 16.09913445 34.8147049 56.60055161 16.2852726 34.96650696 56.64845657 16.1082592 34.875 56.62379837 16.33668327 35 56.76239395 16.31007004 34.99148178 56.70341492 16.12277412 34.92677689 56.66078186 15.9581728 34.8147049 56.65185547 16.14169121 34.96650696 56.70898056 15.9661274 34.875 56.67553329 16.18735886 35 56.82534027 16.16371918 34.99148178 56.7651062 15.97878075 34.92677689 56.71319199 15.81482887 34.8147049 56.69607162 15.99527073 34.96650696 56.76227188 15.82159328 34.875 56.72011566 16.03508186 35 56.88076401 16.01447487 34.99148178 56.81942749 15.88023186 35 56.92852783 15.83235359 34.92677689 56.758358 15.66945839 34.8147049 56.73308945 15.84637642 34.96650696 56.80820084 15.67501545 34.875 56.75743866 15.86270714 34.99148178 56.86624146 15.68385696 34.92677689 56.79616928 15.52242374 34.8147049 56.76281357 15.6953783 34.96650696 56.84664917 15.52676105 34.875 56.78740692 15.70879459 34.99148178 56.90543365 15.72319317 35 56.9685173 15.53365993 34.92677689 56.82653427 15.37409019 34.8147049 56.78517151 15.54265022 34.96650696 56.87752533 15.37719631 34.875 56.80995178 15.55312061 34.99148178 56.93690491 15.5643568 35 57.00062561 15.38213634 34.92677689 56.84937286 15.22482681 34.8147049 56.80010605 15.38857365 34.96650696 56.90074921 15.22669315 34.875 56.82501221 15.40411663 35 57.02477646 15.39607143 34.99148178 56.9605751 15.22966194 34.92677689 56.86463165 15.07500458 34.8147049 56.80758286 15.23353195 34.96650696 56.91626358 15.07562733 34.875 56.83255005 15.24287319 35 57.04091263 15.23803711 34.99148178 56.97638702 15.07661724 34.92677689 56.87226868 14.92499542 34.8147049 56.80758286 15.07790852 34.96650696 56.9240303 14.92437267 34.875 56.83255005 15.08102512 35 57.04898834 15.07941151 34.99148178 56.98430634 14.92338276 34.92677689 56.87226868 14.77517319 34.8147049 56.80010605 14.92209148 34.96650696 56.9240303 14.77330685 34.875 56.82501221 14.92058849 34.99148178 56.98430634 14.91897488 35 57.04898834 14.77033806 34.92677689 56.86463165 14.62590981 34.8147049 56.78517151 14.76646805 34.96650696 56.91626358 14.62280369 34.875 56.80995178 14.76196289 34.99148178 56.97638702 14.75712681 35 57.04091263 14.61786366 34.92677689 56.84937286 14.47757626 34.8147049 56.76281357 14.61142635 34.96650696 56.90074921 14.47323895 34.875 56.78740692 14.60392857 34.99148178 56.9605751 14.59588337 35 57.02477646 14.46634007 34.92677689 56.82653427 14.33054161 34.8147049 56.73308945 14.45734978 34.96650696 56.87752533 14.32498455 34.875 56.75743866 14.44687939 34.99148178 56.93690491 14.4356432 35 57.00062561 14.31614304 34.92677689 56.79616928 14.18517113 34.8147049 56.69607162 14.3046217 34.96650696 56.84664917 14.17840672 34.875 56.72011566 14.27680683 35 56.9685173 14.29120541 34.99148178 56.90543365 14.16764641 34.92677689 56.758358 14.0418272 34.8147049 56.65185547 14.15362358 34.96650696 56.80820084 14.0338726 34.875 56.67553329 14.11976814 35 56.92852783 14.13729286 34.99148178 56.86624146 14.02121925 34.92677689 56.71319199 13.9008646 34.8147049 56.60055161 14.00472927 34.96650696 56.76227188 13.8917408 34.875 56.62379837 13.96491814 35 56.88076401 13.98552608 34.99148178 56.81942749 13.87722588 34.92677689 56.66078186 13.76263523 34.8147049 56.5422821 13.85830975 34.96650696 56.70898056 13.7523632 34.875 56.56504822 13.83628082 34.99148178 56.7651062 13.8126421 35 56.82534027 13.73602295 34.92677689 56.60126114 13.62748146 34.8147049 56.47719574 13.7147274 34.96650696 56.64845657 13.61608791 34.875 56.49942017 13.68992901 34.99148178 56.70341492 13.66331673 35 56.76239395 13.59796238 34.92677689 56.53477478 13.49574089 34.8147049 56.40545273 13.57434177 34.96650696 56.58084869 13.48325348 34.875 56.42708206 13.54683399 34.99148178 56.63450623 13.51731491 35 56.69208527 13.46338844 34.92677689 56.46149063 13.36773968 34.8147049 56.32723236 13.4375 34.96650696 56.50632858 13.35418892 34.875 56.3482132 13.40735245 34.99148178 56.55854797 13.375 35 56.61458206 13.33263397 34.92677689 56.38158798 13.24379635 34.8147049 56.24272919 13.30454254 34.96650696 56.42507935 13.22921753 34.875 56.26300812 13.27182961 34.99148178 56.4757309 13.23672485 35 56.5300827 13.20602512 34.92677689 56.2952652 13.12421894 34.8147049 56.15215302 13.17580128 34.96650696 56.33730698 13.10864735 34.875 56.17168045 13.14060402 34.99148178 56.38626099 13.10283279 35 56.438797 13.08387661 34.92677689 56.20274353 13.00930595 34.8147049 56.05572891 13.05159473 34.96650696 56.2432251 12.99278069 34.875 56.07445526 12.97365856 35 56.34095383 13.01400089 34.99148178 56.29036331 12.9664917 34.92677689 56.10424423 12.89934158 34.8147049 55.9536972 12.9322319 34.96650696 56.14306641 12.88190269 34.875 55.97157669 12.84952068 35 56.2367897 12.89233494 34.99148178 56.18827438 12.85416222 34.92677689 56.00001907 12.79459953 34.8147049 55.84631348 12.81801033 34.96650696 56.03708267 12.77629185 34.875 55.86330032 12.77590942 34.99148178 56.08024597 12.73073006 35 56.12656784 12.74716759 34.92677689 55.89032364 12.69534111 34.8147049 55.73383713 12.70921326 34.96650696 55.92554092 12.67620945 34.875 55.74989319 12.66501331 34.99148178 55.96655273 12.61758137 35 56.0105629 12.64577484 34.92677689 55.77542877 12.60181236 34.8147049 55.61655807 12.60611153 34.96650696 55.80871201 12.58190346 34.875 55.63163757 12.55992222 34.99148178 55.84746933 12.51035595 35 55.88906097 12.55023384 34.92677689 55.65562439 12.51424503 34.8147049 55.49475861 12.50896072 34.96650696 55.68688965 12.49361038 34.875 55.50882721 12.46089745 34.99148178 55.72329712 12.40931892 35 55.76236343 12.46078396 34.92677689 55.53120804 12.43285847 34.8147049 55.36874771 12.41800404 34.96650696 55.56037521 12.41154766 34.875 55.38177109 12.31472397 35 55.63079071 12.368186 34.99148178 55.59434128 12.37764645 34.92677689 55.40248871 12.35785389 34.8147049 55.23883438 12.33346558 34.96650696 55.42948532 12.33592033 34.875 55.25078201 12.22680473 35 55.49466324 12.28201675 34.99148178 55.46092606 12.30102921 34.92677689 55.26978302 12.28941822 34.8147049 55.10534668 12.25555801 34.96650696 55.29454422 12.26691628 34.875 55.11618423 12.20260525 34.99148178 55.32337952 12.14577961 35 55.35432434 12.23112106 34.92677689 55.13342285 12.22772217 34.8147049 54.96861267 12.18447208 34.96650696 55.1558876 12.2047081 34.875 54.97831345 12.13014793 34.99148178 55.1820488 12.07185078 35 55.21012115 12.00520229 35 55.06241226 12.1680975 34.92677689 54.99374771 12.17291737 34.8147049 54.82897568 12.12038708 34.96650696 55.0138588 12.14944839 34.875 54.83751678 12.06482601 34.99148178 55.03728104 11.94599915 35 54.91156387 12.11211491 34.92677689 54.85110474 12.12514114 34.8147049 54.68677521 12.06346035 34.96650696 54.86881256 12.1012764 34.875 54.69413757 12.00680161 34.99148178 54.88943481 12.06331158 34.92677689 54.70584869 12.08451271 34.8147049 54.54237366 12.01383495 34.96650696 54.7211113 12.06031036 34.875 54.54853821 11.95621872 34.99148178 54.73888397 11.8943882 35 54.75795364 12.02180958 34.92677689 54.55834198 12.05113316 34.8147049 54.39612579 11.97163391 34.96650696 54.5711174 12.02665329 34.875 54.40107346 11.85049915 35 54.60196304 11.91320229 34.99148178 54.58599472 11.81443977 35 54.44397354 11.98771095 34.92677689 54.40894699 12.0250845 34.8147049 54.24839783 11.93696117 34.96650696 54.41920853 12.00038815 34.875 54.25211716 11.87786102 34.99148178 54.43115234 11.96110249 34.92677689 54.25804138 12.00643158 34.8147049 54.09955215 11.90990353 34.96650696 54.26575851 11.98158073 34.875 54.10203934 11.85028172 34.99148178 54.27474213 11.78629971 35 54.28438568 11.94204807 34.92677689 54.10599518 11.99522114 34.8147049 53.94996262 11.89052868 34.96650696 54.11114883 11.97027683 34.875 53.95120621 11.83053303 34.99148178 54.11715317 11.76614952 35 54.12359619 11.93059731 34.92677689 53.95318604 11.99148178 34.8147049 53.79999924 11.87888432 34.96650696 53.95576859 11.966506 34.875 53.79999924 11.81866455 34.99148178 53.95877457 11.75403976 35 53.96199799 11.75 35 53.79999924 11.92677689 34.92677689 53.79999924 11.99522114 34.8147049 53.65003586 11.875 34.96650696 53.79999924 11.97027683 34.875 53.64879227 11.8147049 34.99148178 53.79999924 11.93059731 34.92677689 53.64681244 12.00643158 34.8147049 53.50045013 11.87888432 34.96650696 53.64422989 11.98158073 34.875 53.49796295 11.81866455 34.99148178 53.64122772 11.75403976 35 53.63800049 11.94204807 34.92677689 53.49400711 12.0250845 34.8147049 53.35160446 11.89052868 34.96650696 53.48884964 12.00038815 34.875 53.34788132 11.83053303 34.99148178 53.48284531 11.76614952 35 53.4764061 11.96110249 34.92677689 53.34196091 12.05113316 34.8147049 53.20387268 11.90990353 34.96650696 53.33424377 12.02665329 34.875 53.19892502 11.78629971 35 53.31561279 11.85028172 34.99148178 53.32525635 11.98771095 34.92677689 53.19105148 12.08451271 34.8147049 53.05762482 11.93696117 34.96650696 53.18079376 12.06031036 34.875 53.05146408 11.87786102 34.99148178 53.16884613 11.81443977 35 53.15602493 12.02180958 34.92677689 53.04166031 12.12514114 34.8147049 52.91322327 11.97163391 34.96650696 53.02888489 12.1012764 34.875 52.9058609 11.91320229 34.99148178 53.01400375 11.85049915 35 52.99803925 12.06331158 34.92677689 52.89414978 12.17291737 34.8147049 52.77102661 12.01383495 34.96650696 52.87889099 12.14944839 34.875 52.7624855 11.95621872 34.99148178 52.86111832 11.8943882 35 52.84204483 12.11211491 34.92677689 52.74889755 12.22772217 34.8147049 52.6313858 12.06346035 34.96650696 52.73118591 12.2047081 34.875 52.62168503 12.00680161 34.99148178 52.71056366 11.94599915 35 52.6884346 12.00520229 35 52.53758621 12.1680975 34.92677689 52.60625458 12.28941822 34.8147049 52.49465179 12.12038708 34.96650696 52.58613968 12.26691628 34.875 52.48381805 12.06482601 34.99148178 52.56272125 12.23112106 34.92677689 52.46657944 12.35785389 34.8147049 52.36116409 12.18447208 34.96650696 52.44411469 12.33592033 34.875 52.34922028 12.07185078 35 52.38987732 12.13014793 34.99148178 52.41795349 12.30102921 34.92677689 52.33021927 12.43285847 34.8147049 52.23125076 12.25555801 34.96650696 52.30545807 12.41154766 34.875 52.2182312 12.20260525 34.99148178 52.27661896 12.14577961 35 52.24567413 12.37764645 34.92677689 52.19751358 12.51424503 34.8147049 52.10523987 12.33346558 34.96650696 52.17051315 12.49361038 34.875 52.09117126 12.28201675 34.99148178 52.13907623 12.22680473 35 52.10533524 12.46078396 34.92677689 52.06879044 12.60181236 34.8147049 51.98344421 12.41800404 34.96650696 52.03962326 12.58190346 34.875 51.96836472 12.368186 34.99148178 52.00566101 12.31472397 35 51.96921158 12.55023384 34.92677689 51.94437408 12.69534111 34.8147049 51.86616135 12.50896072 34.96650696 51.91311264 12.67620945 34.875 51.8501091 12.46089745 34.99148178 51.87670517 12.40931892 35 51.83763504 12.51035595 35 51.71094131 12.64577484 34.92677689 51.8245697 12.79459953 34.8147049 51.75368881 12.60611153 34.96650696 51.79129028 12.77629185 34.875 51.73670197 12.55992222 34.99148178 51.75253296 12.61758137 35 51.58943939 12.74716759 34.92677689 51.70967865 12.89934158 34.8147049 51.64630127 12.70921326 34.96650696 51.67446136 12.88190269 34.875 51.62842178 12.66501331 34.99148178 51.63344955 12.85416222 34.92677689 51.59998322 13.00930595 34.8147049 51.54426956 12.81801033 34.96650696 51.5629158 12.99278069 34.875 51.52554321 12.77590942 34.99148178 51.5197525 12.73073006 35 51.47343445 12.9664917 34.92677689 51.49575424 13.12421894 34.8147049 51.44784546 12.9322319 34.96650696 51.45693207 13.10864735 34.875 51.42831802 12.89233494 34.99148178 51.41172409 12.84952068 35 51.36321259 13.08387661 34.92677689 51.39725876 13.24379635 34.8147049 51.35726929 13.05159473 34.96650696 51.35677719 13.22921753 34.875 51.33699036 13.01400089 34.99148178 51.30963516 12.97365856 35 51.25904846 13.20602512 34.92677689 51.30473328 13.36773968 34.8147049 51.27276611 13.17580128 34.96650696 51.26269531 13.35418892 34.875 51.25178528 13.14060402 34.99148178 51.21373749 13.10283279 35 51.16120148 13.23672485 35 51.06991577 13.33263397 34.92677689 51.21841431 13.49574089 34.8147049 51.19454575 13.30454254 34.96650696 51.17491913 13.48325348 34.875 51.17291641 13.27182961 34.99148178 51.12426758 13.46338844 34.92677689 51.13851166 13.62748146 34.8147049 51.12280273 13.4375 34.96650696 51.09366989 13.61608791 34.875 51.10057831 13.40735245 34.99148178 51.04145432 13.375 35 50.98541641 13.59796238 34.92677689 51.06522369 13.76263523 34.8147049 51.05771637 13.57434177 34.96650696 51.01914978 13.7523632 34.875 51.03495407 13.54683399 34.99148178 50.96549606 13.51731491 35 50.90791702 13.73602295 34.92677689 50.99873734 13.9008646 34.8147049 50.99945068 13.7147274 34.96650696 50.95154572 13.8917408 34.875 50.9762001 13.68992901 34.99148178 50.89658356 13.66331673 35 50.83760452 13.87722588 34.92677689 50.93921661 14.0418272 34.8147049 50.94814301 13.85830975 34.96650696 50.89101791 14.0338726 34.875 50.92446899 13.83628082 34.99148178 50.83489227 13.8126421 35 50.77466202 13.96491814 35 50.71923447 14.02121925 34.92677689 50.88680649 14.18517113 34.8147049 50.90392685 14.00472927 34.96650696 50.83772659 14.17840672 34.875 50.87988663 13.98552608 34.99148178 50.78057098 14.16764641 34.92677689 50.84164047 14.33054161 34.8147049 50.86691284 14.15362358 34.96650696 50.79179764 14.32498455 34.875 50.84256363 14.13729286 34.99148178 50.73375702 14.11976814 35 50.67147064 14.27680683 35 50.63148499 14.31614304 34.92677689 50.80382919 14.47757626 34.8147049 50.83718872 14.3046217 34.96650696 50.7533493 14.47323895 34.875 50.81259155 14.29120541 34.99148178 50.69456863 14.46634007 34.92677689 50.7734642 14.62590981 34.8147049 50.81483078 14.45734978 34.96650696 50.72247696 14.62280369 34.875 50.79005051 14.44687939 34.99148178 50.66309738 14.4356432 35 50.59937668 14.59588337 35 50.57522202 14.61786366 34.92677689 50.75062561 14.77517319 34.8147049 50.79989243 14.61142635 34.96650696 50.69925308 14.77330685 34.875 50.77499008 14.60392857 34.99148178 50.63942337 14.77033806 34.92677689 50.73537064 14.92499542 34.8147049 50.79241562 14.76646805 34.96650696 50.68373871 14.92437267 34.875 50.76744843 14.76196289 34.99148178 50.62361145 14.75712681 35 50.55908585 14.91897488 35 50.55101013 14.92338276 34.92677689 50.72773361 15.07500458 34.8147049 50.79241562 14.92209148 34.96650696 50.67597198 15.07562733 34.875 50.76744843 15.08102512 35 50.55101013 14.92058849 34.99148178 50.61569595 15.07661724 34.92677689 50.72773361 15.22482681 34.8147049 50.79989243 15.07790852 34.96650696 50.67597198 15.22669315 34.875 50.77499008 15.07941151 34.99148178 50.61569595 15.22966194 34.92677689 50.73537064 15.37409019 34.8147049 50.81483078 15.23353195 34.96650696 50.68373871 15.37719631 34.875 50.79005051 15.24287319 35 50.55908585 15.23803711 34.99148178 50.62361145 15.40411663 35 50.57522202 15.38213634 34.92677689 50.75062561 15.52242374 34.8147049 50.83718872 15.38857365 34.96650696 50.69925308 15.52676105 34.875 50.81259155 15.39607143 34.99148178 50.63942337 15.53365993 34.92677689 50.7734642 15.66945839 34.8147049 50.86691284 15.54265022 34.96650696 50.72247696 15.67501545 34.875 50.84256363 15.5643568 35 50.59937668 15.55312061 34.99148178 50.66309738 15.72319317 35 50.63148499 15.68385696 34.92677689 50.80382919 15.81482887 34.8147049 50.90392685 15.6953783 34.96650696 50.7533493 15.82159328 34.875 50.87988663 15.70879459 34.99148178 50.69456863 15.83235359 34.92677689 50.84164047 15.9581728 34.8147049 50.94814301 15.84637642 34.96650696 50.79179764 15.9661274 34.875 50.92446899 15.86270714 34.99148178 50.73375702 15.88023186 35 50.67147064 16.03508186 35 50.71923447 15.97878075 34.92677689 50.88680649 16.09913445 34.8147049 50.99945068 15.99527073 34.96650696 50.83772659 16.1082592 34.875 50.9762001 16.01447487 34.99148178 50.78057098 16.12277412 34.92677689 50.93921661 16.23736572 34.8147049 51.05771637 16.14169121 34.96650696 50.89101791 16.2476368 34.875 51.03495407 16.16371918 34.99148178 50.83489227 16.18735886 35 50.77466202 16.26397705 34.92677689 50.99873734 16.37251854 34.8147049 51.12280273 16.2852726 34.96650696 50.95154572 16.38391304 34.875 51.10057831 16.33668327 35 50.83760452 16.31007004 34.99148178 50.89658356 16.48268509 35 50.90791702 16.40203667 34.92677689 51.06522369 16.50425911 34.8147049 51.19454575 16.42565918 34.96650696 51.01914978 16.51674652 34.875 51.17291641 16.45316505 34.99148178 50.96549606 16.53661156 34.92677689 51.13851166 16.63226128 34.8147049 51.27276611 16.5625 34.96650696 51.09366989 16.64581108 34.875 51.25178528 16.625 35 50.98541641 16.59264755 34.99148178 51.04145432 16.66736603 34.92677689 51.21841431 16.75620461 34.8147049 51.35726929 16.69545746 34.96650696 51.17491913 16.77078247 34.875 51.33699036 16.76327515 35 51.06991577 16.72817039 34.99148178 51.12426758 16.89716721 35 51.16120148 16.79397392 34.92677689 51.30473328 16.87578011 34.8147049 51.44784546 16.82419968 34.96650696 51.26269531 16.8913517 34.875 51.42831802 16.85939598 34.99148178 51.21373749 16.91612434 34.92677689 51.39725876 16.99069405 34.8147049 51.54426956 16.94840622 34.96650696 51.35677719 17.00721931 34.875 51.52554321 16.98599815 34.99148178 51.30963516 17.02634239 35 51.25904846 17.0335083 34.92677689 51.49575424 17.10065842 34.8147049 51.64630127 17.0677681 34.96650696 51.45693207 17.11809731 34.875 51.62842178 17.15047836 35 51.36321259 17.10766411 34.99148178 51.41172409 17.14583778 34.92677689 51.59998322 17.20540047 34.8147049 51.75368881 17.18198967 34.96650696 51.5629158 17.22370911 34.875 51.73670197 17.26926994 35 51.47343445 17.22409058 34.99148178 51.5197525 17.38241768 35 51.58943939 17.25283241 34.92677689 51.70967865 17.30465889 34.8147049 51.86616135 17.29078674 34.96650696 51.67446136 17.3237915 34.875 51.8501091 17.33498573 34.99148178 51.63344955 17.35422516 34.92677689 51.8245697 17.39818764 34.8147049 51.98344421 17.39388847 34.96650696 51.79129028 17.41809654 34.875 51.96836472 17.489645 35 51.71094131 17.44007683 34.99148178 51.75253296 17.44976616 34.92677689 51.94437408 17.48575401 34.8147049 52.10523987 17.49103928 34.96650696 51.91311264 17.50638962 34.875 52.09117126 17.59068108 35 51.83763504 17.53910255 34.99148178 51.87670517 17.539217 34.92677689 52.06879044 17.56714058 34.8147049 52.23125076 17.58199692 34.96650696 52.03962326 17.58845329 34.875 52.2182312 17.63181496 34.99148178 52.00566101 17.68527603 35 51.96921158 17.6223526 34.92677689 52.19751358 17.64214516 34.8147049 52.36116409 17.66653442 34.96650696 52.17051315 17.66407967 34.875 52.34922028 17.71798325 34.99148178 52.13907623 17.77319527 35 52.10533524 17.69897079 34.92677689 52.33021927 17.71058083 34.8147049 52.49465179 17.74444199 34.96650696 52.30545807 17.73308372 34.875 52.48381805 17.85421944 35 52.24567413 17.79739571 34.99148178 52.27661896 17.92814827 35 52.38987732 17.76887894 34.92677689 52.46657944 17.77227783 34.8147049 52.6313858 17.81552696 34.96650696 52.44411469 17.7952919 34.875 52.62168503 17.86985207 34.99148178 52.41795349 17.83190155 34.92677689 52.60625458 17.82708359 34.8147049 52.77102661 17.87961388 34.96650696 52.58613968 17.85055161 34.875 52.7624855 17.99479675 35 52.53758621 17.93517303 34.99148178 52.56272125 17.88788605 34.92677689 52.74889755 17.87485886 34.8147049 52.91322327 17.9365387 34.96650696 52.73118591 17.8987236 34.875 52.9058609 18.05400085 35 52.6884346 17.99319839 34.99148178 52.71056366 18.1056118 35 52.84204483 17.93668938 34.92677689 52.89414978 17.91548729 34.8147049 53.05762482 17.98616409 34.96650696 52.87889099 17.93968964 34.875 53.05146408 18.04378128 34.99148178 52.86111832 17.97819138 34.92677689 53.04166031 17.9488678 34.8147049 53.20387268 18.02836609 34.96650696 53.02888489 17.97334671 34.875 53.19892502 18.08679771 34.99148178 53.01400375 18.1495018 35 52.99803925 18.01228905 34.92677689 53.19105148 17.97491646 34.8147049 53.35160446 18.06303978 34.96650696 53.18079376 17.99961281 34.875 53.34788132 18.12213898 34.99148178 53.16884613 18.18556023 35 53.15602493 18.03889847 34.92677689 53.34196091 17.99356842 34.8147049 53.50045013 18.09009552 34.96650696 53.33424377 18.01841927 34.875 53.49796295 18.21369934 35 53.31561279 18.14971733 34.99148178 53.32525635 18.05795097 34.92677689 53.49400711 18.00477791 34.8147049 53.65003586 18.10947037 34.96650696 53.48884964 18.02972221 34.875 53.64879227 18.23385048 35 53.4764061 18.16946602 34.99148178 53.48284531 18.06940269 34.92677689 53.64681244 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680.50048828 6.83867788 58.84585571 677.50048828 6.83867788 58.84585571 680.50048828 6.90658617 58.87719727 680.50048828 6.90658617 58.87719727 677.50048828 6.97597313 58.90511322 677.50048828 6.97597313 58.90511322 680.50048828 7.04666471 58.92953873 677.50048828 7.04666471 58.92953873 680.50048828 7.11848593 58.95040894 677.50048828 7.11848593 58.95040894 680.50048828 7.19125843 58.96767044 680.50048828 7.19125843 58.96767044 677.50048828 7.26480103 58.9812851 680.50048828 7.26480103 58.9812851 677.50048828 8.75193024 56.5024147 680.50048828 8.80010128 56.56600952 680.50048828 8.70065022 56.44130325 680.50048828 8.84504128 56.63192749 680.50048828 8.6463871 56.38282013 680.50048828 8.88664055 56.70000076 680.50048828 8.58927631 56.32711792 680.50048828 8.92479515 56.77006149 680.50048828 8.52945995 56.27433014 680.50048828 8.95940971 56.84194183 680.50048828 8.46708679 56.22458649 680.50048828 8.99039841 56.91545486 680.50048828 8.40231228 56.17801666 680.50048828 9.01768398 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680.50048828 6.30135012 56.44130325 680.50048828 8.26620674 58.90515518 680.50048828 6.25006962 56.5024147 680.50048828 8.19521427 58.94155121 680.50048828 6.20189905 56.56600952 680.50048828 8.12249565 58.97436142 680.50048828 6.15695858 56.63192749 680.50048828 8.04823208 59.00350952 680.50048828 6.11535931 56.70000076 680.50048828 7.97260809 59.02891541 680.50048828 6.07720518 56.77006149 680.50048828 7.89581203 59.05052185 680.50048828 6.04259062 56.84194183 680.50048828 7.8180337 59.06827545 680.50048828 6.01160192 56.91545486 680.50048828 7.73946762 59.08213043 680.50048828 5.98431635 56.9904213 680.50048828 7.66030836 59.09204865 680.50048828 5.96080112 57.06665421 680.50048828 7.58075333 59.09801102 680.50048828 5.94111538 57.14396667 680.50048828 7.50099993 59.09999847 680.50048828 5.92530775 57.22216415 680.50048828 7.42124653 59.09801102 680.50048828 5.91341734 57.30104828 680.50048828 7.34169149 59.09204865 680.50048828 5.90547371 57.38043213 680.50048828 7.26253223 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6.24794436 66.67546844 677.50048828 6.24794436 66.67546844 680.50048828 6.20840263 66.73895264 677.50048828 6.20840263 66.73895264 680.50048828 6.17207432 66.80432892 677.50048828 6.17207432 66.80432892 680.50048828 6.13905001 66.87143707 677.50048828 6.13905001 66.87143707 680.50048828 6.10941172 66.94010925 677.50048828 6.10941172 66.94010925 680.50048828 6.08323288 67.01016998 677.50048828 6.08323288 67.01016998 680.50048828 6.0605793 67.08144379 677.50048828 6.0605793 67.08144379 680.50048828 6.04150677 67.15376282 677.50048828 6.04150677 67.15376282 680.50048828 6.02606249 67.22694397 677.50048828 6.02606249 67.22694397 680.50048828 6.01428509 67.30080414 677.50048828 6.01428509 67.30080414 680.50048828 6.00620413 67.37516022 677.50048828 6.00620413 67.37516022 680.50048828 6.00183964 67.44982147 677.50048828 6.00183964 67.44982147 680.50048828 6.00120211 67.52461243 677.50048828 6.00120211 67.52461243 680.50048828 6.00429296 67.59934235 677.50048828 6.00429296 67.59934235 680.50048828 6.01110554 67.6738205 680.50048828 6.01110554 67.6738205 677.50048828 6.0216217 67.7478714 677.50048828 6.0216217 67.7478714 680.50048828 6.03581619 67.82130432 677.50048828 6.03581619 67.82130432 680.50048828 6.05365276 67.89393616 680.50048828 6.05365276 67.89393616 677.50048828 6.0750885 67.96559143 680.50048828 6.0750885 67.96559143 677.50048828 6.10006857 68.03608704 677.50048828 6.10006857 68.03608704 680.50048828 6.12853193 68.10525513 677.50048828 6.12853193 68.10525513 680.50048828 6.16040754 68.1729126 677.50048828 6.16040754 68.1729126 680.50048828 6.19561577 68.23889923 677.50048828 6.19561577 68.23889923 680.50048828 6.23406935 68.30304718 677.50048828 6.23406935 68.30304718 680.50048828 6.27567291 68.36520386 680.50048828 6.27567291 68.36520386 677.50048828 6.32032299 68.42520142 680.50048828 6.32032299 68.42520142 677.50048828 6.36790848 68.48290253 677.50048828 6.36790848 68.48290253 680.50048828 6.41831064 68.53816223 677.50048828 6.41831064 68.53816223 680.50048828 6.47140455 68.5908432 680.50048828 6.47140455 68.5908432 677.50048828 6.5270586 68.64080811 677.50048828 6.5270586 68.64080811 680.50048828 6.58513355 68.68793488 680.50048828 6.58513355 68.68793488 677.50048828 6.64548588 68.73210907 677.50048828 6.64548588 68.73210907 680.50048828 6.7079649 68.77322388 677.50048828 6.7079649 68.77322388 680.50048828 6.77241564 68.81117249 677.50048828 6.77241564 68.81117249 680.50048828 6.83867788 68.84585571 677.50048828 6.83867788 68.84585571 680.50048828 6.90658617 68.87719727 680.50048828 6.90658617 68.87719727 677.50048828 6.97597313 68.90511322 677.50048828 6.97597313 68.90511322 680.50048828 7.04666471 68.92953491 677.50048828 7.04666471 68.92953491 680.50048828 7.11848593 68.95040894 677.50048828 7.11848593 68.95040894 680.50048828 7.19125843 68.96767426 680.50048828 7.19125843 68.96767426 677.50048828 7.26480103 68.9812851 680.50048828 7.26480103 68.9812851 677.50048828 8.58927631 68.67288208 677.50048828 8.6463871 68.61717987 677.50048828 8.52945995 68.72566986 677.50048828 8.70065022 68.55870056 677.50048828 8.46708679 68.77541351 677.50048828 8.75193024 68.49758148 677.50048828 8.40231228 68.82198334 677.50048828 8.80010128 68.43399048 677.50048828 8.33529663 68.86526489 677.50048828 8.84504128 68.36807251 677.50048828 8.26620674 68.90515137 677.50048828 8.88664055 68.30000305 677.50048828 8.19521427 68.94155121 677.50048828 8.92479515 68.22993469 677.50048828 8.12249565 68.97436523 677.50048828 8.95940971 68.15805817 677.50048828 8.04823208 69.00350952 677.50048828 8.99039841 68.08454895 677.50048828 7.97260809 69.02891541 677.50048828 9.01768398 68.00957489 677.50048828 7.89581203 69.05052185 677.50048828 9.04119873 67.93334198 677.50048828 7.8180337 69.06827545 677.50048828 9.06088448 67.85603333 677.50048828 7.73946762 69.08213043 677.50048828 9.07669258 67.77783966 677.50048828 7.66030836 69.09204865 677.50048828 9.08858299 67.69895172 677.50048828 7.58075333 69.09801483 677.50048828 9.09652615 67.61956787 677.50048828 7.50099993 69.09999847 677.50048828 9.10050297 67.53988647 677.50048828 7.42124653 69.09801483 677.50048828 9.10050297 67.46011353 677.50048828 7.34169149 69.09204865 677.50048828 9.09652615 67.38043213 677.50048828 7.26253223 69.08213043 677.50048828 9.08858299 67.30104828 677.50048828 7.18396616 69.06827545 677.50048828 9.07669258 67.22216034 677.50048828 7.1061883 69.05052185 677.50048828 9.06088448 67.14396667 677.50048828 7.02939177 69.02891541 677.50048828 9.04119873 67.06665802 677.50048828 9.01768398 66.99042511 677.50048828 6.95376778 69.00350952 677.50048828 8.99039841 66.91545105 677.50048828 6.8795042 68.97436523 677.50048828 8.95940971 66.84194183 677.50048828 6.80678606 68.94155121 677.50048828 8.92479515 66.77006531 677.50048828 6.73579359 68.90515137 677.50048828 8.88664055 66.69999695 677.50048828 6.6667037 68.86526489 677.50048828 8.84504128 66.63192749 677.50048828 6.59968805 68.82198334 677.50048828 8.80010128 66.56600952 677.50048828 6.53491306 68.77541351 677.50048828 8.75193024 66.50241852 677.50048828 6.4725399 68.72566986 677.50048828 8.70065022 66.44129944 677.50048828 6.41272354 68.67288208 677.50048828 8.6463871 66.38282013 677.50048828 6.35561323 68.61717987 677.50048828 8.58927631 66.32711792 677.50048828 6.30135012 68.55870056 677.50048828 8.52945995 66.27433014 677.50048828 6.25006962 68.49758148 677.50048828 8.46708679 66.22458649 677.50048828 6.20189905 68.43399048 677.50048828 8.40231228 66.17801666 677.50048828 6.15695858 68.36807251 677.50048828 8.33529663 66.13473511 677.50048828 6.11535931 68.30000305 677.50048828 8.26620674 66.09484863 677.50048828 6.07720518 68.22993469 677.50048828 8.19521427 66.05844879 677.50048828 6.04259062 68.15805817 677.50048828 8.12249565 66.02563477 677.50048828 6.01160192 68.08454895 677.50048828 8.04823208 65.99649048 677.50048828 5.98431635 68.00957489 677.50048828 7.97260809 65.97108459 677.50048828 5.96080112 67.93334198 677.50048828 7.89581203 65.94947815 677.50048828 5.94111538 67.85603333 677.50048828 7.8180337 65.93172455 677.50048828 5.92530775 67.77783966 677.50048828 7.73946762 65.91786957 677.50048828 5.91341734 67.69895172 677.50048828 7.66030836 65.90795135 677.50048828 5.90547371 67.61956787 677.50048828 7.58075333 65.90198517 677.50048828 5.90149736 67.53988647 677.50048828 7.50099993 65.90000153 677.50048828 5.90149736 67.46011353 677.50048828 7.42124653 65.90198517 677.50048828 5.90547371 67.38043213 677.50048828 7.34169149 65.90795135 677.50048828 5.91341734 67.30104828 677.50048828 7.26253223 65.91786957 677.50048828 5.92530775 67.22216034 677.50048828 7.18396616 65.93172455 677.50048828 5.94111538 67.14396667 677.50048828 7.1061883 65.94947815 677.50048828 5.96080112 67.06665802 677.50048828 7.02939177 65.97108459 677.50048828 5.98431635 66.99042511 677.50048828 6.95376778 65.99649048 677.50048828 6.01160192 66.91545105 677.50048828 6.8795042 66.02563477 677.50048828 6.04259062 66.84194183 677.50048828 6.80678606 66.05844879 677.50048828 6.07720518 66.77006531 677.50048828 6.73579359 66.09484863 677.50048828 6.11535931 66.69999695 677.50048828 6.6667037 66.13473511 677.50048828 6.15695858 66.63192749 677.50048828 6.59968805 66.17801666 677.50048828 6.20189905 66.56600952 677.50048828 6.53491306 66.22458649 677.50048828 6.25006962 66.50241852 677.50048828 6.4725399 66.27433014 677.50048828 6.30135012 66.44129944 677.50048828 6.41272354 66.32711792 677.50048828 6.35561323 66.38282013 677.50048828 7.50099993 69.09999847 680.50048828 7.58075333 69.09801483 680.50048828 7.66030836 69.09204865 680.50048828 7.73946762 69.08213043 680.50048828 7.8180337 69.06827545 680.50048828 7.89581203 69.05052185 680.50048828 7.97260809 69.02891541 680.50048828 8.04823208 69.00350952 680.50048828 8.12249565 68.97436523 680.50048828 8.19521427 68.94155121 680.50048828 8.26620674 68.90515137 680.50048828 8.33529663 68.86526489 680.50048828 8.40231228 68.82198334 680.50048828 8.46708679 68.77541351 680.50048828 8.52945995 68.72566986 680.50048828 8.58927631 68.67288208 680.50048828 8.6463871 68.61717987 680.50048828 8.70065022 68.55870056 680.50048828 8.75193024 68.49758148 680.50048828 8.80010128 68.43399048 680.50048828 8.84504128 68.36807251 680.50048828 8.88664055 68.30000305 680.50048828 8.92479515 68.22993469 680.50048828 8.95940971 68.15805817 680.50048828 8.99039841 68.08454895 680.50048828 9.01768398 68.00957489 680.50048828 9.04119873 67.93334198 680.50048828 9.06088448 67.85603333 680.50048828 9.07669258 67.77783966 680.50048828 9.08858299 67.69895172 680.50048828 9.09652615 67.61956787 680.50048828 9.10050297 67.53988647 680.50048828 9.10050297 67.46011353 680.50048828 9.09652615 67.38043213 680.50048828 9.08858299 67.30104828 680.50048828 9.07669258 67.22216034 680.50048828 9.06088448 67.14396667 680.50048828 9.04119873 67.06665802 680.50048828 9.01768398 66.99042511 680.50048828 8.99039841 66.91545105 680.50048828 8.95940971 66.84194183 680.50048828 8.92479515 66.77006531 680.50048828 8.88664055 66.69999695 680.50048828 8.84504128 66.63192749 680.50048828 8.80010128 66.56600952 680.50048828 8.75193024 66.50241852 680.50048828 8.70065022 66.44129944 680.50048828 8.6463871 66.38282013 680.50048828 8.58927631 66.32711792 680.50048828 8.52945995 66.27433014 680.50048828 8.46708679 66.22458649 680.50048828 8.40231228 66.17801666 680.50048828 8.33529663 66.13473511 680.50048828 8.26620674 66.09484863 680.50048828 8.19521427 66.05844879 680.50048828 8.12249565 66.02563477 680.50048828 8.04823208 65.99649048 680.50048828 7.97260809 65.97108459 680.50048828 7.89581203 65.94947815 680.50048828 7.8180337 65.93172455 680.50048828 7.73946762 65.91786957 680.50048828 7.66030836 65.90795135 680.50048828 7.58075333 65.90198517 680.50048828 7.50099993 65.90000153 680.50048828 7.42124653 65.90198517 680.50048828 7.34169149 65.90795135 680.50048828 7.26253223 65.91786957 680.50048828 7.18396616 65.93172455 680.50048828 7.1061883 65.94947815 680.50048828 7.02939177 65.97108459 680.50048828 6.95376778 65.99649048 680.50048828 6.8795042 66.02563477 680.50048828 6.80678606 66.05844879 680.50048828 6.73579359 66.09484863 680.50048828 6.6667037 66.13473511 680.50048828 6.59968805 66.17801666 680.50048828 6.53491306 66.22458649 680.50048828 6.4725399 66.27433014 680.50048828 6.41272354 66.32711792 680.50048828 6.35561323 66.38282013 680.50048828 6.30135012 66.44129944 680.50048828 6.25006962 66.50241852 680.50048828 6.20189905 66.56600952 680.50048828 6.15695858 66.63192749 680.50048828 6.11535931 66.69999695 680.50048828 6.07720518 66.77006531 680.50048828 6.04259062 66.84194183 680.50048828 6.01160192 66.91545105 680.50048828 5.98431635 66.99042511 680.50048828 5.96080112 67.06665802 680.50048828 5.94111538 67.14396667 680.50048828 5.92530775 67.22216034 680.50048828 5.91341734 67.30104828 680.50048828 5.90547371 67.38043213 680.50048828 5.90149736 67.46011353 680.50048828 5.90149736 67.53988647 680.50048828 5.90547371 67.61956787 680.50048828 5.91341734 67.69895172 680.50048828 5.92530775 67.77783966 680.50048828 5.94111538 67.85603333 680.50048828 5.96080112 67.93334198 680.50048828 5.98431635 68.00957489 680.50048828 6.01160192 68.08454895 680.50048828 6.04259062 68.15805817 680.50048828 6.07720518 68.22993469 680.50048828 6.11535931 68.30000305 680.50048828 6.15695858 68.36807251 680.50048828 6.20189905 68.43399048 680.50048828 6.25006962 68.49758148 680.50048828 6.30135012 68.55870056 680.50048828 6.35561323 68.61717987 680.50048828 6.41272354 68.67288208 680.50048828 6.4725399 68.72566986 680.50048828 6.53491306 68.77541351 680.50048828 6.59968805 68.82198334 680.50048828 6.6667037 68.86526489 680.50048828 6.73579359 68.90515137 680.50048828 6.80678606 68.94155121 680.50048828 6.8795042 68.97436523 680.50048828 6.95376778 69.00350952 680.50048828 7.02939177 69.02891541 680.50048828 7.1061883 69.05052185 680.50048828 7.18396616 69.06827545 680.50048828 7.26253223 69.08213043 680.50048828 7.34169149 69.09204865 680.50048828 7.42124653 69.09801483 680.50048828 7.63384295 56.27769852 674.53649902 7.69443464 56.28581238 674.53649902 7.62995338 56.31348801 674.50048828 7.68893576 56.32138824 674.50048828 7.75454855 56.29692841 674.53649902 7.74745083 56.33222198 674.50048828 7.81403542 56.31101608 674.53649902 7.80535364 56.34595871 674.50048828 7.87274837 56.32804871 674.53649902 7.86249924 56.36256409 674.50048828 7.93054247 56.34797287 674.53649902 7.91874647 56.38199615 674.50048828 7.98727417 56.37075043 674.53649902 7.97395515 56.40420914 674.50048828 8.04280376 56.39631653 674.53649902 8.02798748 56.42914581 674.50048828 8.0969944 56.42461014 674.53649902 8.08071041 56.45674515 674.50048828 8.14971161 56.45556641 674.53649902 8.13199139 56.48693848 674.50048828 8.20082474 56.48910141 674.53649902 8.18170452 56.51964951 674.50048828 8.2502079 56.52513504 674.53649902 8.22972393 56.55479813 674.50048828 8.29773808 56.56358337 674.53649902 8.27593327 56.59230042 674.50048828 8.34329891 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241 2220 2218 205 2252 239 2254 2252 237 239 2222 2220 205 2222 205 207 2251 237 2252 2251 235 237 2224 207 209 2224 2222 207 2248 235 2251 2248 233 235 2226 2224 209 2226 209 211 2226 211 213 2246 233 2248 2246 229 231 2246 231 233 2228 2226 213 2244 229 2246 2244 227 229 2230 2228 213 2230 213 215 2230 215 217 2242 227 2244 2232 2230 217 2240 223 225 2240 225 227 2240 227 2242 2234 217 219 2234 219 221 2234 2232 217 2238 223 2240 2236 221 223 2236 223 2238 2236 2234 221

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..dae544a --- /dev/null +++ b/package.xml @@ -0,0 +1,40 @@ + + + + + openarm_description + 1.0.0 + URDF with optional configuration parameters for OpenArm + Enactic, Inc. + Apache-2.0 + + ament_cmake + + ament_lint_auto + ament_lint_common + ament_cmake_pytest + + joint_state_publisher_gui + ros_gz + realsense2_description + xacro + rviz2 + + + ament_cmake + + diff --git a/rviz/arm_only.rviz b/rviz/arm_only.rviz new file mode 100644 index 0000000..3497c2a --- /dev/null +++ b/rviz/arm_only.rviz @@ -0,0 +1,185 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 758 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + openarm_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_hand_tcp: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_left_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: openarm_link0 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.424237012863159 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.33000001311302185 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.5 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1922 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000100000000000001da000006f0fc0200000002fb000000100044006900730070006c0061007900730100000069000003e40000017800fffffffb0000000a005600690065007700730100000459000003000000012300ffffff00000afa000006f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 3296 + X: 0 + Y: 64 diff --git a/rviz/bimanual.rviz b/rviz/bimanual.rviz new file mode 100644 index 0000000..90ac1e8 --- /dev/null +++ b/rviz/bimanual.rviz @@ -0,0 +1,257 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 139 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + openarm_left_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_hand_tcp: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_left_left_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_left_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_hand_tcp: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_right_left_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_right_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + v10_body_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.33000001311302185 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.5 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 826 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000100000000000001da000002a8fc0200000002fb000000100044006900730070006c0061007900730100000069000001790000017800fffffffb0000000a0056006900650077007301000001ee000001230000012300ffffff000002ca000002a800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1200 + X: 42 + Y: 64 diff --git a/urdf/arm/openarm_arm.xacro b/urdf/arm/openarm_arm.xacro new file mode 100644 index 0000000..c565e16 --- /dev/null +++ b/urdf/arm/openarm_arm.xacro @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/arm/openarm_macro.xacro b/urdf/arm/openarm_macro.xacro new file mode 100644 index 0000000..0198532 --- /dev/null +++ b/urdf/arm/openarm_macro.xacro @@ -0,0 +1,137 @@ + + + + + + ${xacro.warning('No inertia properties defined for: ' + name)} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + openarm_hw/openarmStateInterface + + + + + + openarm_hw/openarmModelInterface + + root + openarm_hw/openarmModelInterface + + + tip + openarm_hw/openarmModelInterface + + openarm_hw/openarmModelInterface + openarm_hw/openarmModelInterface + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/body/openarm_body.xacro b/urdf/body/openarm_body.xacro new file mode 100644 index 0000000..c635e6a --- /dev/null +++ b/urdf/body/openarm_body.xacro @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/body/openarm_body_macro.xacro b/urdf/body/openarm_body_macro.xacro new file mode 100644 index 0000000..57911c7 --- /dev/null +++ b/urdf/body/openarm_body_macro.xacro @@ -0,0 +1,55 @@ + + + + + ${xacro.warning('No inertia properties defined for: ' + name)} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/ee/ee_with_one_link.xacro b/urdf/ee/ee_with_one_link.xacro new file mode 100644 index 0000000..667cb9e --- /dev/null +++ b/urdf/ee/ee_with_one_link.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/ee/openarm_hand.xacro b/urdf/ee/openarm_hand.xacro new file mode 100644 index 0000000..6363bde --- /dev/null +++ b/urdf/ee/openarm_hand.xacro @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/ee/openarm_hand_arguments.xacro b/urdf/ee/openarm_hand_arguments.xacro new file mode 100644 index 0000000..4de03a1 --- /dev/null +++ b/urdf/ee/openarm_hand_arguments.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/ee/openarm_hand_macro.xacro b/urdf/ee/openarm_hand_macro.xacro new file mode 100644 index 0000000..3ff7545 --- /dev/null +++ b/urdf/ee/openarm_hand_macro.xacro @@ -0,0 +1,55 @@ + + + + + + + ${xacro.warning('No inertia properties defined for: ' + name)} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/robot/openarm_robot.xacro b/urdf/robot/openarm_robot.xacro new file mode 100644 index 0000000..e2e0689 --- /dev/null +++ b/urdf/robot/openarm_robot.xacro @@ -0,0 +1,195 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/robot/v10.urdf.xacro b/urdf/robot/v10.urdf.xacro new file mode 100644 index 0000000..09682ca --- /dev/null +++ b/urdf/robot/v10.urdf.xacro @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro new file mode 100644 index 0000000..73c8b99 --- /dev/null +++ b/urdf/ros2_control/openarm.bimanual.ros2_control.xacro @@ -0,0 +1,99 @@ + + + + + + + + + ${arm_type} + + fake_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + openarm_hardware/OpenArm_v10HW + ${left_can_interface} + ${left_arm_prefix} + ${hand} + ${can_fd} + + + + + + + + + + + ${initial_position} + + + + 0.0 + + + + 0.0 + + + + + + + + + + + + + + + + + + + + + ${arm_type} + + fake_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + openarm_hardware/OpenArm_v10HW + ${right_can_interface} + ${right_arm_prefix} + ${hand} + ${can_fd} + + + + + + + + + + + + + + + + + + + diff --git a/urdf/ros2_control/openarm.ros2_control.xacro b/urdf/ros2_control/openarm.ros2_control.xacro new file mode 100644 index 0000000..553f767 --- /dev/null +++ b/urdf/ros2_control/openarm.ros2_control.xacro @@ -0,0 +1,77 @@ + + + + + + + + ${arm_type} + ${arm_prefix} + + fake_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + openarm_hardware/OpenArm_${arm_type}HW + ${can_interface} + ${arm_prefix} + ${hand} + ${can_fd} + + + + + + + + + + + + + ${initial_position} + + + + 0.0 + + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + +