From 18ff19955a9f982f8859d9441f48b6e273694460 Mon Sep 17 00:00:00 2001 From: vjg28 Date: Mon, 10 Sep 2018 21:35:09 +0530 Subject: [PATCH 1/8] Gazebo simulation files --- .../1_scissor_element1/model.config | 11 + .../1_scissor_element1/model.sdf | 203 ++++++++++++++++++ 2 files changed, 214 insertions(+) create mode 100644 simulation_models/1_scissor_element1/model.config create mode 100644 simulation_models/1_scissor_element1/model.sdf diff --git a/simulation_models/1_scissor_element1/model.config b/simulation_models/1_scissor_element1/model.config new file mode 100644 index 0000000..c4cbd94 --- /dev/null +++ b/simulation_models/1_scissor_element1/model.config @@ -0,0 +1,11 @@ + + + scissor1 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/1_scissor_element1/model.sdf b/simulation_models/1_scissor_element1/model.sdf new file mode 100644 index 0000000..c60dff2 --- /dev/null +++ b/simulation_models/1_scissor_element1/model.sdf @@ -0,0 +1,203 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.000209 -0.005 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + -0.000209 0.005 0 0 1.5707 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + From b6951b5403095545720728cc9a5c3188301d6a5f Mon Sep 17 00:00:00 2001 From: vjg28 Date: Mon, 10 Sep 2018 21:39:17 +0530 Subject: [PATCH 2/8] Gazebo model file --- .../2_scissor_element2/model.config | 11 + .../2_scissor_element2/model.sdf | 527 ++++++++++++++++++ 2 files changed, 538 insertions(+) create mode 100644 simulation_models/2_scissor_element2/model.config create mode 100644 simulation_models/2_scissor_element2/model.sdf diff --git a/simulation_models/2_scissor_element2/model.config b/simulation_models/2_scissor_element2/model.config new file mode 100644 index 0000000..bb31bff --- /dev/null +++ b/simulation_models/2_scissor_element2/model.config @@ -0,0 +1,11 @@ + + + scissor3 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/2_scissor_element2/model.sdf b/simulation_models/2_scissor_element2/model.sdf new file mode 100644 index 0000000..a0d26f0 --- /dev/null +++ b/simulation_models/2_scissor_element2/model.sdf @@ -0,0 +1,527 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.000209 -0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0 0.01 0 0 1.5707 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.28 -0 0.28 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.28 0.01 0.28 0 1.5707 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + link_0 + link_0_clone + 0 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + link_0 + link_0_clone_clone + 0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + link_0_clone_0 + link_0_clone_clone + 0 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + link_0_clone + link_0_clone_0 + -0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + 0 + 1 + + From c30a4ddd5a757e2acb89d88d5fa5325efeabdbee Mon Sep 17 00:00:00 2001 From: vjg28 Date: Mon, 10 Sep 2018 21:50:19 +0530 Subject: [PATCH 3/8] Gazebo model file --- .../3_scissor_element3/model.config | 11 + .../3_scissor_element3/model.sdf | 530 ++++++++++++++++++ 2 files changed, 541 insertions(+) create mode 100644 simulation_models/3_scissor_element3/model.config create mode 100644 simulation_models/3_scissor_element3/model.sdf diff --git a/simulation_models/3_scissor_element3/model.config b/simulation_models/3_scissor_element3/model.config new file mode 100644 index 0000000..845a998 --- /dev/null +++ b/simulation_models/3_scissor_element3/model.config @@ -0,0 +1,11 @@ + + + scissor7 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/3_scissor_element3/model.sdf b/simulation_models/3_scissor_element3/model.sdf new file mode 100644 index 0000000..a298102 --- /dev/null +++ b/simulation_models/3_scissor_element3/model.sdf @@ -0,0 +1,530 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.000209 -0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0 0.01 0 0 1.5707 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.28 -0 0.28 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.28 0.01 0.28 0 1.5707 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + link_0 + link_0_clone + 0 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + link_0 + link_0_clone_clone + 0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + link_0_clone_0 + link_0_clone_clone + 0 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + link_0_clone + link_0_clone_0 + -0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + 0 + 1 + 5e-06 5e-06 -0 0 -0.769324 0 + 0 + 1 + + From 0d635ee8b232d6891bffeb401fffb26f4e1e0a7a Mon Sep 17 00:00:00 2001 From: vjg28 Date: Mon, 10 Sep 2018 21:52:08 +0530 Subject: [PATCH 4/8] Gazebo model file --- .../4_one_side_scissorjack/model.config | 11 +++ .../4_one_side_scissorjack/model.sdf | 82 +++++++++++++++++++ 2 files changed, 93 insertions(+) create mode 100644 simulation_models/4_one_side_scissorjack/model.config create mode 100644 simulation_models/4_one_side_scissorjack/model.sdf diff --git a/simulation_models/4_one_side_scissorjack/model.config b/simulation_models/4_one_side_scissorjack/model.config new file mode 100644 index 0000000..2c81cb5 --- /dev/null +++ b/simulation_models/4_one_side_scissorjack/model.config @@ -0,0 +1,11 @@ + + + scissorfinal2 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/4_one_side_scissorjack/model.sdf b/simulation_models/4_one_side_scissorjack/model.sdf new file mode 100644 index 0000000..8adf44e --- /dev/null +++ b/simulation_models/4_one_side_scissorjack/model.sdf @@ -0,0 +1,82 @@ + + + + + model://scissor3 + 0 0 0 0 -0.78535 0 + + + + model://scissor9 + 0 0 0.791959 0 -0.78535 0 + + + + + scissor3::link_0_clone_0 + scissor9::link_0_clone + 0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + scissor3::link_0_clone_clone + scissor9::link_0 + -0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + + + From 0264004debdf71f9802b5f4bff29379c0b440a0e Mon Sep 17 00:00:00 2001 From: vjg28 Date: Mon, 10 Sep 2018 21:56:03 +0530 Subject: [PATCH 5/8] Gazebo model file --- .../5_jointscissorjack/model.config | 11 +++++++++++ simulation_models/5_jointscissorjack/model.sdf | 17 +++++++++++++++++ 2 files changed, 28 insertions(+) create mode 100644 simulation_models/5_jointscissorjack/model.config create mode 100644 simulation_models/5_jointscissorjack/model.sdf diff --git a/simulation_models/5_jointscissorjack/model.config b/simulation_models/5_jointscissorjack/model.config new file mode 100644 index 0000000..c13f604 --- /dev/null +++ b/simulation_models/5_jointscissorjack/model.config @@ -0,0 +1,11 @@ + + + jointscissor1 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/5_jointscissorjack/model.sdf b/simulation_models/5_jointscissorjack/model.sdf new file mode 100644 index 0000000..b8df6e1 --- /dev/null +++ b/simulation_models/5_jointscissorjack/model.sdf @@ -0,0 +1,17 @@ + + + + + model://scissorfinal1 + 0 0 0.212132 0 0 0 + + + + model://scissorfinal2 + 0 0.32 0.212132 0 0 0 + + + + + + From cd799f3c609ee19808475feeb49c88c908cc0c1e Mon Sep 17 00:00:00 2001 From: vjg28 Date: Mon, 10 Sep 2018 21:56:48 +0530 Subject: [PATCH 6/8] Gazebo model file --- .../6_finaljointscissormodel/model.config | 11 + .../6_finaljointscissormodel/model.sdf | 3868 +++++++++++++++++ 2 files changed, 3879 insertions(+) create mode 100644 simulation_models/6_finaljointscissormodel/model.config create mode 100644 simulation_models/6_finaljointscissormodel/model.sdf diff --git a/simulation_models/6_finaljointscissormodel/model.config b/simulation_models/6_finaljointscissormodel/model.config new file mode 100644 index 0000000..f91a34e --- /dev/null +++ b/simulation_models/6_finaljointscissormodel/model.config @@ -0,0 +1,11 @@ + + + finaljointscissormodel + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/6_finaljointscissormodel/model.sdf b/simulation_models/6_finaljointscissormodel/model.sdf new file mode 100644 index 0000000..e9eee7b --- /dev/null +++ b/simulation_models/6_finaljointscissormodel/model.sdf @@ -0,0 +1,3868 @@ + + + + + + 1 + + 0.145833 + 0 + 0 + 0.145833 + 0 + 0.125 + + 0 0 0 0 -0 0 + + -0 -0 0.212132 1.5707 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.02 + 0.3 + + + + 1 + + + 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1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + 0 + 1 + + From 2a5c2ff2937fcf88c1d55106ae2949401d42ca7c Mon Sep 17 00:00:00 2001 From: vjg28 Date: Mon, 10 Sep 2018 21:57:33 +0530 Subject: [PATCH 7/8] Gazebo model file --- .../7_scissorjackcomplete/model.config | 11 + .../7_scissorjackcomplete/model.sdf | 5163 +++++++++++++++++ 2 files changed, 5174 insertions(+) create mode 100644 simulation_models/7_scissorjackcomplete/model.config create mode 100644 simulation_models/7_scissorjackcomplete/model.sdf diff --git a/simulation_models/7_scissorjackcomplete/model.config b/simulation_models/7_scissorjackcomplete/model.config new file mode 100644 index 0000000..36c3016 --- /dev/null +++ b/simulation_models/7_scissorjackcomplete/model.config @@ -0,0 +1,11 @@ + + + IMP3 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/7_scissorjackcomplete/model.sdf b/simulation_models/7_scissorjackcomplete/model.sdf new file mode 100644 index 0000000..1dcc1d3 --- 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+ + 0 + 0.2 + + + + + + link_4_clone + finaljointscissormodel::jointscissor1::scissorfinal2::scissor3::link_0 + -0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + 0 + 1 + + From b578e506991506d5c0c51c36ea52f8afa58afa60 Mon Sep 17 00:00:00 2001 From: vjg28 Date: Mon, 10 Sep 2018 21:58:12 +0530 Subject: [PATCH 8/8] Gazebo model file --- simulation_models/Bot_wheelbase/model.config | 11 + simulation_models/Bot_wheelbase/model.sdf | 863 +++ .../Final_ARLE_model/model.config | 11 + simulation_models/Final_ARLE_model/model.sdf | 6469 +++++++++++++++++ 4 files changed, 7354 insertions(+) create mode 100644 simulation_models/Bot_wheelbase/model.config create mode 100644 simulation_models/Bot_wheelbase/model.sdf create mode 100644 simulation_models/Final_ARLE_model/model.config create mode 100644 simulation_models/Final_ARLE_model/model.sdf diff --git a/simulation_models/Bot_wheelbase/model.config b/simulation_models/Bot_wheelbase/model.config new file mode 100644 index 0000000..416ace2 --- /dev/null +++ b/simulation_models/Bot_wheelbase/model.config @@ -0,0 +1,11 @@ + + + model3 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/Bot_wheelbase/model.sdf b/simulation_models/Bot_wheelbase/model.sdf new file mode 100644 index 0000000..b63979e --- /dev/null +++ b/simulation_models/Bot_wheelbase/model.sdf @@ -0,0 +1,863 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.285648 0.004706 0.118273 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 1 0.6 0.03 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 1 0.6 0.03 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 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