diff --git a/.gitattributes b/.gitattributes index fe6adec37b532e134438e10ad004b0a8a832b9e0..59734ebc6373c3665bbd209b2f5c2fbad47fcfd0 100644 --- a/.gitattributes +++ b/.gitattributes @@ -2097,3 +2097,13 @@ scenes/ithor/FloorPlan9_physics/Payload/GeometryLibrary.usdc filter=lfs diff=lfs *.npy filter=lfs diff=lfs merge=lfs -text textures/rust/*.JPG filter=lfs diff=lfs merge=lfs -text textures/rust/*.jpg filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/meshes/visual/link2.glb filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/meshes/visual/link6.glb filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/meshes/visual/link_base.glb filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/meshes/visual/link1.glb filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/meshes/visual/link5.glb filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/meshes/visual/link7.glb filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/meshes/visual/link3.glb filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/meshes/visual/link4.glb filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/models/FB_palm_ref.STL filter=lfs diff=lfs merge=lfs -text +URDF-Zoo/xarm+ability/models/full_model_fused_with__wrist.stl filter=lfs diff=lfs merge=lfs -text diff --git a/Robots_p/README.md b/Robots_p/README.md new file mode 100644 index 0000000000000000000000000000000000000000..0bebedebfb36432a5fa01379f92effe41ee611f8 --- /dev/null +++ b/Robots_p/README.md @@ -0,0 +1 @@ +# URDF-Zoo diff --git a/Robots_p/ur5+schunk_hand/meshes/ur5/collision/base.stl b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/base.stl new file mode 100644 index 0000000000000000000000000000000000000000..4eb2f7eb38493e36b16587650cd65c516ea27766 Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/base.stl differ diff --git a/Robots_p/ur5+schunk_hand/meshes/ur5/collision/wrist3.stl b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/wrist3.stl new file mode 100644 index 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63 59 63 59 62 58 2243 2313 2243 2313 62 58 2248 2318 2243 2313 2248 2318 2233 2303 2233 2303 2248 2318 2236 2306 2233 2303 2236 2306 1502 1551 1502 1551 2236 2306 2238 2308 1502 1551 2238 2308 1500 1549 1500 1549 2238 2308 1504 1553 2256 2326 2257 2327 2258 2328 2241 2311 2259 2329 2260 2330 2260 2330 2259 2329 2258 2328 2260 2330 2258 2328 2261 2331 2261 2331 2258 2328 2257 2327 2261 2331 2257 2327 74 76 77 80 76 78 1494 1543 1494 1543 76 78 2256 2326 1494 1543 2256 2326 2262 2332 2262 2332 2256 2326 2258 2328 2262 2332 2258 2328 1903 1963 1903 1963 2258 2328 2259 2329 76 78 75 77 2256 2326 2256 2326 75 77 53 46 2256 2326 53 46 2257 2327 2257 2327 53 46 52 45 2257 2327 52 45 74 76 83 87 82 86 2263 2333 2263 2333 82 86 79 82 623 666 1899 1959 1900 1960 1900 1960 1899 1959 2264 2334 1900 1960 2264 2334 2232 2302 2232 2302 2264 2334 2263 2333 2232 2302 2263 2333 1495 1544 1495 1544 2263 2333 79 82 1495 1544 79 82 80 84 87 92 86 91 2265 2335 2265 2335 86 91 85 90 635 678 1898 1958 625 668 625 668 1898 1958 2266 2336 625 668 2266 2336 1554 1603 1554 1603 2266 2336 2267 2337 1554 1603 2267 2337 2268 2338 2268 2338 2267 2337 2265 2335 2268 2338 2265 2335 2269 2339 2269 2339 2265 2335 85 90 2269 2339 85 90 84 89 631 674 1554 1603 1899 1959 1899 1959 1554 1603 2268 2338 1899 1959 2268 2338 2264 2334 2264 2334 2268 2338 2269 2339 2264 2334 2269 2339 2263 2333 2263 2333 2269 2339 84 89 2263 2333 84 89 83 87 81 85 78 81 1495 1544 1495 1544 78 81 1494 1543 1495 1544 1494 1543 2231 2301 2231 2301 1494 1543 2262 2332 2231 2301 2262 2332 1553 1602 1553 1602 2262 2332 1903 1963 1553 1602 1903 1963 606 649 606 649 1903 1963 607 650 74 76 73 75 2261 2331 2261 2331 73 75 72 74 2261 2331 72 74 2270 2340 2270 2340 72 74 69 68 2270 2340 69 68 70 70 2241 2311 2260 2330 2242 2312 2242 2312 2260 2330 2261 2331 2242 2312 2261 2331 2254 2324 2254 2324 2261 2331 2270 2340 2254 2324 2270 2340 2253 2323 2253 2323 2270 2340 70 70 2253 2323 70 70 71 71 2271 2341 1491 1540 2272 2342 1492 1541 1485 1534 2273 2343 2271 2341 1489 1538 2274 2344 2274 2344 1489 1538 1488 1537 2274 2344 1488 1537 2275 2345 1480 1529 2276 2346 2277 2347 2277 2347 2276 2346 2278 2348 2277 2347 2278 2348 2279 2349 2279 2349 2278 2348 2280 2350 2279 2349 2280 2350 1897 1957 641 684 640 683 1555 1604 1555 1604 640 683 2275 2345 1555 1604 2275 2345 2281 2351 2281 2351 2275 2345 1488 1537 2281 2351 1488 1537 2282 2352 2282 2352 1488 1537 1490 1539 2282 2352 1490 1539 2283 2353 2284 2354 2285 2355 2286 2356 2286 2356 2285 2355 2287 2357 2271 2341 2272 2342 1489 1538 1489 1538 2272 2342 2288 2358 1489 1538 2288 2358 1490 1539 1490 1539 2288 2358 2289 2359 1490 1539 2289 2359 2283 2353 88 94 1483 1532 89 95 89 95 1483 1532 1482 1531 89 95 1482 1531 90 97 90 97 1482 1531 91 98 1480 1529 92 99 2276 2346 2276 2346 92 99 93 101 2276 2346 93 101 94 102 94 102 91 98 2276 2346 2276 2346 91 98 1482 1531 2276 2346 1482 1531 2278 2348 2278 2348 1482 1531 1484 1533 2278 2348 1484 1533 2280 2350 2290 2360 104 116 51 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5.1.1 MTL File: 'None' +# www.blender.org diff --git a/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2_Lg.obj b/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2_Lg.obj new file mode 100644 index 0000000000000000000000000000000000000000..69ba1248e3c0ce8af52ff638a1d6446737195101 --- /dev/null +++ b/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2_Lg.obj @@ -0,0 +1,303 @@ +# Blender 5.1.1 +# www.blender.org +mtllib tactile_idx_F2_Lg.mtl +o idx_F2_Lg +v 0.031426 0.065348 -0.025896 +v 0.030285 0.063599 -0.025482 +v 0.030455 0.069007 -0.025259 +v 0.029777 0.072522 -0.025874 +v 0.030978 0.073232 -0.027641 +v 0.040693 0.071102 -0.034869 +v 0.041150 0.062437 -0.034875 +v 0.041937 0.065139 -0.034625 +v 0.038276 0.060842 -0.033066 +v 0.042707 0.067444 -0.037011 +v 0.039664 0.063881 -0.032220 +v 0.035886 0.063448 -0.029095 +v 0.037356 0.062091 -0.030874 +v 0.036216 0.068275 -0.029085 +v 0.039563 0.069390 -0.031984 +v 0.038112 0.070842 -0.031286 +v 0.035607 0.069597 -0.028692 +v 0.035125 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0.509277 0.466796 +vt 0.509852 0.466626 +vt 0.510005 0.466588 +s 0 +usemtl +f 57/1/1 58/1/1 2/1/1 1/1/1 +f 59/1/2 1/1/2 3/1/2 60/1/2 +f 57/1/3 1/1/3 59/1/3 +f 61/1/4 4/1/4 62/1/4 +f 4/1/5 5/1/5 63/1/5 62/1/5 +f 64/1/6 4/1/6 61/1/6 +f 37/1/7 38/1/7 7/1/7 +f 7/1/8 38/1/8 39/1/8 8/1/8 +f 10/1/9 8/1/9 39/1/9 40/1/9 +f 7/1/10 35/1/10 37/1/10 +f 40/1/11 41/1/11 10/1/11 +f 13/1/12 11/1/12 12/1/12 +f 14/1/13 15/1/13 16/1/13 +f 18/1/14 14/1/14 17/1/14 +f 14/1/15 16/1/15 17/1/15 +f 21/1/16 19/1/16 20/1/16 +f 21/1/17 20/1/17 22/1/17 +f 12/1/18 11/1/18 21/1/18 +f 22/1/19 20/1/19 14/1/19 +f 12/1/20 21/1/20 22/1/20 +f 11/1/21 19/1/21 21/1/21 +f 20/1/22 19/1/22 15/1/22 +f 20/1/23 15/1/23 14/1/23 +f 5/1/24 23/1/24 65/1/24 63/1/24 +f 65/1/25 23/1/25 53/1/25 55/1/25 66/1/25 +f 23/1/26 51/1/26 53/1/26 +f 9/1/27 24/1/27 48/1/27 36/1/27 +f 5/1/28 25/1/28 23/1/28 +f 4/1/29 26/1/29 5/1/29 +f 46/1/30 6/1/30 47/1/30 +f 23/1/31 25/1/31 45/1/31 50/1/31 +f 16/1/32 6/1/32 25/1/32 +f 15/1/33 27/1/33 6/1/33 +f 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b/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_left.mtl new file mode 100644 index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f --- /dev/null +++ b/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_left.mtl @@ -0,0 +1,2 @@ +# Blender 5.1.1 MTL File: 'None' +# www.blender.org diff --git a/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_left.obj b/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_left.obj new file mode 100644 index 0000000000000000000000000000000000000000..349672bc352bc95ac7c1bb2d887ffb032aa5d52c --- /dev/null +++ b/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_left.obj @@ -0,0 +1,263 @@ +# Blender 5.1.1 +# www.blender.org +mtllib tactile_thumb_F2_left.mtl +o thumb_F2_left +v 0.029360 0.051404 -0.027536 +v 0.031953 0.041613 -0.026269 +v 0.032062 0.039075 -0.027153 +v 0.038588 0.042131 -0.029607 +v 0.032385 0.044169 -0.026190 +v 0.029300 0.053440 -0.029817 +v 0.028081 0.035790 -0.027452 +v 0.030868 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51/35/71 49/36/71 48/37/71 56/38/71 55/39/71 57/40/71 61/41/71 62/42/71 63/43/71 59/44/71 58/45/71 67/46/71 68/47/71 diff --git a/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_right.mtl b/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_right.mtl new file mode 100644 index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f --- /dev/null +++ b/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_right.mtl @@ -0,0 +1,2 @@ +# Blender 5.1.1 MTL File: 'None' +# www.blender.org diff --git a/Robots_p/xarm+ability/test.urdf b/Robots_p/xarm+ability/test.urdf new file mode 100644 index 0000000000000000000000000000000000000000..deb395b3d38ec711fea66ec1561d86f312f77c9a --- /dev/null +++ b/Robots_p/xarm+ability/test.urdf @@ -0,0 +1,550 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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0000000000000000000000000000000000000000..8ea640bf2c318e7013a833fca12d0285e4cc058e --- /dev/null +++ b/Robots_p/xarm+ability/usd/.asset_hash @@ -0,0 +1 @@ +cf6110e00812bd7e86ca5cb289a3fb78 \ No newline at end of file diff --git a/Robots_p/xarm+ability/usd/config.yaml b/Robots_p/xarm+ability/usd/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa72a8cda0fc4ef3e3f7813970cbac8701902119 --- /dev/null +++ b/Robots_p/xarm+ability/usd/config.yaml @@ -0,0 +1,23 @@ +asset_path: /inspire/hdd/project/roboticsystem2/ky26063/bench2dex_stuff/dex2bench_dataset/Robots_p/xarm+ability/multi_xarm7_with_ability.urdf +usd_dir: /inspire/hdd/project/roboticsystem2/ky26063/bench2dex_stuff/dex2bench_dataset/Robots_p/xarm+ability/usd_sdf_linux +usd_file_name: multi_xarm7_with_ability.usd +force_usd_conversion: true +make_instanceable: false +fix_base: true +root_link_name: null +link_density: 0.0 +merge_fixed_joints: false +convert_mimic_joints_to_normal_joints: false +joint_drive: + drive_type: force + target_type: position + gains: + stiffness: 100.0 + damping: 1.0 +collider_type: convex_hull +self_collision: false +replace_cylinders_with_capsules: false +collision_from_visuals: false +## +# Generated by UrdfConverter on 2026-07-27 at 13:29:08. +## diff --git a/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_physics.usd b/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_physics.usd new file mode 100644 index 0000000000000000000000000000000000000000..087210b943a03a7ab160178ca9648ba91680c899 Binary files /dev/null and b/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_physics.usd differ diff --git a/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_robot.usd b/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_robot.usd new file mode 100644 index 0000000000000000000000000000000000000000..f5251f2e78fd840fdfbb9a34685cd66640a0bf37 Binary files /dev/null and b/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_robot.usd differ diff --git a/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_sensor.usd b/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_sensor.usd new file mode 100644 index 0000000000000000000000000000000000000000..9d9f64c658e55dd3f33e620ca7671036b17929ee Binary files /dev/null and b/Robots_p/xarm+ability/usd/configuration/multi_xarm7_with_ability_sensor.usd differ diff --git a/Robots_p/xarm+ability/usd/multi_xarm7_with_ability.usd b/Robots_p/xarm+ability/usd/multi_xarm7_with_ability.usd new file mode 100644 index 0000000000000000000000000000000000000000..b800a829c693d1ab3e35bd309e14dd60f7a6a2b0 Binary files /dev/null and b/Robots_p/xarm+ability/usd/multi_xarm7_with_ability.usd differ diff --git a/Robots_p/xarm+ability/xarm7.urdf b/Robots_p/xarm+ability/xarm7.urdf new file mode 100644 index 0000000000000000000000000000000000000000..7ceb4034f15f4bcd28ab4cc8577dde00a9a75d92 --- 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+newmtl black_metal +Ns 409.599976 +Ka 0.660000 0.660000 0.660000 +Kd 0.023153 0.023153 0.023153 +Ks 0.600000 0.600000 0.600000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 3 diff --git a/Robots_p/xarm+leap/meshes/visual/palm_lower_left.mtl b/Robots_p/xarm+leap/meshes/visual/palm_lower_left.mtl new file mode 100644 index 0000000000000000000000000000000000000000..4173f910f59d1d162f607f9456ad2799faa7648d --- /dev/null +++ b/Robots_p/xarm+leap/meshes/visual/palm_lower_left.mtl @@ -0,0 +1,12 @@ +# Blender 4.1.1 MTL File: 'None' +# www.blender.org + +newmtl black_metal +Ns 409.599976 +Ka 0.660000 0.660000 0.660000 +Kd 0.023153 0.023153 0.023153 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 3 diff --git a/Robots_p/xarm+leap/meshes/visual/pip.mtl b/Robots_p/xarm+leap/meshes/visual/pip.mtl new file mode 100644 index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327 --- /dev/null +++ b/Robots_p/xarm+leap/meshes/visual/pip.mtl @@ -0,0 +1,12 @@ +# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend' +# www.blender.org + +newmtl black_metal +Ns 409.599976 +Ka 0.660000 0.660000 0.660000 +Kd 0.023153 0.023153 0.023153 +Ks 0.600000 0.600000 0.600000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 3 diff --git a/Robots_p/xarm+leap/meshes/visual/pip.obj b/Robots_p/xarm+leap/meshes/visual/pip.obj new file mode 100644 index 0000000000000000000000000000000000000000..80d38cefcc278f6725b353ddfc32d0e52545fd6f --- /dev/null +++ b/Robots_p/xarm+leap/meshes/visual/pip.obj @@ -0,0 +1,31434 @@ +# Blender 4.0.0 +# www.blender.org +mtllib pip.mtl +o pip +v -0.011942 0.007047 0.008700 +v -0.011923 0.007026 0.007700 +v -0.012419 0.007451 0.007700 +v -0.012419 0.007451 0.008700 +v -0.013007 0.007733 0.007700 +v -0.013007 0.007733 0.008700 +v -0.013649 0.007853 0.007700 +v -0.013649 0.007853 0.008700 +v -0.013784 0.007857 0.008700 +v -0.014300 0.007803 0.007700 +v -0.014300 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b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_rf.mtl new file mode 100644 index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f --- /dev/null +++ b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_rf.mtl @@ -0,0 +1,2 @@ +# Blender 5.1.1 MTL File: 'None' +# www.blender.org diff --git a/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_rf.obj b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_rf.obj new file mode 100644 index 0000000000000000000000000000000000000000..46d1747324f5cbbed88c7df10d57585f747970fb --- /dev/null +++ b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_rf.obj @@ -0,0 +1,11181 @@ +# Blender 5.1.1 +# www.blender.org +mtllib tactile_left_rf.mtl +o rf_distal_link.001 +v -0.014725 -0.011980 0.116514 +v -0.009632 -0.010895 0.115477 +v -0.009748 -0.011180 0.115164 +v -0.008865 -0.010770 0.115124 +v -0.008601 -0.010646 0.115112 +v -0.013864 -0.012984 0.115007 +v -0.014139 -0.013026 0.115086 +v -0.014219 -0.013397 0.114322 +v 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file mode 100644 index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f --- /dev/null +++ b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_th.mtl @@ -0,0 +1,2 @@ +# Blender 5.1.1 MTL File: 'None' +# www.blender.org diff --git a/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_th.obj b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_th.obj new file mode 100644 index 0000000000000000000000000000000000000000..af00fbbb680c17026ce22e34cf8b41bf3439c3ef --- /dev/null +++ b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_left_th.obj @@ -0,0 +1,17618 @@ +# Blender 5.1.1 +# www.blender.org +mtllib tactile_left_th.mtl +o th_distal_link.001 +v 0.000645 -0.009098 0.095372 +v 0.000883 -0.009291 0.094525 +v 0.001611 -0.008908 0.094020 +v 0.001084 -0.009434 0.093570 +v 0.001687 -0.008954 0.093622 +v 0.001959 -0.009006 0.090824 +v 0.001939 -0.009028 0.091338 +v 0.001752 -0.009186 0.091323 +v 0.001898 -0.009037 0.091948 +v 0.001757 -0.009118 0.092352 +v 0.001881 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a/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_right_rf.mtl b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_right_rf.mtl new file mode 100644 index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f --- /dev/null +++ b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_right_rf.mtl @@ -0,0 +1,2 @@ +# Blender 5.1.1 MTL File: 'None' +# www.blender.org diff --git a/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_right_rf.obj b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_right_rf.obj new file mode 100644 index 0000000000000000000000000000000000000000..7a09812b651e4e380a0eb90f6070cf698fae78b9 --- /dev/null +++ b/URDF-Zoo/rm_75+rohand/tactile_sensor/tactile_right_rf.obj @@ -0,0 +1,11317 @@ +# Blender 5.1.1 +# www.blender.org +mtllib tactile_right_rf.mtl +o rf_distal_link +v -0.020998 -0.018304 -0.028592 +v -0.020948 -0.018308 -0.028501 +v -0.020999 -0.018331 -0.028485 +v -0.020924 -0.018323 -0.028402 +v -0.020928 -0.018347 -0.028299 +v -0.020953 -0.018374 -0.028210 +v 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63 59 63 59 62 58 2243 2313 2243 2313 62 58 2248 2318 2243 2313 2248 2318 2233 2303 2233 2303 2248 2318 2236 2306 2233 2303 2236 2306 1502 1551 1502 1551 2236 2306 2238 2308 1502 1551 2238 2308 1500 1549 1500 1549 2238 2308 1504 1553 2256 2326 2257 2327 2258 2328 2241 2311 2259 2329 2260 2330 2260 2330 2259 2329 2258 2328 2260 2330 2258 2328 2261 2331 2261 2331 2258 2328 2257 2327 2261 2331 2257 2327 74 76 77 80 76 78 1494 1543 1494 1543 76 78 2256 2326 1494 1543 2256 2326 2262 2332 2262 2332 2256 2326 2258 2328 2262 2332 2258 2328 1903 1963 1903 1963 2258 2328 2259 2329 76 78 75 77 2256 2326 2256 2326 75 77 53 46 2256 2326 53 46 2257 2327 2257 2327 53 46 52 45 2257 2327 52 45 74 76 83 87 82 86 2263 2333 2263 2333 82 86 79 82 623 666 1899 1959 1900 1960 1900 1960 1899 1959 2264 2334 1900 1960 2264 2334 2232 2302 2232 2302 2264 2334 2263 2333 2232 2302 2263 2333 1495 1544 1495 1544 2263 2333 79 82 1495 1544 79 82 80 84 87 92 86 91 2265 2335 2265 2335 86 91 85 90 635 678 1898 1958 625 668 625 668 1898 1958 2266 2336 625 668 2266 2336 1554 1603 1554 1603 2266 2336 2267 2337 1554 1603 2267 2337 2268 2338 2268 2338 2267 2337 2265 2335 2268 2338 2265 2335 2269 2339 2269 2339 2265 2335 85 90 2269 2339 85 90 84 89 631 674 1554 1603 1899 1959 1899 1959 1554 1603 2268 2338 1899 1959 2268 2338 2264 2334 2264 2334 2268 2338 2269 2339 2264 2334 2269 2339 2263 2333 2263 2333 2269 2339 84 89 2263 2333 84 89 83 87 81 85 78 81 1495 1544 1495 1544 78 81 1494 1543 1495 1544 1494 1543 2231 2301 2231 2301 1494 1543 2262 2332 2231 2301 2262 2332 1553 1602 1553 1602 2262 2332 1903 1963 1553 1602 1903 1963 606 649 606 649 1903 1963 607 650 74 76 73 75 2261 2331 2261 2331 73 75 72 74 2261 2331 72 74 2270 2340 2270 2340 72 74 69 68 2270 2340 69 68 70 70 2241 2311 2260 2330 2242 2312 2242 2312 2260 2330 2261 2331 2242 2312 2261 2331 2254 2324 2254 2324 2261 2331 2270 2340 2254 2324 2270 2340 2253 2323 2253 2323 2270 2340 70 70 2253 2323 70 70 71 71 2271 2341 1491 1540 2272 2342 1492 1541 1485 1534 2273 2343 2271 2341 1489 1538 2274 2344 2274 2344 1489 1538 1488 1537 2274 2344 1488 1537 2275 2345 1480 1529 2276 2346 2277 2347 2277 2347 2276 2346 2278 2348 2277 2347 2278 2348 2279 2349 2279 2349 2278 2348 2280 2350 2279 2349 2280 2350 1897 1957 641 684 640 683 1555 1604 1555 1604 640 683 2275 2345 1555 1604 2275 2345 2281 2351 2281 2351 2275 2345 1488 1537 2281 2351 1488 1537 2282 2352 2282 2352 1488 1537 1490 1539 2282 2352 1490 1539 2283 2353 2284 2354 2285 2355 2286 2356 2286 2356 2285 2355 2287 2357 2271 2341 2272 2342 1489 1538 1489 1538 2272 2342 2288 2358 1489 1538 2288 2358 1490 1539 1490 1539 2288 2358 2289 2359 1490 1539 2289 2359 2283 2353 88 94 1483 1532 89 95 89 95 1483 1532 1482 1531 89 95 1482 1531 90 97 90 97 1482 1531 91 98 1480 1529 92 99 2276 2346 2276 2346 92 99 93 101 2276 2346 93 101 94 102 94 102 91 98 2276 2346 2276 2346 91 98 1482 1531 2276 2346 1482 1531 2278 2348 2278 2348 1482 1531 1484 1533 2278 2348 1484 1533 2280 2350 2290 2360 104 116 51 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37 45 37 1978 37 1971 38 45 37 1971 38 1 38 1 38 1971 38 1972 39 1 38 1972 39 3 39 3 39 1972 39 2036 40 3 39 2036 40 4 40 4 40 2036 40 2039 41 4 40 2039 41 12 41 12 41 2039 41 2042 42 12 41 2042 42 13 42 13 42 2042 42 2047 43 13 42 2047 43 14 43 14 43 2047 43 2048 44 14 43 2048 44 1748 44 1748 44 2048 44 2063 45 1748 44 2063 45 1876 45 1876 45 2063 45 2058 46 1876 45 2058 46 1877 46 1877 46 2058 46 2055 47 1877 46 2055 47 32 47 32 47 2055 47 1937 48 32 47 1937 48 7 48 7 48 1937 48 1938 49 7 48 1938 49 30 49 30 49 1938 49 1946 50 30 49 1946 50 1798 50 1798 50 1946 50 1958 51 1798 50 1958 51 34 51 34 51 1958 51 1922 52 34 51 1922 52 35 52 35 52 1922 52 1923 53 35 52 1923 53 36 53 36 53 1923 53 1912 54 36 53 1912 54 29 54 29 54 1912 54 1913 55 29 54 1913 55 5 55 5 55 1913 55 182 56 5 55 182 56 6 56 6 56 182 56 1906 57 6 56 1906 57 21 57 21 57 1906 57 1911 58 21 57 1911 58 22 58 22 58 1911 58 1918 59 22 58 1918 59 23 59 23 59 1918 59 1919 60 23 59 1919 60 33 60 33 60 1919 60 1960 61 33 60 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