Files
sbpl_lattice_planner/matlab/mprim/diff.mprim
2026-07-28 23:44:14 +07:00

2644 lines
54 KiB
Plaintext

resolution_m: 0.050000
numberofangles: 16
totalnumberofprimitives: 176
primID: 0
startangle_c: 0
endpose_c: 2 0 0
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 0.0000
0.0111 0.0000 0.0000
0.0222 0.0000 0.0000
0.0333 0.0000 0.0000
0.0444 0.0000 0.0000
0.0556 0.0000 0.0000
0.0667 0.0000 0.0000
0.0778 0.0000 0.0000
0.0889 0.0000 0.0000
0.1000 0.0000 0.0000
primID: 1
startangle_c: 0
endpose_c: 8 0 0
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 0.0000
0.0444 0.0000 0.0000
0.0889 0.0000 0.0000
0.1333 0.0000 0.0000
0.1778 0.0000 0.0000
0.2222 0.0000 0.0000
0.2667 0.0000 0.0000
0.3111 0.0000 0.0000
0.3556 0.0000 0.0000
0.4000 0.0000 0.0000
primID: 2
startangle_c: 0
endpose_c: -2 0 0
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.0000
-0.0111 0.0000 0.0000
-0.0222 0.0000 0.0000
-0.0333 0.0000 0.0000
-0.0444 0.0000 0.0000
-0.0556 0.0000 0.0000
-0.0667 0.0000 0.0000
-0.0778 0.0000 0.0000
-0.0889 0.0000 0.0000
-0.1000 0.0000 0.0000
primID: 3
startangle_c: 0
endpose_c: 8 2 1
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.0000
0.0452 0.0048 0.0349
0.0903 0.0111 0.0699
0.1353 0.0191 0.1048
0.1802 0.0286 0.1398
0.2248 0.0398 0.1747
0.2692 0.0525 0.2097
0.3132 0.0668 0.2446
0.3568 0.0826 0.2796
0.4000 0.1000 0.3145
primID: 4
startangle_c: 0
endpose_c: 8 -2 15
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.0000
0.0452 -0.0048 -0.0349
0.0903 -0.0111 -0.0699
0.1353 -0.0191 -0.1048
0.1802 -0.0286 -0.1398
0.2248 -0.0398 -0.1747
0.2692 -0.0525 -0.2097
0.3132 -0.0668 -0.2446
0.3568 -0.0826 -0.2796
0.4000 -0.1000 -0.3145
primID: 5
startangle_c: 0
endpose_c: 8 4 2
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.0000
0.0480 0.0080 0.0738
0.0958 0.0196 0.1476
0.1430 0.0350 0.2214
0.1894 0.0539 0.2951
0.2347 0.0764 0.3689
0.2786 0.1024 0.4427
0.3210 0.1318 0.5165
0.3615 0.1643 0.5903
0.4000 0.2000 0.6641
primID: 6
startangle_c: 0
endpose_c: 8 -4 14
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.0000
0.0480 -0.0080 -0.0738
0.0958 -0.0196 -0.1476
0.1430 -0.0350 -0.2214
0.1894 -0.0539 -0.2951
0.2347 -0.0764 -0.3689
0.2786 -0.1024 -0.4427
0.3210 -0.1318 -0.5165
0.3615 -0.1643 -0.5903
0.4000 -0.2000 -0.6641
primID: 7
startangle_c: 0
endpose_c: 0 0 1
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.0000
0.0000 0.0000 0.0436
0.0000 0.0000 0.0873
0.0000 0.0000 0.1309
0.0000 0.0000 0.1745
0.0000 0.0000 0.2182
0.0000 0.0000 0.2618
0.0000 0.0000 0.3054
0.0000 0.0000 0.3491
0.0000 0.0000 0.3927
primID: 8
startangle_c: 0
endpose_c: 0 0 15
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.0000
0.0000 0.0000 -0.0436
0.0000 0.0000 -0.0873
0.0000 0.0000 -0.1309
0.0000 0.0000 -0.1745
0.0000 0.0000 -0.2182
0.0000 0.0000 -0.2618
0.0000 0.0000 -0.3054
0.0000 0.0000 -0.3491
0.0000 0.0000 -0.3927
primID: 9
startangle_c: 0
endpose_c: -8 -2 1
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.0000
-0.0452 -0.0048 0.0349
-0.0903 -0.0111 0.0699
-0.1353 -0.0191 0.1048
-0.1802 -0.0286 0.1398
-0.2248 -0.0398 0.1747
-0.2692 -0.0525 0.2097
-0.3132 -0.0668 0.2446
-0.3568 -0.0826 0.2796
-0.4000 -0.1000 0.3145
primID: 10
startangle_c: 0
endpose_c: -8 2 15
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.0000
-0.0452 0.0048 -0.0349
-0.0903 0.0111 -0.0699
-0.1353 0.0191 -0.1048
-0.1802 0.0286 -0.1398
-0.2248 0.0398 -0.1747
-0.2692 0.0525 -0.2097
-0.3132 0.0668 -0.2446
-0.3568 0.0826 -0.2796
-0.4000 0.1000 -0.3145
primID: 0
startangle_c: 1
endpose_c: 2 1 1
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 0.3927
0.0111 0.0056 0.3927
0.0222 0.0111 0.3927
0.0333 0.0167 0.3927
0.0444 0.0222 0.3927
0.0556 0.0278 0.3927
0.0667 0.0333 0.3927
0.0778 0.0389 0.3927
0.0889 0.0444 0.3927
0.1000 0.0500 0.3927
primID: 1
startangle_c: 1
endpose_c: 7 3 1
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 0.3927
0.0389 0.0167 0.3927
0.0778 0.0333 0.3927
0.1167 0.0500 0.3927
0.1556 0.0667 0.3927
0.1944 0.0833 0.3927
0.2333 0.1000 0.3927
0.2722 0.1167 0.3927
0.3111 0.1333 0.3927
0.3500 0.1500 0.3927
primID: 2
startangle_c: 1
endpose_c: -2 -1 1
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.3927
-0.0111 -0.0056 0.3927
-0.0222 -0.0111 0.3927
-0.0333 -0.0167 0.3927
-0.0444 -0.0222 0.3927
-0.0556 -0.0278 0.3927
-0.0667 -0.0333 0.3927
-0.0778 -0.0389 0.3927
-0.0889 -0.0444 0.3927
-0.1000 -0.0500 0.3927
primID: 3
startangle_c: 1
endpose_c: 7 5 2
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.3927
0.0425 0.0215 0.4303
0.0842 0.0447 0.4680
0.1250 0.0695 0.5056
0.1651 0.0958 0.5433
0.2041 0.1237 0.5809
0.2422 0.1531 0.6185
0.2793 0.1840 0.6562
0.3152 0.2163 0.6938
0.3500 0.2500 0.7314
primID: 4
startangle_c: 1
endpose_c: 8 2 0
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.3927
0.0427 0.0177 0.3927
0.0854 0.0354 0.3927
0.1283 0.0523 0.3477
0.1722 0.0668 0.2898
0.2168 0.0787 0.2318
0.2621 0.0880 0.1739
0.3078 0.0947 0.1159
0.3538 0.0987 0.0580
0.4000 0.1000 0.0000
primID: 5
startangle_c: 1
endpose_c: 6 7 3
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.3927
0.0422 0.0269 0.4655
0.0827 0.0571 0.5384
0.1213 0.0906 0.6112
0.1577 0.1271 0.6841
0.1917 0.1666 0.7569
0.2231 0.2088 0.8298
0.2518 0.2536 0.9026
0.2775 0.3008 0.9755
0.3000 0.3500 1.0483
primID: 6
startangle_c: 1
endpose_c: 9 -1 15
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.3927
0.0477 0.0078 0.3249
0.0966 0.0124 0.2571
0.1463 0.0137 0.1893
0.1966 0.0116 0.1215
0.2474 0.0061 0.0537
0.2984 -0.0028 -0.0141
0.3493 -0.0151 -0.0819
0.3999 -0.0309 -0.1497
0.4500 -0.0500 -0.2175
primID: 7
startangle_c: 1
endpose_c: 0 0 2
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.3927
0.0000 0.0000 0.4363
0.0000 0.0000 0.4800
0.0000 0.0000 0.5236
0.0000 0.0000 0.5672
0.0000 0.0000 0.6109
0.0000 0.0000 0.6545
0.0000 0.0000 0.6981
0.0000 0.0000 0.7418
0.0000 0.0000 0.7854
primID: 8
startangle_c: 1
endpose_c: 0 0 0
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.3927
0.0000 0.0000 0.3491
0.0000 0.0000 0.3054
0.0000 0.0000 0.2618
0.0000 0.0000 0.2182
0.0000 0.0000 0.1745
0.0000 0.0000 0.1309
0.0000 0.0000 0.0873
0.0000 0.0000 0.0436
0.0000 0.0000 0.0000
primID: 9
startangle_c: 1
endpose_c: -7 -5 2
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.3927
-0.0425 -0.0215 0.4303
-0.0842 -0.0447 0.4680
-0.1250 -0.0695 0.5056
-0.1651 -0.0958 0.5433
-0.2041 -0.1237 0.5809
-0.2422 -0.1531 0.6185
-0.2793 -0.1840 0.6562
-0.3152 -0.2163 0.6938
-0.3500 -0.2500 0.7314
primID: 10
startangle_c: 1
endpose_c: -8 -2 0
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.3927
-0.0427 -0.0177 0.3927
-0.0854 -0.0354 0.3927
-0.1283 -0.0523 0.3477
-0.1722 -0.0668 0.2898
-0.2168 -0.0787 0.2318
-0.2621 -0.0880 0.1739
-0.3078 -0.0947 0.1159
-0.3538 -0.0987 0.0580
-0.4000 -0.1000 0.0000
primID: 0
startangle_c: 2
endpose_c: 1 1 2
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 0.7854
0.0056 0.0056 0.7854
0.0111 0.0111 0.7854
0.0167 0.0167 0.7854
0.0222 0.0222 0.7854
0.0278 0.0278 0.7854
0.0333 0.0333 0.7854
0.0389 0.0389 0.7854
0.0444 0.0444 0.7854
0.0500 0.0500 0.7854
primID: 1
startangle_c: 2
endpose_c: 6 6 2
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 0.7854
0.0333 0.0333 0.7854
0.0667 0.0667 0.7854
0.1000 0.1000 0.7854
0.1333 0.1333 0.7854
0.1667 0.1667 0.7854
0.2000 0.2000 0.7854
0.2333 0.2333 0.7854
0.2667 0.2667 0.7854
0.3000 0.3000 0.7854
primID: 2
startangle_c: 2
endpose_c: -1 -1 2
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.7854
-0.0056 -0.0056 0.7854
-0.0111 -0.0111 0.7854
-0.0167 -0.0167 0.7854
-0.0222 -0.0222 0.7854
-0.0278 -0.0278 0.7854
-0.0333 -0.0333 0.7854
-0.0389 -0.0389 0.7854
-0.0444 -0.0444 0.7854
-0.0500 -0.0500 0.7854
primID: 3
startangle_c: 2
endpose_c: 5 7 3
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.7854
0.0341 0.0341 0.7854
0.0678 0.0684 0.8151
0.1000 0.1043 0.8669
0.1302 0.1418 0.9188
0.1584 0.1809 0.9707
0.1846 0.2213 1.0225
0.2086 0.2631 1.0744
0.2304 0.3060 1.1262
0.2500 0.3500 1.1781
primID: 4
startangle_c: 2
endpose_c: 7 5 1
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.7854
0.0341 0.0341 0.7854
0.0684 0.0678 0.7557
0.1043 0.1000 0.7039
0.1418 0.1302 0.6520
0.1809 0.1584 0.6001
0.2213 0.1846 0.5483
0.2631 0.2086 0.4964
0.3060 0.2304 0.4446
0.3500 0.2500 0.3927
primID: 5
startangle_c: 2
endpose_c: 3 8 4
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.7854
0.0300 0.0368 0.8657
0.0571 0.0762 0.9460
0.0810 0.1178 1.0263
0.1015 0.1615 1.1066
0.1186 0.2069 1.1869
0.1321 0.2537 1.2672
0.1419 0.3017 1.3475
0.1479 0.3506 1.4278
0.1500 0.4000 1.5081
primID: 6
startangle_c: 2
endpose_c: 8 3 0
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 0.7854
0.0368 0.0300 0.7051
0.0762 0.0571 0.6248
0.1178 0.0810 0.5445
0.1615 0.1015 0.4642
0.2069 0.1186 0.3839
0.2537 0.1321 0.3036
0.3017 0.1419 0.2233
0.3506 0.1479 0.1430
0.4000 0.1500 0.0627
primID: 7
startangle_c: 2
endpose_c: 0 0 3
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.7854
0.0000 0.0000 0.8290
0.0000 0.0000 0.8727
0.0000 0.0000 0.9163
0.0000 0.0000 0.9599
0.0000 0.0000 1.0036
0.0000 0.0000 1.0472
0.0000 0.0000 1.0908
0.0000 0.0000 1.1345
0.0000 0.0000 1.1781
primID: 8
startangle_c: 2
endpose_c: 0 0 1
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.7854
0.0000 0.0000 0.7418
0.0000 0.0000 0.6981
0.0000 0.0000 0.6545
0.0000 0.0000 0.6109
0.0000 0.0000 0.5672
0.0000 0.0000 0.5236
0.0000 0.0000 0.4800
0.0000 0.0000 0.4363
0.0000 0.0000 0.3927
primID: 9
startangle_c: 2
endpose_c: -5 -7 3
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.7854
-0.0341 -0.0341 0.7854
-0.0678 -0.0684 0.8151
-0.1000 -0.1043 0.8669
-0.1302 -0.1418 0.9188
-0.1584 -0.1809 0.9707
-0.1846 -0.2213 1.0225
-0.2086 -0.2631 1.0744
-0.2304 -0.3060 1.1262
-0.2500 -0.3500 1.1781
primID: 10
startangle_c: 2
endpose_c: -7 -5 1
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 0.7854
-0.0341 -0.0341 0.7854
-0.0684 -0.0678 0.7557
-0.1043 -0.1000 0.7039
-0.1418 -0.1302 0.6520
-0.1809 -0.1584 0.6001
-0.2213 -0.1846 0.5483
-0.2631 -0.2086 0.4964
-0.3060 -0.2304 0.4446
-0.3500 -0.2500 0.3927
primID: 0
startangle_c: 3
endpose_c: 1 2 3
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 1.1781
0.0056 0.0111 1.1781
0.0111 0.0222 1.1781
0.0167 0.0333 1.1781
0.0222 0.0444 1.1781
0.0278 0.0556 1.1781
0.0333 0.0667 1.1781
0.0389 0.0778 1.1781
0.0444 0.0889 1.1781
0.0500 0.1000 1.1781
primID: 1
startangle_c: 3
endpose_c: 3 7 3
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 1.1781
0.0167 0.0389 1.1781
0.0333 0.0778 1.1781
0.0500 0.1167 1.1781
0.0667 0.1556 1.1781
0.0833 0.1944 1.1781
0.1000 0.2333 1.1781
0.1167 0.2722 1.1781
0.1333 0.3111 1.1781
0.1500 0.3500 1.1781
primID: 2
startangle_c: 3
endpose_c: -1 -2 3
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.1781
-0.0056 -0.0111 1.1781
-0.0111 -0.0222 1.1781
-0.0167 -0.0333 1.1781
-0.0222 -0.0444 1.1781
-0.0278 -0.0556 1.1781
-0.0333 -0.0667 1.1781
-0.0389 -0.0778 1.1781
-0.0444 -0.0889 1.1781
-0.0500 -0.1000 1.1781
primID: 3
startangle_c: 3
endpose_c: 2 8 4
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.1781
0.0177 0.0427 1.1781
0.0354 0.0854 1.1781
0.0523 0.1283 1.2231
0.0668 0.1722 1.2810
0.0787 0.2168 1.3390
0.0880 0.2621 1.3969
0.0947 0.3078 1.4549
0.0987 0.3538 1.5128
0.1000 0.4000 1.5708
primID: 4
startangle_c: 3
endpose_c: 5 7 2
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.1781
0.0215 0.0425 1.1405
0.0447 0.0842 1.1028
0.0695 0.1250 1.0652
0.0958 0.1651 1.0275
0.1237 0.2041 0.9899
0.1531 0.2422 0.9523
0.1840 0.2793 0.9146
0.2163 0.3152 0.8770
0.2500 0.3500 0.8394
primID: 5
startangle_c: 3
endpose_c: -1 9 5
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.1781
0.0078 0.0477 1.2459
0.0124 0.0966 1.3137
0.0137 0.1463 1.3815
0.0116 0.1966 1.4493
0.0061 0.2474 1.5171
-0.0028 0.2984 1.5849
-0.0151 0.3493 1.6527
-0.0309 0.3999 1.7205
-0.0500 0.4500 1.7883
primID: 6
startangle_c: 3
endpose_c: 7 6 1
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.1781
0.0269 0.0422 1.1052
0.0571 0.0827 1.0324
0.0906 0.1213 0.9595
0.1271 0.1577 0.8867
0.1666 0.1917 0.8138
0.2088 0.2231 0.7410
0.2536 0.2518 0.6681
0.3008 0.2775 0.5953
0.3500 0.3000 0.5224
primID: 7
startangle_c: 3
endpose_c: 0 0 4
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.1781
0.0000 0.0000 1.2217
0.0000 0.0000 1.2654
0.0000 0.0000 1.3090
0.0000 0.0000 1.3526
0.0000 0.0000 1.3963
0.0000 0.0000 1.4399
0.0000 0.0000 1.4835
0.0000 0.0000 1.5272
0.0000 0.0000 1.5708
primID: 8
startangle_c: 3
endpose_c: 0 0 2
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.1781
0.0000 0.0000 1.1345
0.0000 0.0000 1.0908
0.0000 0.0000 1.0472
0.0000 0.0000 1.0036
0.0000 0.0000 0.9599
0.0000 0.0000 0.9163
0.0000 0.0000 0.8727
0.0000 0.0000 0.8290
0.0000 0.0000 0.7854
primID: 9
startangle_c: 3
endpose_c: -2 -8 4
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.1781
-0.0177 -0.0427 1.1781
-0.0354 -0.0854 1.1781
-0.0523 -0.1283 1.2231
-0.0668 -0.1722 1.2810
-0.0787 -0.2168 1.3390
-0.0880 -0.2621 1.3969
-0.0947 -0.3078 1.4549
-0.0987 -0.3538 1.5128
-0.1000 -0.4000 1.5708
primID: 10
startangle_c: 3
endpose_c: -5 -7 2
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.1781
-0.0215 -0.0425 1.1405
-0.0447 -0.0842 1.1028
-0.0695 -0.1250 1.0652
-0.0958 -0.1651 1.0275
-0.1237 -0.2041 0.9899
-0.1531 -0.2422 0.9523
-0.1840 -0.2793 0.9146
-0.2163 -0.3152 0.8770
-0.2500 -0.3500 0.8394
primID: 0
startangle_c: 4
endpose_c: 0 2 4
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 1.5708
0.0000 0.0111 1.5708
0.0000 0.0222 1.5708
0.0000 0.0333 1.5708
0.0000 0.0444 1.5708
0.0000 0.0556 1.5708
0.0000 0.0667 1.5708
0.0000 0.0778 1.5708
0.0000 0.0889 1.5708
0.0000 0.1000 1.5708
primID: 1
startangle_c: 4
endpose_c: 0 8 4
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 1.5708
0.0000 0.0444 1.5708
0.0000 0.0889 1.5708
0.0000 0.1333 1.5708
0.0000 0.1778 1.5708
0.0000 0.2222 1.5708
0.0000 0.2667 1.5708
0.0000 0.3111 1.5708
0.0000 0.3556 1.5708
0.0000 0.4000 1.5708
primID: 2
startangle_c: 4
endpose_c: 0 -2 4
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.5708
0.0000 -0.0111 1.5708
0.0000 -0.0222 1.5708
0.0000 -0.0333 1.5708
0.0000 -0.0444 1.5708
0.0000 -0.0556 1.5708
0.0000 -0.0667 1.5708
0.0000 -0.0778 1.5708
0.0000 -0.0889 1.5708
0.0000 -0.1000 1.5708
primID: 3
startangle_c: 4
endpose_c: -2 8 5
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.5708
-0.0048 0.0452 1.6057
-0.0111 0.0903 1.6407
-0.0191 0.1353 1.6756
-0.0286 0.1802 1.7106
-0.0398 0.2248 1.7455
-0.0525 0.2692 1.7805
-0.0668 0.3132 1.8154
-0.0826 0.3568 1.8503
-0.1000 0.4000 1.8853
primID: 4
startangle_c: 4
endpose_c: 2 8 3
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.5708
0.0048 0.0452 1.5359
0.0111 0.0903 1.5009
0.0191 0.1353 1.4660
0.0286 0.1802 1.4310
0.0398 0.2248 1.3961
0.0525 0.2692 1.3611
0.0668 0.3132 1.3262
0.0826 0.3568 1.2912
0.1000 0.4000 1.2563
primID: 5
startangle_c: 4
endpose_c: -4 8 6
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.5708
-0.0080 0.0480 1.6446
-0.0196 0.0958 1.7184
-0.0350 0.1430 1.7922
-0.0539 0.1894 1.8659
-0.0764 0.2347 1.9397
-0.1024 0.2786 2.0135
-0.1318 0.3210 2.0873
-0.1643 0.3615 2.1611
-0.2000 0.4000 2.2349
primID: 6
startangle_c: 4
endpose_c: 4 8 2
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.5708
0.0080 0.0480 1.4970
0.0196 0.0958 1.4232
0.0350 0.1430 1.3494
0.0539 0.1894 1.2757
0.0764 0.2347 1.2019
0.1024 0.2786 1.1281
0.1318 0.3210 1.0543
0.1643 0.3615 0.9805
0.2000 0.4000 0.9067
primID: 7
startangle_c: 4
endpose_c: 0 0 5
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.5708
0.0000 0.0000 1.6144
0.0000 0.0000 1.6581
0.0000 0.0000 1.7017
0.0000 0.0000 1.7453
0.0000 0.0000 1.7890
0.0000 0.0000 1.8326
0.0000 0.0000 1.8762
0.0000 0.0000 1.9199
0.0000 0.0000 1.9635
primID: 8
startangle_c: 4
endpose_c: 0 0 3
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.5708
0.0000 0.0000 1.5272
0.0000 0.0000 1.4835
0.0000 0.0000 1.4399
0.0000 0.0000 1.3963
0.0000 0.0000 1.3526
0.0000 0.0000 1.3090
0.0000 0.0000 1.2654
0.0000 0.0000 1.2217
0.0000 0.0000 1.1781
primID: 9
startangle_c: 4
endpose_c: 2 -8 5
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.5708
0.0048 -0.0452 1.6057
0.0111 -0.0903 1.6407
0.0191 -0.1353 1.6756
0.0286 -0.1802 1.7106
0.0398 -0.2248 1.7455
0.0525 -0.2692 1.7805
0.0668 -0.3132 1.8154
0.0826 -0.3568 1.8503
0.1000 -0.4000 1.8853
primID: 10
startangle_c: 4
endpose_c: -2 -8 3
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.5708
-0.0048 -0.0452 1.5359
-0.0111 -0.0903 1.5009
-0.0191 -0.1353 1.4660
-0.0286 -0.1802 1.4310
-0.0398 -0.2248 1.3961
-0.0525 -0.2692 1.3611
-0.0668 -0.3132 1.3262
-0.0826 -0.3568 1.2912
-0.1000 -0.4000 1.2563
primID: 0
startangle_c: 5
endpose_c: -1 2 5
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 1.9635
-0.0056 0.0111 1.9635
-0.0111 0.0222 1.9635
-0.0167 0.0333 1.9635
-0.0222 0.0444 1.9635
-0.0278 0.0556 1.9635
-0.0333 0.0667 1.9635
-0.0389 0.0778 1.9635
-0.0444 0.0889 1.9635
-0.0500 0.1000 1.9635
primID: 1
startangle_c: 5
endpose_c: -3 7 5
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 1.9635
-0.0167 0.0389 1.9635
-0.0333 0.0778 1.9635
-0.0500 0.1167 1.9635
-0.0667 0.1556 1.9635
-0.0833 0.1944 1.9635
-0.1000 0.2333 1.9635
-0.1167 0.2722 1.9635
-0.1333 0.3111 1.9635
-0.1500 0.3500 1.9635
primID: 2
startangle_c: 5
endpose_c: 1 -2 5
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.9635
0.0056 -0.0111 1.9635
0.0111 -0.0222 1.9635
0.0167 -0.0333 1.9635
0.0222 -0.0444 1.9635
0.0278 -0.0556 1.9635
0.0333 -0.0667 1.9635
0.0389 -0.0778 1.9635
0.0444 -0.0889 1.9635
0.0500 -0.1000 1.9635
primID: 3
startangle_c: 5
endpose_c: -5 7 6
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.9635
-0.0215 0.0425 2.0011
-0.0447 0.0842 2.0388
-0.0695 0.1250 2.0764
-0.0958 0.1651 2.1140
-0.1237 0.2041 2.1517
-0.1531 0.2422 2.1893
-0.1840 0.2793 2.2270
-0.2163 0.3152 2.2646
-0.2500 0.3500 2.3022
primID: 4
startangle_c: 5
endpose_c: -2 8 4
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.9635
-0.0177 0.0427 1.9635
-0.0354 0.0854 1.9635
-0.0523 0.1283 1.9185
-0.0668 0.1722 1.8606
-0.0787 0.2168 1.8026
-0.0880 0.2621 1.7447
-0.0947 0.3078 1.6867
-0.0987 0.3538 1.6287
-0.1000 0.4000 1.5708
primID: 5
startangle_c: 5
endpose_c: -7 6 7
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.9635
-0.0269 0.0422 2.0363
-0.0571 0.0827 2.1092
-0.0906 0.1213 2.1820
-0.1271 0.1577 2.2549
-0.1666 0.1917 2.3277
-0.2088 0.2231 2.4006
-0.2536 0.2518 2.4734
-0.3008 0.2775 2.5463
-0.3500 0.3000 2.6191
primID: 6
startangle_c: 5
endpose_c: 1 9 3
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 1.9635
-0.0078 0.0477 1.8957
-0.0124 0.0966 1.8279
-0.0137 0.1463 1.7601
-0.0116 0.1966 1.6923
-0.0061 0.2474 1.6245
0.0028 0.2984 1.5567
0.0151 0.3493 1.4889
0.0309 0.3999 1.4211
0.0500 0.4500 1.3533
primID: 7
startangle_c: 5
endpose_c: 0 0 6
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.9635
0.0000 0.0000 2.0071
0.0000 0.0000 2.0508
0.0000 0.0000 2.0944
0.0000 0.0000 2.1380
0.0000 0.0000 2.1817
0.0000 0.0000 2.2253
0.0000 0.0000 2.2689
0.0000 0.0000 2.3126
0.0000 0.0000 2.3562
primID: 8
startangle_c: 5
endpose_c: 0 0 4
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.9635
0.0000 0.0000 1.9199
0.0000 0.0000 1.8762
0.0000 0.0000 1.8326
0.0000 0.0000 1.7890
0.0000 0.0000 1.7453
0.0000 0.0000 1.7017
0.0000 0.0000 1.6581
0.0000 0.0000 1.6144
0.0000 0.0000 1.5708
primID: 9
startangle_c: 5
endpose_c: 5 -7 6
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.9635
0.0215 -0.0425 2.0011
0.0447 -0.0842 2.0388
0.0695 -0.1250 2.0764
0.0958 -0.1651 2.1140
0.1237 -0.2041 2.1517
0.1531 -0.2422 2.1893
0.1840 -0.2793 2.2270
0.2163 -0.3152 2.2646
0.2500 -0.3500 2.3022
primID: 10
startangle_c: 5
endpose_c: 2 -8 4
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 1.9635
0.0177 -0.0427 1.9635
0.0354 -0.0854 1.9635
0.0523 -0.1283 1.9185
0.0668 -0.1722 1.8606
0.0787 -0.2168 1.8026
0.0880 -0.2621 1.7447
0.0947 -0.3078 1.6867
0.0987 -0.3538 1.6287
0.1000 -0.4000 1.5708
primID: 0
startangle_c: 6
endpose_c: -1 1 6
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 2.3562
-0.0056 0.0056 2.3562
-0.0111 0.0111 2.3562
-0.0167 0.0167 2.3562
-0.0222 0.0222 2.3562
-0.0278 0.0278 2.3562
-0.0333 0.0333 2.3562
-0.0389 0.0389 2.3562
-0.0444 0.0444 2.3562
-0.0500 0.0500 2.3562
primID: 1
startangle_c: 6
endpose_c: -6 6 6
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 2.3562
-0.0333 0.0333 2.3562
-0.0667 0.0667 2.3562
-0.1000 0.1000 2.3562
-0.1333 0.1333 2.3562
-0.1667 0.1667 2.3562
-0.2000 0.2000 2.3562
-0.2333 0.2333 2.3562
-0.2667 0.2667 2.3562
-0.3000 0.3000 2.3562
primID: 2
startangle_c: 6
endpose_c: 1 -1 6
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.3562
0.0056 -0.0056 2.3562
0.0111 -0.0111 2.3562
0.0167 -0.0167 2.3562
0.0222 -0.0222 2.3562
0.0278 -0.0278 2.3562
0.0333 -0.0333 2.3562
0.0389 -0.0389 2.3562
0.0444 -0.0444 2.3562
0.0500 -0.0500 2.3562
primID: 3
startangle_c: 6
endpose_c: -7 5 7
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 2.3562
-0.0341 0.0341 2.3562
-0.0684 0.0678 2.3859
-0.1043 0.1000 2.4377
-0.1418 0.1302 2.4896
-0.1809 0.1584 2.5415
-0.2213 0.1846 2.5933
-0.2631 0.2086 2.6452
-0.3060 0.2304 2.6970
-0.3500 0.2500 2.7489
primID: 4
startangle_c: 6
endpose_c: -5 7 5
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 2.3562
-0.0341 0.0341 2.3562
-0.0678 0.0684 2.3265
-0.1000 0.1043 2.2747
-0.1302 0.1418 2.2228
-0.1584 0.1809 2.1709
-0.1846 0.2213 2.1191
-0.2086 0.2631 2.0672
-0.2304 0.3060 2.0154
-0.2500 0.3500 1.9635
primID: 5
startangle_c: 6
endpose_c: -8 3 8
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 2.3562
-0.0368 0.0300 2.4365
-0.0762 0.0571 2.5168
-0.1178 0.0810 2.5971
-0.1615 0.1015 2.6774
-0.2069 0.1186 2.7577
-0.2537 0.1321 2.8380
-0.3017 0.1419 2.9183
-0.3506 0.1479 2.9986
-0.4000 0.1500 3.0789
primID: 6
startangle_c: 6
endpose_c: -3 8 4
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 2.3562
-0.0300 0.0368 2.2759
-0.0571 0.0762 2.1956
-0.0810 0.1178 2.1153
-0.1015 0.1615 2.0350
-0.1186 0.2069 1.9547
-0.1321 0.2537 1.8744
-0.1419 0.3017 1.7941
-0.1479 0.3506 1.7138
-0.1500 0.4000 1.6335
primID: 7
startangle_c: 6
endpose_c: 0 0 7
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.3562
0.0000 0.0000 2.3998
0.0000 0.0000 2.4435
0.0000 0.0000 2.4871
0.0000 0.0000 2.5307
0.0000 0.0000 2.5744
0.0000 0.0000 2.6180
0.0000 0.0000 2.6616
0.0000 0.0000 2.7053
0.0000 0.0000 2.7489
primID: 8
startangle_c: 6
endpose_c: 0 0 5
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.3562
0.0000 0.0000 2.3126
0.0000 0.0000 2.2689
0.0000 0.0000 2.2253
0.0000 0.0000 2.1817
0.0000 0.0000 2.1380
0.0000 0.0000 2.0944
0.0000 0.0000 2.0508
0.0000 0.0000 2.0071
0.0000 0.0000 1.9635
primID: 9
startangle_c: 6
endpose_c: 7 -5 7
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.3562
0.0341 -0.0341 2.3562
0.0684 -0.0678 2.3859
0.1043 -0.1000 2.4377
0.1418 -0.1302 2.4896
0.1809 -0.1584 2.5415
0.2213 -0.1846 2.5933
0.2631 -0.2086 2.6452
0.3060 -0.2304 2.6970
0.3500 -0.2500 2.7489
primID: 10
startangle_c: 6
endpose_c: 5 -7 5
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.3562
0.0341 -0.0341 2.3562
0.0678 -0.0684 2.3265
0.1000 -0.1043 2.2747
0.1302 -0.1418 2.2228
0.1584 -0.1809 2.1709
0.1846 -0.2213 2.1191
0.2086 -0.2631 2.0672
0.2304 -0.3060 2.0154
0.2500 -0.3500 1.9635
primID: 0
startangle_c: 7
endpose_c: -2 1 7
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 2.7489
-0.0111 0.0056 2.7489
-0.0222 0.0111 2.7489
-0.0333 0.0167 2.7489
-0.0444 0.0222 2.7489
-0.0556 0.0278 2.7489
-0.0667 0.0333 2.7489
-0.0778 0.0389 2.7489
-0.0889 0.0444 2.7489
-0.1000 0.0500 2.7489
primID: 1
startangle_c: 7
endpose_c: -7 3 7
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 2.7489
-0.0389 0.0167 2.7489
-0.0778 0.0333 2.7489
-0.1167 0.0500 2.7489
-0.1556 0.0667 2.7489
-0.1944 0.0833 2.7489
-0.2333 0.1000 2.7489
-0.2722 0.1167 2.7489
-0.3111 0.1333 2.7489
-0.3500 0.1500 2.7489
primID: 2
startangle_c: 7
endpose_c: 2 -1 7
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.7489
0.0111 -0.0056 2.7489
0.0222 -0.0111 2.7489
0.0333 -0.0167 2.7489
0.0444 -0.0222 2.7489
0.0556 -0.0278 2.7489
0.0667 -0.0333 2.7489
0.0778 -0.0389 2.7489
0.0889 -0.0444 2.7489
0.1000 -0.0500 2.7489
primID: 3
startangle_c: 7
endpose_c: -8 2 8
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 2.7489
-0.0427 0.0177 2.7489
-0.0854 0.0354 2.7489
-0.1283 0.0523 2.7939
-0.1722 0.0668 2.8518
-0.2168 0.0787 2.9098
-0.2621 0.0880 2.9677
-0.3078 0.0947 3.0257
-0.3538 0.0987 3.0836
-0.4000 0.1000 3.1416
primID: 4
startangle_c: 7
endpose_c: -7 5 6
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 2.7489
-0.0425 0.0215 2.7113
-0.0842 0.0447 2.6736
-0.1250 0.0695 2.6360
-0.1651 0.0958 2.5983
-0.2041 0.1237 2.5607
-0.2422 0.1531 2.5231
-0.2793 0.1840 2.4854
-0.3152 0.2163 2.4478
-0.3500 0.2500 2.4102
primID: 5
startangle_c: 7
endpose_c: -9 -1 9
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 2.7489
-0.0477 0.0078 2.8167
-0.0966 0.0124 2.8845
-0.1463 0.0137 2.9523
-0.1966 0.0116 3.0201
-0.2474 0.0061 3.0879
-0.2984 -0.0028 3.1557
-0.3493 -0.0151 3.2235
-0.3999 -0.0309 3.2913
-0.4500 -0.0500 3.3591
primID: 6
startangle_c: 7
endpose_c: -6 7 5
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 2.7489
-0.0422 0.0269 2.6760
-0.0827 0.0571 2.6032
-0.1213 0.0906 2.5303
-0.1577 0.1271 2.4575
-0.1917 0.1666 2.3846
-0.2231 0.2088 2.3118
-0.2518 0.2536 2.2389
-0.2775 0.3008 2.1661
-0.3000 0.3500 2.0932
primID: 7
startangle_c: 7
endpose_c: 0 0 8
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.7489
0.0000 0.0000 2.7925
0.0000 0.0000 2.8362
0.0000 0.0000 2.8798
0.0000 0.0000 2.9234
0.0000 0.0000 2.9671
0.0000 0.0000 3.0107
0.0000 0.0000 3.0543
0.0000 0.0000 3.0980
0.0000 0.0000 3.1416
primID: 8
startangle_c: 7
endpose_c: 0 0 6
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.7489
0.0000 0.0000 2.7053
0.0000 0.0000 2.6616
0.0000 0.0000 2.6180
0.0000 0.0000 2.5744
0.0000 0.0000 2.5307
0.0000 0.0000 2.4871
0.0000 0.0000 2.4435
0.0000 0.0000 2.3998
0.0000 0.0000 2.3562
primID: 9
startangle_c: 7
endpose_c: 8 -2 8
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.7489
0.0427 -0.0177 2.7489
0.0854 -0.0354 2.7489
0.1283 -0.0523 2.7939
0.1722 -0.0668 2.8518
0.2168 -0.0787 2.9098
0.2621 -0.0880 2.9677
0.3078 -0.0947 3.0257
0.3538 -0.0987 3.0836
0.4000 -0.1000 3.1416
primID: 10
startangle_c: 7
endpose_c: 7 -5 6
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 2.7489
0.0425 -0.0215 2.7113
0.0842 -0.0447 2.6736
0.1250 -0.0695 2.6360
0.1651 -0.0958 2.5983
0.2041 -0.1237 2.5607
0.2422 -0.1531 2.5231
0.2793 -0.1840 2.4854
0.3152 -0.2163 2.4478
0.3500 -0.2500 2.4102
primID: 0
startangle_c: 8
endpose_c: -2 0 8
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 3.1416
-0.0111 0.0000 3.1416
-0.0222 0.0000 3.1416
-0.0333 0.0000 3.1416
-0.0444 0.0000 3.1416
-0.0556 0.0000 3.1416
-0.0667 0.0000 3.1416
-0.0778 0.0000 3.1416
-0.0889 0.0000 3.1416
-0.1000 0.0000 3.1416
primID: 1
startangle_c: 8
endpose_c: -8 0 8
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 3.1416
-0.0444 0.0000 3.1416
-0.0889 0.0000 3.1416
-0.1333 0.0000 3.1416
-0.1778 0.0000 3.1416
-0.2222 0.0000 3.1416
-0.2667 0.0000 3.1416
-0.3111 0.0000 3.1416
-0.3556 0.0000 3.1416
-0.4000 0.0000 3.1416
primID: 2
startangle_c: 8
endpose_c: 2 0 8
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.1416
0.0111 0.0000 3.1416
0.0222 0.0000 3.1416
0.0333 0.0000 3.1416
0.0444 0.0000 3.1416
0.0556 0.0000 3.1416
0.0667 0.0000 3.1416
0.0778 0.0000 3.1416
0.0889 0.0000 3.1416
0.1000 0.0000 3.1416
primID: 3
startangle_c: 8
endpose_c: -8 -2 9
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.1416
-0.0452 -0.0048 3.1765
-0.0903 -0.0111 3.2115
-0.1353 -0.0191 3.2464
-0.1802 -0.0286 3.2814
-0.2248 -0.0398 3.3163
-0.2692 -0.0525 3.3513
-0.3132 -0.0668 3.3862
-0.3568 -0.0826 3.4211
-0.4000 -0.1000 3.4561
primID: 4
startangle_c: 8
endpose_c: -8 2 7
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.1416
-0.0452 0.0048 3.1066
-0.0903 0.0111 3.0717
-0.1353 0.0191 3.0368
-0.1802 0.0286 3.0018
-0.2248 0.0398 2.9669
-0.2692 0.0525 2.9319
-0.3132 0.0668 2.8970
-0.3568 0.0826 2.8620
-0.4000 0.1000 2.8271
primID: 5
startangle_c: 8
endpose_c: -8 -4 10
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.1416
-0.0480 -0.0080 3.2154
-0.0958 -0.0196 3.2892
-0.1430 -0.0350 3.3630
-0.1894 -0.0539 3.4367
-0.2347 -0.0764 3.5105
-0.2786 -0.1024 3.5843
-0.3210 -0.1318 3.6581
-0.3615 -0.1643 3.7319
-0.4000 -0.2000 3.8057
primID: 6
startangle_c: 8
endpose_c: -8 4 6
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.1416
-0.0480 0.0080 3.0678
-0.0958 0.0196 2.9940
-0.1430 0.0350 2.9202
-0.1894 0.0539 2.8464
-0.2347 0.0764 2.7727
-0.2786 0.1024 2.6989
-0.3210 0.1318 2.6251
-0.3615 0.1643 2.5513
-0.4000 0.2000 2.4775
primID: 7
startangle_c: 8
endpose_c: 0 0 9
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.1416
0.0000 0.0000 3.1852
0.0000 0.0000 3.2289
0.0000 0.0000 3.2725
0.0000 0.0000 3.3161
0.0000 0.0000 3.3598
0.0000 0.0000 3.4034
0.0000 0.0000 3.4470
0.0000 0.0000 3.4907
0.0000 0.0000 3.5343
primID: 8
startangle_c: 8
endpose_c: 0 0 7
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.1416
0.0000 0.0000 3.0980
0.0000 0.0000 3.0543
0.0000 0.0000 3.0107
0.0000 0.0000 2.9671
0.0000 0.0000 2.9234
0.0000 0.0000 2.8798
0.0000 0.0000 2.8362
0.0000 0.0000 2.7925
0.0000 0.0000 2.7489
primID: 9
startangle_c: 8
endpose_c: 8 2 9
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.1416
0.0452 0.0048 3.1765
0.0903 0.0111 3.2115
0.1353 0.0191 3.2464
0.1802 0.0286 3.2814
0.2248 0.0398 3.3163
0.2692 0.0525 3.3513
0.3132 0.0668 3.3862
0.3568 0.0826 3.4211
0.4000 0.1000 3.4561
primID: 10
startangle_c: 8
endpose_c: 8 -2 7
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.1416
0.0452 -0.0048 3.1066
0.0903 -0.0111 3.0717
0.1353 -0.0191 3.0368
0.1802 -0.0286 3.0018
0.2248 -0.0398 2.9669
0.2692 -0.0525 2.9319
0.3132 -0.0668 2.8970
0.3568 -0.0826 2.8620
0.4000 -0.1000 2.8271
primID: 0
startangle_c: 9
endpose_c: -2 -1 9
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 3.5343
-0.0111 -0.0056 3.5343
-0.0222 -0.0111 3.5343
-0.0333 -0.0167 3.5343
-0.0444 -0.0222 3.5343
-0.0556 -0.0278 3.5343
-0.0667 -0.0333 3.5343
-0.0778 -0.0389 3.5343
-0.0889 -0.0444 3.5343
-0.1000 -0.0500 3.5343
primID: 1
startangle_c: 9
endpose_c: -7 -3 9
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 3.5343
-0.0389 -0.0167 3.5343
-0.0778 -0.0333 3.5343
-0.1167 -0.0500 3.5343
-0.1556 -0.0667 3.5343
-0.1944 -0.0833 3.5343
-0.2333 -0.1000 3.5343
-0.2722 -0.1167 3.5343
-0.3111 -0.1333 3.5343
-0.3500 -0.1500 3.5343
primID: 2
startangle_c: 9
endpose_c: 2 1 9
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.5343
0.0111 0.0056 3.5343
0.0222 0.0111 3.5343
0.0333 0.0167 3.5343
0.0444 0.0222 3.5343
0.0556 0.0278 3.5343
0.0667 0.0333 3.5343
0.0778 0.0389 3.5343
0.0889 0.0444 3.5343
0.1000 0.0500 3.5343
primID: 3
startangle_c: 9
endpose_c: -7 -5 10
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.5343
-0.0425 -0.0215 3.5719
-0.0842 -0.0447 3.6096
-0.1250 -0.0695 3.6472
-0.1651 -0.0958 3.6848
-0.2041 -0.1237 3.7225
-0.2422 -0.1531 3.7601
-0.2793 -0.1840 3.7978
-0.3152 -0.2163 3.8354
-0.3500 -0.2500 3.8730
primID: 4
startangle_c: 9
endpose_c: -8 -2 8
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.5343
-0.0427 -0.0177 3.5343
-0.0854 -0.0354 3.5343
-0.1283 -0.0523 3.4893
-0.1722 -0.0668 3.4313
-0.2168 -0.0787 3.3734
-0.2621 -0.0880 3.3154
-0.3078 -0.0947 3.2575
-0.3538 -0.0987 3.1995
-0.4000 -0.1000 3.1416
primID: 5
startangle_c: 9
endpose_c: -6 -7 11
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.5343
-0.0422 -0.0269 3.6071
-0.0827 -0.0571 3.6800
-0.1213 -0.0906 3.7528
-0.1577 -0.1271 3.8257
-0.1917 -0.1666 3.8985
-0.2231 -0.2088 3.9714
-0.2518 -0.2536 4.0442
-0.2775 -0.3008 4.1171
-0.3000 -0.3500 4.1899
primID: 6
startangle_c: 9
endpose_c: -9 1 7
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.5343
-0.0477 -0.0078 3.4665
-0.0966 -0.0124 3.3987
-0.1463 -0.0137 3.3309
-0.1966 -0.0116 3.2631
-0.2474 -0.0061 3.1953
-0.2984 0.0028 3.1275
-0.3493 0.0151 3.0597
-0.3999 0.0309 2.9919
-0.4500 0.0500 2.9241
primID: 7
startangle_c: 9
endpose_c: 0 0 10
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.5343
0.0000 0.0000 3.5779
0.0000 0.0000 3.6216
0.0000 0.0000 3.6652
0.0000 0.0000 3.7088
0.0000 0.0000 3.7525
0.0000 0.0000 3.7961
0.0000 0.0000 3.8397
0.0000 0.0000 3.8834
0.0000 0.0000 3.9270
primID: 8
startangle_c: 9
endpose_c: 0 0 8
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.5343
0.0000 0.0000 3.4907
0.0000 0.0000 3.4470
0.0000 0.0000 3.4034
0.0000 0.0000 3.3598
0.0000 0.0000 3.3161
0.0000 0.0000 3.2725
0.0000 0.0000 3.2289
0.0000 0.0000 3.1852
0.0000 0.0000 3.1416
primID: 9
startangle_c: 9
endpose_c: 7 5 10
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.5343
0.0425 0.0215 3.5719
0.0842 0.0447 3.6096
0.1250 0.0695 3.6472
0.1651 0.0958 3.6848
0.2041 0.1237 3.7225
0.2422 0.1531 3.7601
0.2793 0.1840 3.7978
0.3152 0.2163 3.8354
0.3500 0.2500 3.8730
primID: 10
startangle_c: 9
endpose_c: 8 2 8
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.5343
0.0427 0.0177 3.5343
0.0854 0.0354 3.5343
0.1283 0.0523 3.4893
0.1722 0.0668 3.4313
0.2168 0.0787 3.3734
0.2621 0.0880 3.3154
0.3078 0.0947 3.2575
0.3538 0.0987 3.1995
0.4000 0.1000 3.1416
primID: 0
startangle_c: 10
endpose_c: -1 -1 10
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 3.9270
-0.0056 -0.0056 3.9270
-0.0111 -0.0111 3.9270
-0.0167 -0.0167 3.9270
-0.0222 -0.0222 3.9270
-0.0278 -0.0278 3.9270
-0.0333 -0.0333 3.9270
-0.0389 -0.0389 3.9270
-0.0444 -0.0444 3.9270
-0.0500 -0.0500 3.9270
primID: 1
startangle_c: 10
endpose_c: -6 -6 10
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 3.9270
-0.0333 -0.0333 3.9270
-0.0667 -0.0667 3.9270
-0.1000 -0.1000 3.9270
-0.1333 -0.1333 3.9270
-0.1667 -0.1667 3.9270
-0.2000 -0.2000 3.9270
-0.2333 -0.2333 3.9270
-0.2667 -0.2667 3.9270
-0.3000 -0.3000 3.9270
primID: 2
startangle_c: 10
endpose_c: 1 1 10
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.9270
0.0056 0.0056 3.9270
0.0111 0.0111 3.9270
0.0167 0.0167 3.9270
0.0222 0.0222 3.9270
0.0278 0.0278 3.9270
0.0333 0.0333 3.9270
0.0389 0.0389 3.9270
0.0444 0.0444 3.9270
0.0500 0.0500 3.9270
primID: 3
startangle_c: 10
endpose_c: -5 -7 11
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.9270
-0.0341 -0.0341 3.9270
-0.0678 -0.0684 3.9567
-0.1000 -0.1043 4.0085
-0.1302 -0.1418 4.0604
-0.1584 -0.1809 4.1123
-0.1846 -0.2213 4.1641
-0.2086 -0.2631 4.2160
-0.2304 -0.3060 4.2678
-0.2500 -0.3500 4.3197
primID: 4
startangle_c: 10
endpose_c: -7 -5 9
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.9270
-0.0341 -0.0341 3.9270
-0.0684 -0.0678 3.8973
-0.1043 -0.1000 3.8455
-0.1418 -0.1302 3.7936
-0.1809 -0.1584 3.7417
-0.2213 -0.1846 3.6899
-0.2631 -0.2086 3.6380
-0.3060 -0.2304 3.5862
-0.3500 -0.2500 3.5343
primID: 5
startangle_c: 10
endpose_c: -3 -8 12
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.9270
-0.0300 -0.0368 4.0073
-0.0571 -0.0762 4.0876
-0.0810 -0.1178 4.1679
-0.1015 -0.1615 4.2482
-0.1186 -0.2069 4.3285
-0.1321 -0.2537 4.4088
-0.1419 -0.3017 4.4891
-0.1479 -0.3506 4.5694
-0.1500 -0.4000 4.6496
primID: 6
startangle_c: 10
endpose_c: -8 -3 8
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 3.9270
-0.0368 -0.0300 3.8467
-0.0762 -0.0571 3.7664
-0.1178 -0.0810 3.6861
-0.1615 -0.1015 3.6058
-0.2069 -0.1186 3.5255
-0.2537 -0.1321 3.4452
-0.3017 -0.1419 3.3649
-0.3506 -0.1479 3.2846
-0.4000 -0.1500 3.2043
primID: 7
startangle_c: 10
endpose_c: 0 0 11
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.9270
0.0000 0.0000 3.9706
0.0000 0.0000 4.0143
0.0000 0.0000 4.0579
0.0000 0.0000 4.1015
0.0000 0.0000 4.1452
0.0000 0.0000 4.1888
0.0000 0.0000 4.2324
0.0000 0.0000 4.2761
0.0000 0.0000 4.3197
primID: 8
startangle_c: 10
endpose_c: 0 0 9
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.9270
0.0000 0.0000 3.8834
0.0000 0.0000 3.8397
0.0000 0.0000 3.7961
0.0000 0.0000 3.7525
0.0000 0.0000 3.7088
0.0000 0.0000 3.6652
0.0000 0.0000 3.6216
0.0000 0.0000 3.5779
0.0000 0.0000 3.5343
primID: 9
startangle_c: 10
endpose_c: 5 7 11
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.9270
0.0341 0.0341 3.9270
0.0678 0.0684 3.9567
0.1000 0.1043 4.0085
0.1302 0.1418 4.0604
0.1584 0.1809 4.1123
0.1846 0.2213 4.1641
0.2086 0.2631 4.2160
0.2304 0.3060 4.2678
0.2500 0.3500 4.3197
primID: 10
startangle_c: 10
endpose_c: 7 5 9
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 3.9270
0.0341 0.0341 3.9270
0.0684 0.0678 3.8973
0.1043 0.1000 3.8455
0.1418 0.1302 3.7936
0.1809 0.1584 3.7417
0.2213 0.1846 3.6899
0.2631 0.2086 3.6380
0.3060 0.2304 3.5862
0.3500 0.2500 3.5343
primID: 0
startangle_c: 11
endpose_c: -1 -2 11
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 4.3197
-0.0056 -0.0111 4.3197
-0.0111 -0.0222 4.3197
-0.0167 -0.0333 4.3197
-0.0222 -0.0444 4.3197
-0.0278 -0.0556 4.3197
-0.0333 -0.0667 4.3197
-0.0389 -0.0778 4.3197
-0.0444 -0.0889 4.3197
-0.0500 -0.1000 4.3197
primID: 1
startangle_c: 11
endpose_c: -3 -7 11
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 4.3197
-0.0167 -0.0389 4.3197
-0.0333 -0.0778 4.3197
-0.0500 -0.1167 4.3197
-0.0667 -0.1556 4.3197
-0.0833 -0.1944 4.3197
-0.1000 -0.2333 4.3197
-0.1167 -0.2722 4.3197
-0.1333 -0.3111 4.3197
-0.1500 -0.3500 4.3197
primID: 2
startangle_c: 11
endpose_c: 1 2 11
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.3197
0.0056 0.0111 4.3197
0.0111 0.0222 4.3197
0.0167 0.0333 4.3197
0.0222 0.0444 4.3197
0.0278 0.0556 4.3197
0.0333 0.0667 4.3197
0.0389 0.0778 4.3197
0.0444 0.0889 4.3197
0.0500 0.1000 4.3197
primID: 3
startangle_c: 11
endpose_c: -2 -8 12
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 4.3197
-0.0177 -0.0427 4.3197
-0.0354 -0.0854 4.3197
-0.0523 -0.1283 4.3647
-0.0668 -0.1722 4.4226
-0.0787 -0.2168 4.4806
-0.0880 -0.2621 4.5385
-0.0947 -0.3078 4.5965
-0.0987 -0.3538 4.6544
-0.1000 -0.4000 4.7124
primID: 4
startangle_c: 11
endpose_c: -5 -7 10
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 4.3197
-0.0215 -0.0425 4.2821
-0.0447 -0.0842 4.2444
-0.0695 -0.1250 4.2068
-0.0958 -0.1651 4.1691
-0.1237 -0.2041 4.1315
-0.1531 -0.2422 4.0939
-0.1840 -0.2793 4.0562
-0.2163 -0.3152 4.0186
-0.2500 -0.3500 3.9809
primID: 5
startangle_c: 11
endpose_c: 1 -9 13
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 4.3197
-0.0078 -0.0477 4.3875
-0.0124 -0.0966 4.4553
-0.0137 -0.1463 4.5231
-0.0116 -0.1966 4.5909
-0.0061 -0.2474 4.6587
0.0028 -0.2984 4.7265
0.0151 -0.3493 4.7943
0.0309 -0.3999 4.8621
0.0500 -0.4500 4.9299
primID: 6
startangle_c: 11
endpose_c: -7 -6 9
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 4.3197
-0.0269 -0.0422 4.2468
-0.0571 -0.0827 4.1740
-0.0906 -0.1213 4.1011
-0.1271 -0.1577 4.0283
-0.1666 -0.1917 3.9554
-0.2088 -0.2231 3.8826
-0.2536 -0.2518 3.8097
-0.3008 -0.2775 3.7369
-0.3500 -0.3000 3.6640
primID: 7
startangle_c: 11
endpose_c: 0 0 12
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.3197
0.0000 0.0000 4.3633
0.0000 0.0000 4.4070
0.0000 0.0000 4.4506
0.0000 0.0000 4.4942
0.0000 0.0000 4.5379
0.0000 0.0000 4.5815
0.0000 0.0000 4.6251
0.0000 0.0000 4.6688
0.0000 0.0000 4.7124
primID: 8
startangle_c: 11
endpose_c: 0 0 10
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.3197
0.0000 0.0000 4.2761
0.0000 0.0000 4.2324
0.0000 0.0000 4.1888
0.0000 0.0000 4.1452
0.0000 0.0000 4.1015
0.0000 0.0000 4.0579
0.0000 0.0000 4.0143
0.0000 0.0000 3.9706
0.0000 0.0000 3.9270
primID: 9
startangle_c: 11
endpose_c: 2 8 12
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.3197
0.0177 0.0427 4.3197
0.0354 0.0854 4.3197
0.0523 0.1283 4.3647
0.0668 0.1722 4.4226
0.0787 0.2168 4.4806
0.0880 0.2621 4.5385
0.0947 0.3078 4.5965
0.0987 0.3538 4.6544
0.1000 0.4000 4.7124
primID: 10
startangle_c: 11
endpose_c: 5 7 10
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.3197
0.0215 0.0425 4.2821
0.0447 0.0842 4.2444
0.0695 0.1250 4.2068
0.0958 0.1651 4.1691
0.1237 0.2041 4.1315
0.1531 0.2422 4.0939
0.1840 0.2793 4.0562
0.2163 0.3152 4.0186
0.2500 0.3500 3.9809
primID: 0
startangle_c: 12
endpose_c: 0 -2 12
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 4.7124
0.0000 -0.0111 4.7124
0.0000 -0.0222 4.7124
0.0000 -0.0333 4.7124
0.0000 -0.0444 4.7124
0.0000 -0.0556 4.7124
0.0000 -0.0667 4.7124
0.0000 -0.0778 4.7124
0.0000 -0.0889 4.7124
0.0000 -0.1000 4.7124
primID: 1
startangle_c: 12
endpose_c: 0 -8 12
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 4.7124
0.0000 -0.0444 4.7124
0.0000 -0.0889 4.7124
0.0000 -0.1333 4.7124
0.0000 -0.1778 4.7124
0.0000 -0.2222 4.7124
0.0000 -0.2667 4.7124
0.0000 -0.3111 4.7124
0.0000 -0.3556 4.7124
0.0000 -0.4000 4.7124
primID: 2
startangle_c: 12
endpose_c: 0 2 12
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.7124
0.0000 0.0111 4.7124
0.0000 0.0222 4.7124
0.0000 0.0333 4.7124
0.0000 0.0444 4.7124
0.0000 0.0556 4.7124
0.0000 0.0667 4.7124
0.0000 0.0778 4.7124
0.0000 0.0889 4.7124
0.0000 0.1000 4.7124
primID: 3
startangle_c: 12
endpose_c: 2 -8 13
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 4.7124
0.0048 -0.0452 4.7473
0.0111 -0.0903 4.7823
0.0191 -0.1353 4.8172
0.0286 -0.1802 4.8522
0.0398 -0.2248 4.8871
0.0525 -0.2692 4.9221
0.0668 -0.3132 4.9570
0.0826 -0.3568 4.9919
0.1000 -0.4000 5.0269
primID: 4
startangle_c: 12
endpose_c: -2 -8 11
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 4.7124
-0.0048 -0.0452 4.6774
-0.0111 -0.0903 4.6425
-0.0191 -0.1353 4.6076
-0.0286 -0.1802 4.5726
-0.0398 -0.2248 4.5377
-0.0525 -0.2692 4.5027
-0.0668 -0.3132 4.4678
-0.0826 -0.3568 4.4328
-0.1000 -0.4000 4.3979
primID: 5
startangle_c: 12
endpose_c: 4 -8 14
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 4.7124
0.0080 -0.0480 4.7862
0.0196 -0.0958 4.8600
0.0350 -0.1430 4.9337
0.0539 -0.1894 5.0075
0.0764 -0.2347 5.0813
0.1024 -0.2786 5.1551
0.1318 -0.3210 5.2289
0.1643 -0.3615 5.3027
0.2000 -0.4000 5.3765
primID: 6
startangle_c: 12
endpose_c: -4 -8 10
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 4.7124
-0.0080 -0.0480 4.6386
-0.0196 -0.0958 4.5648
-0.0350 -0.1430 4.4910
-0.0539 -0.1894 4.4172
-0.0764 -0.2347 4.3435
-0.1024 -0.2786 4.2697
-0.1318 -0.3210 4.1959
-0.1643 -0.3615 4.1221
-0.2000 -0.4000 4.0483
primID: 7
startangle_c: 12
endpose_c: 0 0 13
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.7124
0.0000 0.0000 4.7560
0.0000 0.0000 4.7997
0.0000 0.0000 4.8433
0.0000 0.0000 4.8869
0.0000 0.0000 4.9306
0.0000 0.0000 4.9742
0.0000 0.0000 5.0178
0.0000 0.0000 5.0615
0.0000 0.0000 5.1051
primID: 8
startangle_c: 12
endpose_c: 0 0 11
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.7124
0.0000 0.0000 4.6688
0.0000 0.0000 4.6251
0.0000 0.0000 4.5815
0.0000 0.0000 4.5379
0.0000 0.0000 4.4942
0.0000 0.0000 4.4506
0.0000 0.0000 4.4070
0.0000 0.0000 4.3633
0.0000 0.0000 4.3197
primID: 9
startangle_c: 12
endpose_c: -2 8 13
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.7124
-0.0048 0.0452 4.7473
-0.0111 0.0903 4.7823
-0.0191 0.1353 4.8172
-0.0286 0.1802 4.8522
-0.0398 0.2248 4.8871
-0.0525 0.2692 4.9221
-0.0668 0.3132 4.9570
-0.0826 0.3568 4.9919
-0.1000 0.4000 5.0269
primID: 10
startangle_c: 12
endpose_c: 2 8 11
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 4.7124
0.0048 0.0452 4.6774
0.0111 0.0903 4.6425
0.0191 0.1353 4.6076
0.0286 0.1802 4.5726
0.0398 0.2248 4.5377
0.0525 0.2692 4.5027
0.0668 0.3132 4.4678
0.0826 0.3568 4.4328
0.1000 0.4000 4.3979
primID: 0
startangle_c: 13
endpose_c: 1 -2 13
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 5.1051
0.0056 -0.0111 5.1051
0.0111 -0.0222 5.1051
0.0167 -0.0333 5.1051
0.0222 -0.0444 5.1051
0.0278 -0.0556 5.1051
0.0333 -0.0667 5.1051
0.0389 -0.0778 5.1051
0.0444 -0.0889 5.1051
0.0500 -0.1000 5.1051
primID: 1
startangle_c: 13
endpose_c: 3 -7 13
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 5.1051
0.0167 -0.0389 5.1051
0.0333 -0.0778 5.1051
0.0500 -0.1167 5.1051
0.0667 -0.1556 5.1051
0.0833 -0.1944 5.1051
0.1000 -0.2333 5.1051
0.1167 -0.2722 5.1051
0.1333 -0.3111 5.1051
0.1500 -0.3500 5.1051
primID: 2
startangle_c: 13
endpose_c: -1 2 13
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.1051
-0.0056 0.0111 5.1051
-0.0111 0.0222 5.1051
-0.0167 0.0333 5.1051
-0.0222 0.0444 5.1051
-0.0278 0.0556 5.1051
-0.0333 0.0667 5.1051
-0.0389 0.0778 5.1051
-0.0444 0.0889 5.1051
-0.0500 0.1000 5.1051
primID: 3
startangle_c: 13
endpose_c: 5 -7 14
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.1051
0.0215 -0.0425 5.1427
0.0447 -0.0842 5.1804
0.0695 -0.1250 5.2180
0.0958 -0.1651 5.2556
0.1237 -0.2041 5.2933
0.1531 -0.2422 5.3309
0.1840 -0.2793 5.3686
0.2163 -0.3152 5.4062
0.2500 -0.3500 5.4438
primID: 4
startangle_c: 13
endpose_c: 2 -8 12
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.1051
0.0177 -0.0427 5.1051
0.0354 -0.0854 5.1051
0.0523 -0.1283 5.0601
0.0668 -0.1722 5.0021
0.0787 -0.2168 4.9442
0.0880 -0.2621 4.8862
0.0947 -0.3078 4.8283
0.0987 -0.3538 4.7703
0.1000 -0.4000 4.7124
primID: 5
startangle_c: 13
endpose_c: 7 -6 15
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.1051
0.0269 -0.0422 5.1779
0.0571 -0.0827 5.2508
0.0906 -0.1213 5.3236
0.1271 -0.1577 5.3965
0.1666 -0.1917 5.4693
0.2088 -0.2231 5.5422
0.2536 -0.2518 5.6150
0.3008 -0.2775 5.6879
0.3500 -0.3000 5.7607
primID: 6
startangle_c: 13
endpose_c: -1 -9 11
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.1051
0.0078 -0.0477 5.0373
0.0124 -0.0966 4.9695
0.0137 -0.1463 4.9017
0.0116 -0.1966 4.8339
0.0061 -0.2474 4.7661
-0.0028 -0.2984 4.6983
-0.0151 -0.3493 4.6305
-0.0309 -0.3999 4.5627
-0.0500 -0.4500 4.4949
primID: 7
startangle_c: 13
endpose_c: 0 0 14
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.1051
0.0000 0.0000 5.1487
0.0000 0.0000 5.1924
0.0000 0.0000 5.2360
0.0000 0.0000 5.2796
0.0000 0.0000 5.3233
0.0000 0.0000 5.3669
0.0000 0.0000 5.4105
0.0000 0.0000 5.4542
0.0000 0.0000 5.4978
primID: 8
startangle_c: 13
endpose_c: 0 0 12
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.1051
0.0000 0.0000 5.0615
0.0000 0.0000 5.0178
0.0000 0.0000 4.9742
0.0000 0.0000 4.9306
0.0000 0.0000 4.8869
0.0000 0.0000 4.8433
0.0000 0.0000 4.7997
0.0000 0.0000 4.7560
0.0000 0.0000 4.7124
primID: 9
startangle_c: 13
endpose_c: -5 7 14
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.1051
-0.0215 0.0425 5.1427
-0.0447 0.0842 5.1804
-0.0695 0.1250 5.2180
-0.0958 0.1651 5.2556
-0.1237 0.2041 5.2933
-0.1531 0.2422 5.3309
-0.1840 0.2793 5.3686
-0.2163 0.3152 5.4062
-0.2500 0.3500 5.4438
primID: 10
startangle_c: 13
endpose_c: -2 8 12
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.1051
-0.0177 0.0427 5.1051
-0.0354 0.0854 5.1051
-0.0523 0.1283 5.0601
-0.0668 0.1722 5.0021
-0.0787 0.2168 4.9442
-0.0880 0.2621 4.8862
-0.0947 0.3078 4.8283
-0.0987 0.3538 4.7703
-0.1000 0.4000 4.7124
primID: 0
startangle_c: 14
endpose_c: 1 -1 14
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 5.4978
0.0056 -0.0056 5.4978
0.0111 -0.0111 5.4978
0.0167 -0.0167 5.4978
0.0222 -0.0222 5.4978
0.0278 -0.0278 5.4978
0.0333 -0.0333 5.4978
0.0389 -0.0389 5.4978
0.0444 -0.0444 5.4978
0.0500 -0.0500 5.4978
primID: 1
startangle_c: 14
endpose_c: 6 -6 14
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 5.4978
0.0333 -0.0333 5.4978
0.0667 -0.0667 5.4978
0.1000 -0.1000 5.4978
0.1333 -0.1333 5.4978
0.1667 -0.1667 5.4978
0.2000 -0.2000 5.4978
0.2333 -0.2333 5.4978
0.2667 -0.2667 5.4978
0.3000 -0.3000 5.4978
primID: 2
startangle_c: 14
endpose_c: -1 1 14
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.4978
-0.0056 0.0056 5.4978
-0.0111 0.0111 5.4978
-0.0167 0.0167 5.4978
-0.0222 0.0222 5.4978
-0.0278 0.0278 5.4978
-0.0333 0.0333 5.4978
-0.0389 0.0389 5.4978
-0.0444 0.0444 5.4978
-0.0500 0.0500 5.4978
primID: 3
startangle_c: 14
endpose_c: 7 -5 15
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.4978
0.0341 -0.0341 5.4978
0.0684 -0.0678 5.5275
0.1043 -0.1000 5.5793
0.1418 -0.1302 5.6312
0.1809 -0.1584 5.6830
0.2213 -0.1846 5.7349
0.2631 -0.2086 5.7868
0.3060 -0.2304 5.8386
0.3500 -0.2500 5.8905
primID: 4
startangle_c: 14
endpose_c: 5 -7 13
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.4978
0.0341 -0.0341 5.4978
0.0678 -0.0684 5.4681
0.1000 -0.1043 5.4162
0.1302 -0.1418 5.3644
0.1584 -0.1809 5.3125
0.1846 -0.2213 5.2607
0.2086 -0.2631 5.2088
0.2304 -0.3060 5.1569
0.2500 -0.3500 5.1051
primID: 5
startangle_c: 14
endpose_c: 8 -3 0
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.4978
0.0368 -0.0300 5.5781
0.0762 -0.0571 5.6584
0.1178 -0.0810 5.7387
0.1615 -0.1015 5.8190
0.2069 -0.1186 5.8993
0.2537 -0.1321 5.9796
0.3017 -0.1419 6.0599
0.3506 -0.1479 6.1401
0.4000 -0.1500 6.2204
primID: 6
startangle_c: 14
endpose_c: 3 -8 12
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.4978
0.0300 -0.0368 5.4175
0.0571 -0.0762 5.3372
0.0810 -0.1178 5.2569
0.1015 -0.1615 5.1766
0.1186 -0.2069 5.0963
0.1321 -0.2537 5.0160
0.1419 -0.3017 4.9357
0.1479 -0.3506 4.8554
0.1500 -0.4000 4.7751
primID: 7
startangle_c: 14
endpose_c: 0 0 15
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.4978
0.0000 0.0000 5.5414
0.0000 0.0000 5.5851
0.0000 0.0000 5.6287
0.0000 0.0000 5.6723
0.0000 0.0000 5.7160
0.0000 0.0000 5.7596
0.0000 0.0000 5.8032
0.0000 0.0000 5.8469
0.0000 0.0000 5.8905
primID: 8
startangle_c: 14
endpose_c: 0 0 13
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.4978
0.0000 0.0000 5.4542
0.0000 0.0000 5.4105
0.0000 0.0000 5.3669
0.0000 0.0000 5.3233
0.0000 0.0000 5.2796
0.0000 0.0000 5.2360
0.0000 0.0000 5.1924
0.0000 0.0000 5.1487
0.0000 0.0000 5.1051
primID: 9
startangle_c: 14
endpose_c: -7 5 15
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.4978
-0.0341 0.0341 5.4978
-0.0684 0.0678 5.5275
-0.1043 0.1000 5.5793
-0.1418 0.1302 5.6312
-0.1809 0.1584 5.6830
-0.2213 0.1846 5.7349
-0.2631 0.2086 5.7868
-0.3060 0.2304 5.8386
-0.3500 0.2500 5.8905
primID: 10
startangle_c: 14
endpose_c: -5 7 13
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.4978
-0.0341 0.0341 5.4978
-0.0678 0.0684 5.4681
-0.1000 0.1043 5.4162
-0.1302 0.1418 5.3644
-0.1584 0.1809 5.3125
-0.1846 0.2213 5.2607
-0.2086 0.2631 5.2088
-0.2304 0.3060 5.1569
-0.2500 0.3500 5.1051
primID: 0
startangle_c: 15
endpose_c: 2 -1 15
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 5.8905
0.0111 -0.0056 5.8905
0.0222 -0.0111 5.8905
0.0333 -0.0167 5.8905
0.0444 -0.0222 5.8905
0.0556 -0.0278 5.8905
0.0667 -0.0333 5.8905
0.0778 -0.0389 5.8905
0.0889 -0.0444 5.8905
0.1000 -0.0500 5.8905
primID: 1
startangle_c: 15
endpose_c: 7 -3 15
additionalactioncostmult: 1
intermediateposes: 10
0.0000 0.0000 5.8905
0.0389 -0.0167 5.8905
0.0778 -0.0333 5.8905
0.1167 -0.0500 5.8905
0.1556 -0.0667 5.8905
0.1944 -0.0833 5.8905
0.2333 -0.1000 5.8905
0.2722 -0.1167 5.8905
0.3111 -0.1333 5.8905
0.3500 -0.1500 5.8905
primID: 2
startangle_c: 15
endpose_c: -2 1 15
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.8905
-0.0111 0.0056 5.8905
-0.0222 0.0111 5.8905
-0.0333 0.0167 5.8905
-0.0444 0.0222 5.8905
-0.0556 0.0278 5.8905
-0.0667 0.0333 5.8905
-0.0778 0.0389 5.8905
-0.0889 0.0444 5.8905
-0.1000 0.0500 5.8905
primID: 3
startangle_c: 15
endpose_c: 8 -2 0
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.8905
0.0427 -0.0177 5.8905
0.0854 -0.0354 5.8905
0.1283 -0.0523 5.9355
0.1722 -0.0668 5.9934
0.2168 -0.0787 6.0514
0.2621 -0.0880 6.1093
0.3078 -0.0947 6.1673
0.3538 -0.0987 6.2252
0.4000 -0.1000 6.2832
primID: 4
startangle_c: 15
endpose_c: 7 -5 14
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.8905
0.0425 -0.0215 5.8528
0.0842 -0.0447 5.8152
0.1250 -0.0695 5.7776
0.1651 -0.0958 5.7399
0.2041 -0.1237 5.7023
0.2422 -0.1531 5.6647
0.2793 -0.1840 5.6270
0.3152 -0.2163 5.5894
0.3500 -0.2500 5.5517
primID: 5
startangle_c: 15
endpose_c: 9 1 1
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.8905
0.0477 -0.0078 5.9583
0.0966 -0.0124 6.0261
0.1463 -0.0137 6.0939
0.1966 -0.0116 6.1617
0.2474 -0.0061 6.2295
0.2984 0.0028 6.2973
0.3493 0.0151 6.3651
0.3999 0.0309 6.4329
0.4500 0.0500 6.5007
primID: 6
startangle_c: 15
endpose_c: 6 -7 13
additionalactioncostmult: 3
intermediateposes: 10
0.0000 0.0000 5.8905
0.0422 -0.0269 5.8176
0.0827 -0.0571 5.7448
0.1213 -0.0906 5.6719
0.1577 -0.1271 5.5991
0.1917 -0.1666 5.5262
0.2231 -0.2088 5.4534
0.2518 -0.2536 5.3805
0.2775 -0.3008 5.3077
0.3000 -0.3500 5.2348
primID: 7
startangle_c: 15
endpose_c: 0 0 0
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.8905
0.0000 0.0000 5.9341
0.0000 0.0000 5.9778
0.0000 0.0000 6.0214
0.0000 0.0000 6.0650
0.0000 0.0000 6.1087
0.0000 0.0000 6.1523
0.0000 0.0000 6.1959
0.0000 0.0000 6.2396
0.0000 0.0000 6.2832
primID: 8
startangle_c: 15
endpose_c: 0 0 14
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.8905
0.0000 0.0000 5.8469
0.0000 0.0000 5.8032
0.0000 0.0000 5.7596
0.0000 0.0000 5.7160
0.0000 0.0000 5.6723
0.0000 0.0000 5.6287
0.0000 0.0000 5.5851
0.0000 0.0000 5.5414
0.0000 0.0000 5.4978
primID: 9
startangle_c: 15
endpose_c: -8 2 0
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.8905
-0.0427 0.0177 5.8905
-0.0854 0.0354 5.8905
-0.1283 0.0523 5.9355
-0.1722 0.0668 5.9934
-0.2168 0.0787 6.0514
-0.2621 0.0880 6.1093
-0.3078 0.0947 6.1673
-0.3538 0.0987 6.2252
-0.4000 0.1000 6.2832
primID: 10
startangle_c: 15
endpose_c: -7 5 14
additionalactioncostmult: 5
intermediateposes: 10
0.0000 0.0000 5.8905
-0.0425 0.0215 5.8528
-0.0842 0.0447 5.8152
-0.1250 0.0695 5.7776
-0.1651 0.0958 5.7399
-0.2041 0.1237 5.7023
-0.2422 0.1531 5.6647
-0.2793 0.1840 5.6270
-0.3152 0.2163 5.5894
-0.3500 0.2500 5.5517