Initial commit

diff --git a/CMakeLists.txt b/CMakeLists.txt
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+cmake_minimum_required(VERSION 2.8.3)
+project(wild_thumper)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES wild_thumper
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a cpp library
+# add_library(wild_thumper
+#   src/${PROJECT_NAME}/wild_thumper.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(wild_thumper_node src/wild_thumper_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(wild_thumper_node wild_thumper_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(wild_thumper_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS wild_thumper wild_thumper_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_wild_thumper.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

diff --git a/meshes/Renderings/RENDERING.png b/meshes/Renderings/RENDERING.png
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diff --git a/meshes/al-ga25_-_motor_varsayilan.prt.1 b/meshes/al-ga25_-_motor_varsayilan.prt.1
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diff --git a/meshes/frame_connector_varsayilan.prt.1 b/meshes/frame_connector_varsayilan.prt.1
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diff --git a/meshes/motor_case_cover_varsayilan.prt.1 b/meshes/motor_case_cover_varsayilan.prt.1
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diff --git a/meshes/radyus11.prt.2 b/meshes/radyus11.prt.2
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diff --git a/meshes/small_chasis_1_varsayilan.prt.1 b/meshes/small_chasis_1_varsayilan.prt.1
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diff --git a/meshes/small_chasis_2_varsayilan.prt.1 b/meshes/small_chasis_2_varsayilan.prt.1
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diff --git a/meshes/spacingpost.prt.1 b/meshes/spacingpost.prt.1
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diff --git a/meshes/tire_rim_varsayilan.prt.1 b/meshes/tire_rim_varsayilan.prt.1
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diff --git a/meshes/tire_varsayilan.asm.1 b/meshes/tire_varsayilan.asm.1
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diff --git a/meshes/top_plate.prt.1 b/meshes/top_plate.prt.1
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diff --git a/meshes/wild_thumper_-_assembly.asm.2 b/meshes/wild_thumper_-_assembly.asm.2
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diff --git a/meshes/wild_thumper_assembly_corrected.stl b/meshes/wild_thumper_assembly_corrected.stl
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diff --git a/meshes/wild_thumper_assembly_corrected.stp b/meshes/wild_thumper_assembly_corrected.stp
new file mode 100644 (file)
index 0000000..d52d2da
--- /dev/null
+++ b/meshes/wild_thumper_assembly_corrected.stp
@@ -0,0 +1,95527 @@
+ISO-10303-21;\r
+HEADER;\r
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+'CREO PARAMETRIC BY PTC INC, 2014190','CREO PARAMETRIC BY PTC INC, 2014190','');\r
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+#9518=CIRCLE('',#9517,1.5E0);\r
+#9523=CIRCLE('',#9522,1.5E0);\r
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+#9537=CIRCLE('',#9536,6.961524227066E-1);\r
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+#9608=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9602,#9603,#9604,#9605,#9606,#9607),\r
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+#9616=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9609,#9610,#9611,#9612,#9613,#9614,\r
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+#9621=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9617,#9618,#9619,#9620),.UNSPECIFIED.,\r
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+#9642=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9635,#9636,#9637,#9638,#9639,#9640,\r
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+#9657=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9651,#9652,#9653,#9654,#9655,#9656),\r
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+#9670=CIRCLE('',#9669,1.5E0);\r
+#9675=CIRCLE('',#9674,1.5E0);\r
+#9680=CIRCLE('',#9679,1.5E0);\r
+#9685=CIRCLE('',#9684,1.5E0);\r
+#9694=CIRCLE('',#9693,6.961524227066E-1);\r
+#9699=CIRCLE('',#9698,6.961524227066E-1);\r
+#9712=CIRCLE('',#9711,6.961524227066E-1);\r
+#9717=CIRCLE('',#9716,6.961524227066E-1);\r
+#9728=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9722,#9723,#9724,#9725,#9726,#9727),\r
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+#9747=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9741,#9742,#9743,#9744,#9745,#9746),\r
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+#9754=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9748,#9749,#9750,#9751,#9752,#9753),\r
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+#9769=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9763,#9764,#9765,#9766,#9767,#9768),\r
+.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,6.666666666667E-1,1.E0),\r
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+#9781=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9774,#9775,#9776,#9777,#9778,#9779,\r
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+.UNSPECIFIED.);\r
+#9786=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9782,#9783,#9784,#9785),.UNSPECIFIED.,\r
+.F.,.F.,(4,4),(0.E0,1.E0),.UNSPECIFIED.);\r
+#9795=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9787,#9788,#9789,#9790,#9791,#9792,#9793,\r
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+.UNSPECIFIED.);\r
+#9807=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9800,#9801,#9802,#9803,#9804,#9805,\r
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+#9815=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9808,#9809,#9810,#9811,#9812,#9813,\r
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+#9822=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9816,#9817,#9818,#9819,#9820,#9821),\r
+.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,6.666666666667E-1,1.E0),\r
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+#9835=CIRCLE('',#9834,1.5E0);\r
+#9840=CIRCLE('',#9839,1.5E0);\r
+#9845=CIRCLE('',#9844,1.5E0);\r
+#9850=CIRCLE('',#9849,1.5E0);\r
+#9859=CIRCLE('',#9858,6.961524227066E-1);\r
+#9864=CIRCLE('',#9863,6.961524227066E-1);\r
+#9877=CIRCLE('',#9876,6.961524227066E-1);\r
+#9882=CIRCLE('',#9881,6.961524227066E-1);\r
+#9893=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9887,#9888,#9889,#9890,#9891,#9892),\r
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+#9900=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9894,#9895,#9896,#9897,#9898,#9899),\r
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+#9919=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9913,#9914,#9915,#9916,#9917,#9918),\r
+.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,6.666666666667E-1,1.E0),\r
+.UNSPECIFIED.);\r
+#9926=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9920,#9921,#9922,#9923,#9924,#9925),\r
+.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,6.666666666667E-1,1.E0),\r
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+#9941=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9935,#9936,#9937,#9938,#9939,#9940),\r
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+.UNSPECIFIED.);\r
+#9953=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9946,#9947,#9948,#9949,#9950,#9951,\r
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+.UNSPECIFIED.);\r
+#9958=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9954,#9955,#9956,#9957),.UNSPECIFIED.,\r
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+#9979=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9972,#9973,#9974,#9975,#9976,#9977,\r
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+#9991=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9984,#9985,#9986,#9987,#9988,#9989,\r
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+#9998=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9992,#9993,#9994,#9995,#9996,#9997),\r
+.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,6.666666666667E-1,1.E0),\r
+.UNSPECIFIED.);\r
+#10011=CIRCLE('',#10010,1.5E0);\r
+#10016=CIRCLE('',#10015,1.5E0);\r
+#10021=CIRCLE('',#10020,1.5E0);\r
+#10026=CIRCLE('',#10025,1.5E0);\r
+#10035=CIRCLE('',#10034,6.961524227066E-1);\r
+#10040=CIRCLE('',#10039,6.961524227066E-1);\r
+#10053=CIRCLE('',#10052,6.961524227066E-1);\r
+#10058=CIRCLE('',#10057,6.961524227066E-1);\r
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+#10111=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10105,#10106,#10107,#10108,#10109,\r
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+#10119=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10112,#10113,#10114,#10115,#10116,\r
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+#10124=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10120,#10121,#10122,#10123),\r
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+#10153=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10146,#10147,#10148,#10149,#10150,\r
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+#10160=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10154,#10155,#10156,#10157,#10158,\r
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+#10173=CIRCLE('',#10172,1.5E0);\r
+#10178=CIRCLE('',#10177,1.5E0);\r
+#10183=CIRCLE('',#10182,1.5E0);\r
+#10188=CIRCLE('',#10187,1.5E0);\r
+#10197=CIRCLE('',#10196,6.961524227066E-1);\r
+#10202=CIRCLE('',#10201,6.961524227066E-1);\r
+#10215=CIRCLE('',#10214,6.961524227066E-1);\r
+#10220=CIRCLE('',#10219,6.961524227066E-1);\r
+#10231=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10225,#10226,#10227,#10228,#10229,\r
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+#10250=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10244,#10245,#10246,#10247,#10248,\r
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+#10259=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10251,#10252,#10253,#10254,#10255,\r
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+#10274=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10268,#10269,#10270,#10271,#10272,\r
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+#10282=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10275,#10276,#10277,#10278,#10279,\r
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+#10287=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10283,#10284,#10285,#10286),\r
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+#10316=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10309,#10310,#10311,#10312,#10313,\r
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+#10323=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10317,#10318,#10319,#10320,#10321,\r
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+#10336=CIRCLE('',#10335,1.5E0);\r
+#10341=CIRCLE('',#10340,1.5E0);\r
+#10346=CIRCLE('',#10345,1.5E0);\r
+#10351=CIRCLE('',#10350,1.5E0);\r
+#10360=CIRCLE('',#10359,6.961524227066E-1);\r
+#10365=CIRCLE('',#10364,6.961524227066E-1);\r
+#10378=CIRCLE('',#10377,6.961524227066E-1);\r
+#10383=CIRCLE('',#10382,6.961524227066E-1);\r
+#10394=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10388,#10389,#10390,#10391,#10392,\r
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+#10415=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10407,#10408,#10409,#10410,#10411,\r
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+#10479=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10473,#10474,#10475,#10476,#10477,\r
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+#10492=CIRCLE('',#10491,1.5E0);\r
+#10497=CIRCLE('',#10496,1.5E0);\r
+#10502=CIRCLE('',#10501,1.5E0);\r
+#10507=CIRCLE('',#10506,1.5E0);\r
+#10516=CIRCLE('',#10515,6.961524227066E-1);\r
+#10521=CIRCLE('',#10520,6.961524227066E-1);\r
+#10534=CIRCLE('',#10533,6.961524227066E-1);\r
+#10539=CIRCLE('',#10538,6.961524227066E-1);\r
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+#10586=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10580,#10581,#10582,#10583,#10584,\r
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+#10598=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10591,#10592,#10593,#10594,#10595,\r
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+#10603=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10599,#10600,#10601,#10602),\r
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+#10628=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10621,#10622,#10623,#10624,#10625,\r
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+#10636=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10629,#10630,#10631,#10632,#10633,\r
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+#10643=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10637,#10638,#10639,#10640,#10641,\r
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+#10660=CIRCLE('',#10659,1.5E0);\r
+#10665=CIRCLE('',#10664,1.5E0);\r
+#10670=CIRCLE('',#10669,1.5E0);\r
+#10675=CIRCLE('',#10674,1.5E0);\r
+#10684=CIRCLE('',#10683,6.961524227066E-1);\r
+#10689=CIRCLE('',#10688,6.961524227066E-1);\r
+#10702=CIRCLE('',#10701,6.961524227066E-1);\r
+#10707=CIRCLE('',#10706,6.961524227066E-1);\r
+#10718=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10712,#10713,#10714,#10715,#10716,\r
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+#10739=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10731,#10732,#10733,#10734,#10735,\r
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+#10754=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10748,#10749,#10750,#10751,#10752,\r
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+#10762=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10755,#10756,#10757,#10758,#10759,\r
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+#10767=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10763,#10764,#10765,#10766),\r
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+#10796=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10789,#10790,#10791,#10792,#10793,\r
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+#10803=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10797,#10798,#10799,#10800,#10801,\r
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+#10816=CIRCLE('',#10815,1.5E0);\r
+#10821=CIRCLE('',#10820,1.5E0);\r
+#10826=CIRCLE('',#10825,1.5E0);\r
+#10831=CIRCLE('',#10830,1.5E0);\r
+#10840=CIRCLE('',#10839,6.961524227066E-1);\r
+#10845=CIRCLE('',#10844,6.961524227066E-1);\r
+#10858=CIRCLE('',#10857,6.961524227066E-1);\r
+#10863=CIRCLE('',#10862,6.961524227066E-1);\r
+#10874=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10868,#10869,#10870,#10871,#10872,\r
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+#10895=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10887,#10888,#10889,#10890,#10891,\r
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+#10910=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10904,#10905,#10906,#10907,#10908,\r
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+#10918=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10911,#10912,#10913,#10914,#10915,\r
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+#10923=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10919,#10920,#10921,#10922),\r
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+#10944=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10937,#10938,#10939,#10940,#10941,\r
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+#10952=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10945,#10946,#10947,#10948,#10949,\r
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+#10959=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10953,#10954,#10955,#10956,#10957,\r
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+#10972=CIRCLE('',#10971,1.5E0);\r
+#10977=CIRCLE('',#10976,1.5E0);\r
+#10982=CIRCLE('',#10981,1.5E0);\r
+#10987=CIRCLE('',#10986,1.5E0);\r
+#10996=CIRCLE('',#10995,6.961524227066E-1);\r
+#11001=CIRCLE('',#11000,6.961524227066E-1);\r
+#11014=CIRCLE('',#11013,6.961524227066E-1);\r
+#11019=CIRCLE('',#11018,6.961524227066E-1);\r
+#11030=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11024,#11025,#11026,#11027,#11028,\r
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+#11045=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11039,#11040,#11041,#11042,#11043,\r
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+#11054=CIRCLE('',#11053,5.474190796341E1);\r
+#11065=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11059,#11060,#11061,#11062,#11063,\r
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+#11073=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11066,#11067,#11068,#11069,#11070,\r
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+#11078=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11074,#11075,#11076,#11077),\r
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+#11099=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11092,#11093,#11094,#11095,#11096,\r
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+#11107=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11100,#11101,#11102,#11103,#11104,\r
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+#11114=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11108,#11109,#11110,#11111,#11112,\r
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+#11127=CIRCLE('',#11126,1.5E0);\r
+#11132=CIRCLE('',#11131,1.5E0);\r
+#11137=CIRCLE('',#11136,1.5E0);\r
+#11142=CIRCLE('',#11141,1.5E0);\r
+#11151=CIRCLE('',#11150,6.961524227066E-1);\r
+#11156=CIRCLE('',#11155,6.961524227066E-1);\r
+#11169=CIRCLE('',#11168,6.961524227066E-1);\r
+#11174=CIRCLE('',#11173,6.961524227066E-1);\r
+#11185=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11179,#11180,#11181,#11182,#11183,\r
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+#11200=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11194,#11195,#11196,#11197,#11198,\r
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+#11209=CIRCLE('',#11208,5.474190796341E1);\r
+#11220=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11214,#11215,#11216,#11217,#11218,\r
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+#11232=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11225,#11226,#11227,#11228,#11229,\r
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+#11237=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11233,#11234,#11235,#11236),\r
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+#11258=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11251,#11252,#11253,#11254,#11255,\r
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+#11266=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11259,#11260,#11261,#11262,#11263,\r
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+#11273=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11267,#11268,#11269,#11270,#11271,\r
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+#11286=CIRCLE('',#11285,1.5E0);\r
+#11291=CIRCLE('',#11290,1.5E0);\r
+#11296=CIRCLE('',#11295,1.5E0);\r
+#11301=CIRCLE('',#11300,1.5E0);\r
+#11310=CIRCLE('',#11309,6.961524227066E-1);\r
+#11315=CIRCLE('',#11314,6.961524227066E-1);\r
+#11328=CIRCLE('',#11327,6.961524227066E-1);\r
+#11333=CIRCLE('',#11332,6.961524227066E-1);\r
+#11344=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11338,#11339,#11340,#11341,#11342,\r
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+#11351=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11345,#11346,#11347,#11348,#11349,\r
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+#11366=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11360,#11361,#11362,#11363,#11364,\r
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+#11375=CIRCLE('',#11374,5.474190796341E1);\r
+#11380=CIRCLE('',#11379,5.474190796341E1);\r
+#11391=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11385,#11386,#11387,#11388,#11389,\r
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+#11403=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11396,#11397,#11398,#11399,#11400,\r
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+#11408=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11404,#11405,#11406,#11407),\r
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+#11429=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11422,#11423,#11424,#11425,#11426,\r
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+#11441=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11434,#11435,#11436,#11437,#11438,\r
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+#11448=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11442,#11443,#11444,#11445,#11446,\r
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+#11461=CIRCLE('',#11460,1.5E0);\r
+#11466=CIRCLE('',#11465,1.5E0);\r
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+#19338=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19330,#19331,#19332,#19333,#19334,\r
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+#19345=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19339,#19340,#19341,#19342,#19343,\r
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+#19350=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19346,#19347,#19348,#19349),\r
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+#19375=CIRCLE('',#19374,6.961524227066E-1);\r
+#19380=CIRCLE('',#19379,6.961524227066E-1);\r
+#19385=CIRCLE('',#19384,6.961524227066E-1);\r
+#19398=CIRCLE('',#19397,6.961524227066E-1);\r
+#19403=CIRCLE('',#19402,6.961524227066E-1);\r
+#19408=CIRCLE('',#19407,6.961524227066E-1);\r
+#19415=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19409,#19410,#19411,#19412,#19413,\r
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+#19420=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19416,#19417,#19418,#19419),\r
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+#19427=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19421,#19422,#19423,#19424,#19425,\r
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+#19436=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19428,#19429,#19430,#19431,#19432,\r
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+#19443=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19437,#19438,#19439,#19440,#19441,\r
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+#19450=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19444,#19445,#19446,#19447,#19448,\r
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+#19458=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19451,#19452,#19453,#19454,#19455,\r
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+#19463=CIRCLE('',#19462,5.474190796341E1);\r
+#19472=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19464,#19465,#19466,#19467,#19468,\r
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+#19488=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19481,#19482,#19483,#19484,#19485,\r
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+#19505=CIRCLE('',#19504,6.961524227066E-1);\r
+#19510=CIRCLE('',#19509,6.961524227066E-1);\r
+#19523=CIRCLE('',#19522,6.961524227066E-1);\r
+#19528=CIRCLE('',#19527,6.961524227066E-1);\r
+#19535=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19529,#19530,#19531,#19532,#19533,\r
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+#19544=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19536,#19537,#19538,#19539,#19540,\r
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+#19551=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19545,#19546,#19547,#19548,#19549,\r
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+#19558=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19552,#19553,#19554,#19555,#19556,\r
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+#19566=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19559,#19560,#19561,#19562,#19563,\r
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+#19571=CIRCLE('',#19570,5.474190796341E1);\r
+#19580=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19572,#19573,#19574,#19575,#19576,\r
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+#19597=CIRCLE('',#19596,1.5E0);\r
+#19602=CIRCLE('',#19601,1.5E0);\r
+#19607=CIRCLE('',#19606,1.5E0);\r
+#19612=CIRCLE('',#19611,1.5E0);\r
+#19627=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19621,#19622,#19623,#19624,#19625,\r
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+#19632=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19628,#19629,#19630,#19631),\r
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+#19644=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19637,#19638,#19639,#19640,#19641,\r
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+#19663=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19657,#19658,#19659,#19660,#19661,\r
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+#19672=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19664,#19665,#19666,#19667,#19668,\r
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+#19679=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19673,#19674,#19675,#19676,#19677,\r
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+#19686=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19680,#19681,#19682,#19683,#19684,\r
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+#19694=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19687,#19688,#19689,#19690,#19691,\r
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+1.E0),.UNSPECIFIED.);\r
+#19699=CIRCLE('',#19698,5.474190796341E1);\r
+#19708=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19700,#19701,#19702,#19703,#19704,\r
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+#19721=CIRCLE('',#19720,1.5E0);\r
+#19726=CIRCLE('',#19725,1.5E0);\r
+#19731=CIRCLE('',#19730,1.5E0);\r
+#19736=CIRCLE('',#19735,1.5E0);\r
+#19751=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19745,#19746,#19747,#19748,#19749,\r
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+#19756=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19752,#19753,#19754,#19755),\r
+.UNSPECIFIED.,.F.,.F.,(4,4),(0.E0,1.E0),.UNSPECIFIED.);\r
+#19768=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19761,#19762,#19763,#19764,#19765,\r
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+#19787=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19781,#19782,#19783,#19784,#19785,\r
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+#19795=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19788,#19789,#19790,#19791,#19792,\r
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+#19802=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19796,#19797,#19798,#19799,#19800,\r
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+#19809=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19803,#19804,#19805,#19806,#19807,\r
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+#19816=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19810,#19811,#19812,#19813,#19814,\r
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+#19824=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19817,#19818,#19819,#19820,#19821,\r
+#19822,#19823),.UNSPECIFIED.,.F.,.F.,(4,1,1,1,4),(0.E0,2.5E-1,5.E-1,7.5E-1,\r
+1.E0),.UNSPECIFIED.);\r
+#19829=CIRCLE('',#19828,5.474190796341E1);\r
+#19838=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19830,#19831,#19832,#19833,#19834,\r
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+#19851=CIRCLE('',#19850,1.5E0);\r
+#19856=CIRCLE('',#19855,1.5E0);\r
+#19861=CIRCLE('',#19860,1.5E0);\r
+#19866=CIRCLE('',#19865,1.5E0);\r
+#19881=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19875,#19876,#19877,#19878,#19879,\r
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+#19886=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19882,#19883,#19884,#19885),\r
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+#19902=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19895,#19896,#19897,#19898,#19899,\r
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+#19921=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19915,#19916,#19917,#19918,#19919,\r
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+#19928=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19922,#19923,#19924,#19925,#19926,\r
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+#19935=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19929,#19930,#19931,#19932,#19933,\r
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+#19942=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19936,#19937,#19938,#19939,#19940,\r
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+#19949=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19943,#19944,#19945,#19946,#19947,\r
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+#19957=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19950,#19951,#19952,#19953,#19954,\r
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+#19962=CIRCLE('',#19961,5.474190796341E1);\r
+#19971=B_SPLINE_CURVE_WITH_KNOTS('',3,(#19963,#19964,#19965,#19966,#19967,\r
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+#19976=CIRCLE('',#19975,1.5E0);\r
+#19981=CIRCLE('',#19980,1.5E0);\r
+#19986=CIRCLE('',#19985,1.5E0);\r
+#19991=CIRCLE('',#19990,1.5E0);\r
+#20014=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20008,#20009,#20010,#20011,#20012,\r
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+#20019=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20015,#20016,#20017,#20018),\r
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+#20035=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20028,#20029,#20030,#20031,#20032,\r
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+#20052=CIRCLE('',#20051,1.4E1);\r
+#20059=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20053,#20054,#20055,#20056,#20057,\r
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+#20066=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20060,#20061,#20062,#20063,#20064,\r
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+#20074=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20067,#20068,#20069,#20070,#20071,\r
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+#20079=CIRCLE('',#20078,5.474190796341E1);\r
+#20084=CIRCLE('',#20083,5.474190796341E1);\r
+#20093=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20085,#20086,#20087,#20088,#20089,\r
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+#20100=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20094,#20095,#20096,#20097,#20098,\r
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+#20107=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20101,#20102,#20103,#20104,#20105,\r
+#20106),.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,\r
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+#20114=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20108,#20109,#20110,#20111,#20112,\r
+#20113),.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,\r
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+#20121=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20115,#20116,#20117,#20118,#20119,\r
+#20120),.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,\r
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+#20126=CIRCLE('',#20125,1.5E0);\r
+#20131=CIRCLE('',#20130,1.5E0);\r
+#20136=CIRCLE('',#20135,1.5E0);\r
+#20141=CIRCLE('',#20140,1.5E0);\r
+#20164=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20158,#20159,#20160,#20161,#20162,\r
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+#20169=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20165,#20166,#20167,#20168),\r
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+#20181=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20174,#20175,#20176,#20177,#20178,\r
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+#20200=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20194,#20195,#20196,#20197,#20198,\r
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+#20207=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20201,#20202,#20203,#20204,#20205,\r
+#20206),.UNSPECIFIED.,.F.,.F.,(4,1,1,4),(0.E0,3.333333333333E-1,\r
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+#20215=B_SPLINE_CURVE_WITH_KNOTS('',3,(#20208,#20209,#20210,#20211,#20212,\r
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+#39238=CIRCLE('',#39237,1.7E1);\r
+#39243=CIRCLE('',#39242,1.2E1);\r
+#39248=CIRCLE('',#39247,1.2E1);\r
+#39261=CIRCLE('',#39260,2.E0);\r
+#39266=CIRCLE('',#39265,2.E0);\r
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+7.894736842105E-1,8.421052631579E-1,8.947368421053E-1,9.473684210526E-1,1.E0),\r
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+#39338=B_SPLINE_CURVE_WITH_KNOTS('',3,(#39324,#39325,#39326,#39327,#39328,\r
+#39329,#39330,#39331,#39332,#39333,#39334,#39335,#39336,#39337),.UNSPECIFIED.,\r
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+#39344,#39345,#39346,#39347,#39348,#39349,#39350,#39351,#39352),.UNSPECIFIED.,\r
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+6.363636363636E-1,7.272727272727E-1,8.181818181818E-1,9.090909090909E-1,1.E0),\r
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+6.363636363636E-1,7.272727272727E-1,8.181818181818E-1,9.090909090909E-1,1.E0),\r
+.UNSPECIFIED.);\r
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+#39436=CIRCLE('',#39435,2.E0);\r
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+#39507=CIRCLE('',#39506,1.7E1);\r
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+#39588=CIRCLE('',#39587,1.7E1);\r
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+7.894736842105E-1,8.421052631579E-1,8.947368421053E-1,9.473684210526E-1,1.E0),\r
+.UNSPECIFIED.);\r
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+#40074=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40061,#40062,#40063,#40064,#40065,\r
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+#40089=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40075,#40076,#40077,#40078,#40079,\r
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+.UNSPECIFIED.);\r
+#40107=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40094,#40095,#40096,#40097,#40098,\r
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+#40129=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40116,#40117,#40118,#40119,#40120,\r
+#40121,#40122,#40123,#40124,#40125,#40126,#40127,#40128),.UNSPECIFIED.,.F.,.F.,(\r
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+#40147=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40134,#40135,#40136,#40137,#40138,\r
+#40139,#40140,#40141,#40142,#40143,#40144,#40145,#40146),.UNSPECIFIED.,.F.,.F.,(\r
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+#40161=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40148,#40149,#40150,#40151,#40152,\r
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+#40175=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40162,#40163,#40164,#40165,#40166,\r
+#40167,#40168,#40169,#40170,#40171,#40172,#40173,#40174),.UNSPECIFIED.,.F.,.F.,(\r
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+9.E-1,1.E0),.UNSPECIFIED.);\r
+#40190=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40176,#40177,#40178,#40179,#40180,\r
+#40181,#40182,#40183,#40184,#40185,#40186,#40187,#40188,#40189),.UNSPECIFIED.,\r
+.F.,.F.,(4,1,1,1,1,1,1,1,1,1,1,4),(0.E0,9.090909090909E-2,1.818181818182E-1,\r
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+6.363636363636E-1,7.272727272727E-1,8.181818181818E-1,9.090909090909E-1,1.E0),\r
+.UNSPECIFIED.);\r
+#40205=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40191,#40192,#40193,#40194,#40195,\r
+#40196,#40197,#40198,#40199,#40200,#40201,#40202,#40203,#40204),.UNSPECIFIED.,\r
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+6.363636363636E-1,7.272727272727E-1,8.181818181818E-1,9.090909090909E-1,1.E0),\r
+.UNSPECIFIED.);\r
+#40219=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40206,#40207,#40208,#40209,#40210,\r
+#40211,#40212,#40213,#40214,#40215,#40216,#40217,#40218),.UNSPECIFIED.,.F.,.F.,(\r
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+#40233=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40220,#40221,#40222,#40223,#40224,\r
+#40225,#40226,#40227,#40228,#40229,#40230,#40231,#40232),.UNSPECIFIED.,.F.,.F.,(\r
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+9.E-1,1.E0),.UNSPECIFIED.);\r
+#40247=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40234,#40235,#40236,#40237,#40238,\r
+#40239,#40240,#40241,#40242,#40243,#40244,#40245,#40246),.UNSPECIFIED.,.F.,.F.,(\r
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+9.E-1,1.E0),.UNSPECIFIED.);\r
+#40261=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40248,#40249,#40250,#40251,#40252,\r
+#40253,#40254,#40255,#40256,#40257,#40258,#40259,#40260),.UNSPECIFIED.,.F.,.F.,(\r
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+9.E-1,1.E0),.UNSPECIFIED.);\r
+#40275=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40262,#40263,#40264,#40265,#40266,\r
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+#40280=CIRCLE('',#40279,1.7E1);\r
+#40285=CIRCLE('',#40284,1.7E1);\r
+#40290=CIRCLE('',#40289,1.2E1);\r
+#40295=CIRCLE('',#40294,1.2E1);\r
+#40343=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40320,#40321,#40322,#40323,#40324,\r
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+#40361=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40348,#40349,#40350,#40351,#40352,\r
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+#40375=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40362,#40363,#40364,#40365,#40366,\r
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+#40397=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40384,#40385,#40386,#40387,#40388,\r
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+#40424=B_SPLINE_CURVE_WITH_KNOTS('',3,(#40402,#40403,#40404,#40405,#40406,\r
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+5.789473684211E-1,6.315789473684E-1,6.842105263158E-1,7.368421052632E-1,\r
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diff --git a/meshes/wild_thumper_assembly_team_3.asm.4 b/meshes/wild_thumper_assembly_team_3.asm.4
new file mode 100644 (file)
index 0000000..042969e
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diff --git a/meshes/y_z__tasi3.prt.1 b/meshes/y_z__tasi3.prt.1
new file mode 100644 (file)
index 0000000..a55feb1
Binary files /dev/null and b/meshes/y_z__tasi3.prt.1 differ

diff --git a/package.xml b/package.xml
new file mode 100644 (file)
index 0000000..cc6778c
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<package>
+  <name>wild_thumper</name>
+  <version>0.0.0</version>
+  <description>The wild_thumper package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="erik@todo.todo">erik</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/wild_thumper</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
\ No newline at end of file

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
new file mode 100644 (file)
index 0000000..30d509d
--- /dev/null
+++ b/urdf/wild_thumper.urdf.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="r2" xmlns:xacro="http://ros.org/wiki/xacro">
+       <xacro:property name="PI" value="3.1415926535897931" />
+       <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+
+       <link name="base_link">
+               <visual>
+                       <origin xyz="0.02 0.165 0.2" rpy="${PI} 0 0"/>
+                       <geometry>
+                               <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
+                       </geometry>
+               </visual>
+       </link>
+
+       <xacro:asus_camera name="camera" parent="base_link">
+               <origin xyz="0 0.19 0.15" rpy="0 0 ${PI/2}"/>
+       </xacro:asus_camera>
+</robot>

diff --git a/wild_thumper.launch b/wild_thumper.launch
new file mode 100644 (file)
index 0000000..2a3bb4a
--- /dev/null
+++ b/wild_thumper.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+       <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+
+       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+</launch>