[WIP] auto-stabilizer for jaxon wheel

hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml

@@ -11,7 +11,7 @@ hrpsys_gazebo_configuration:
 ### name of robot (using for namespace)
   robotname: HRP2JSKNT
 ### joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
-  joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45]
+  joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33]
 ### joints : list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
   joints:
     - RLEG_JOINT0
@@ -48,18 +48,6 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT5
     - LARM_JOINT6
     - LARM_JOINT7
-    - L_THUMBCM_Y
-    - L_THUMBCM_P
-    - L_INDEXMP_R
-    - L_INDEXMP_P
-    - L_INDEXPIP_R
-    - L_MIDDLEPIP_R
-    - R_THUMBCM_Y
-    - R_THUMBCM_P
-    - R_INDEXMP_R
-    - R_INDEXMP_P
-    - R_INDEXPIP_R
-    - R_MIDDLEPIP_R
 ## jointid:
   gains:
     CHEST_JOINT0: {p: 2800.0, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
@@ -94,18 +82,6 @@ hrpsys_gazebo_configuration:
     RLEG_JOINT4:  {p: 1400.0, d:   1.5, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RLEG_JOINT5:  {p: 3500.0, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RLEG_JOINT6:  {p:  120.0, d: 0.013, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    L_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
 
   force_torque_sensors:
     - rfsensor

hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml

@@ -11,7 +11,7 @@ hrpsys_gazebo_configuration:
 ### name of robot (using for namespace)
   robotname: HRP2JSKNTS
 ### joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
-  joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45]
+  joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33]
 ### joints : list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
   joints:
     - RLEG_JOINT0
@@ -48,18 +48,6 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT5
     - LARM_JOINT6
     - LARM_JOINT7
-    - L_THUMBCM_Y
-    - L_THUMBCM_P
-    - L_INDEXMP_R
-    - L_INDEXMP_P
-    - L_INDEXPIP_R
-    - L_MIDDLEPIP_R
-    - R_THUMBCM_Y
-    - R_THUMBCM_P
-    - R_INDEXMP_R
-    - R_INDEXMP_P
-    - R_INDEXPIP_R
-    - R_MIDDLEPIP_R
 ## jointid:
   gains:
     CHEST_JOINT0: {p: 2800.0, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
@@ -94,18 +82,6 @@ hrpsys_gazebo_configuration:
     RLEG_JOINT4:  {p: 1400.0, d:   1.5, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RLEG_JOINT5:  {p: 3500.0, d:   3.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
     RLEG_JOINT6:  {p:  120.0, d: 0.013, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    L_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
 
   force_torque_sensors:
     - rfsensor

hrpsys_gazebo_tutorials/config/HRP3HAND.yaml

@@ -0,0 +1,42 @@
+hrp3hand_hrpsys_gazebo_configuration:
+### velocity feedback for joint control, use parameter gains/joint_name/p_v
+  use_velocity_feedback: false
+  use_joint_effort: true
+  iob_rate: 100
+### loose synchronization default true
+  use_loose_synchronized: false
+### synchronized hrpsys and gazebo
+# use_synchronized_command: false
+# iob_substeps: 5
+### name of robot (using for namespace)
+  robotname: HRP3HAND
+### joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
+  joint_id_list: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
+### joints : list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
+  joints:
+    - R_THUMBCM_Y
+    - R_THUMBCM_P
+    - R_INDEXMP_R
+    - R_INDEXMP_P
+    - R_INDEXPIP_R
+    - R_MIDDLEPIP_R
+    - L_THUMBCM_Y
+    - L_THUMBCM_P
+    - L_INDEXMP_R
+    - L_INDEXMP_P
+    - L_INDEXPIP_R
+    - L_MIDDLEPIP_R
+## jointid:
+  gains:
+    R_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    R_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    L_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}

hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch

@@ -5,9 +5,7 @@
   <arg name="SYNCHRONIZED" default="false" />
 
   <rosparam command="load"
-            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
-  <rosparam command="load"
-            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND.yaml" ns="HRP3HAND" />
 
   <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNT" />

hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch

@@ -5,9 +5,7 @@
   <arg name="SYNCHRONIZED" default="false" />
 
   <rosparam command="load"
-            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
-  <rosparam command="load"
-            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND.yaml" ns="HRP3HAND" />
 
   <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />

hrpsys_gazebo_tutorials/launch/hrp2jsknt_hrpsys_bringup.launch

@@ -15,6 +15,11 @@
   <!-- <rosparam command="load" -->
   <!--           file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" /> -->
 
+  <!-- HRP3HAND parameters -->
+  <env name="HC_IOB_HRPSYS_GAZEBO_IOB_NAME" value="hrp3hand_hrpsys_gazebo_iob" />
+  <env name="HC_IOB_HRPSYS_GAZEBO_ROBOTNAME" value="HRP3HAND" />
+  <env name="HC_IOB_HRPSYS_GAZEBO_CONFIGURATION" value="hrp3hand_hrpsys_gazebo_configuration" />
+
   <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
     <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
@@ -23,5 +28,23 @@
     <arg name="HRPSYS_PY_NAME" default="hrp2jsknt_hrpsys_config.py"/>
     <arg name="KINEMATICS_MODE" value="$(arg KINEMATICS_MODE)"/>
     <arg name="HRPSYS_RATE"  value="250" />
+    <arg name="HRPSYS_ADDITIONAL_LOAD_PATH" value="$(find jsk_hrp2_ros_bridge)/lib/gazebo"/> <!-- HRP3HANDController -->
+    <arg name="HRPSYS_OPT_RTC_CONFIG_ARGS" default='-o "example.HRP3HandController.config_file:$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT.conf"'/> <!-- HRP3HANDController -->
   </include>
+
+  <!-- HRP3HANDControllerServiceROSBridge -->
+  <env name="LANG" value="C" />
+  <env name="ORBgiopMaxMsgSize" value="2147483648" />
+  <arg name="nameserver" default="localhost" />
+  <arg name="corbaport" default="15005" />
+  <arg name="managerport" default="2810" />
+  <env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
+  <env name="RTC_CONNECTION_CHECK_ONCE" value="true" />
+
+  <node pkg="jsk_hrp2_ros_bridge" name="HRP3HandControllerServiceROSBridge" type="HRP3HandControllerServiceROSBridgeComp"
+        output="screen" args='-o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/rtc%p.log"' />
+  <rtconnect from="HRP3HandControllerServiceROSBridge.rtc:HRP3HandControllerService" to="hc.rtc:HRP3HandControllerService" subscription_type="new"/>
+  <rtactivate component="HRP3HandControllerServiceROSBridge.rtc" />
+  <node name="rtmlaunch_hrp2jsknt_hrpsys_bridgup" pkg="openrtm_tools" type="rtmlaunch.py" args="$(find hrpsys_gazebo_tutorials)/launch/hrp2jsknt_hrpsys_bringup.launch" output="screen"/>
+
 </launch>

hrpsys_gazebo_tutorials/launch/hrp2jsknts_hrpsys_bringup.launch

@@ -16,6 +16,11 @@
   <!-- <rosparam command="load" -->
   <!--           file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" /> -->
 
+  <!-- HRP3HAND parameters -->
+  <env name="HC_IOB_HRPSYS_GAZEBO_IOB_NAME" value="hrp3hand_hrpsys_gazebo_iob" />
+  <env name="HC_IOB_HRPSYS_GAZEBO_ROBOTNAME" value="HRP3HAND" />
+  <env name="HC_IOB_HRPSYS_GAZEBO_CONFIGURATION" value="hrp3hand_hrpsys_gazebo_configuration" />
+
   <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
     <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
@@ -24,5 +29,23 @@
     <arg name="HRPSYS_PY_NAME" default="hrp2jsknts_hrpsys_config.py"/>
     <arg name="KINEMATICS_MODE" value="$(arg KINEMATICS_MODE)"/>
     <arg name="HRPSYS_RATE"  value="250" />
+    <arg name="HRPSYS_ADDITIONAL_LOAD_PATH" value="$(find jsk_hrp2_ros_bridge)/lib/gazebo"/> <!-- HRP3HANDController -->
+    <arg name="HRPSYS_OPT_RTC_CONFIG_ARGS" default='-o "example.HRP3HandController.config_file:$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.conf"'/> <!-- HRP3HANDController -->
   </include>
+
+  <!-- HRP3HANDControllerServiceROSBridge -->
+  <env name="LANG" value="C" />
+  <env name="ORBgiopMaxMsgSize" value="2147483648" />
+  <arg name="nameserver" default="localhost" />
+  <arg name="corbaport" default="15005" />
+  <arg name="managerport" default="2810" />
+  <env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
+  <env name="RTC_CONNECTION_CHECK_ONCE" value="true" />
+
+  <node pkg="jsk_hrp2_ros_bridge" name="HRP3HandControllerServiceROSBridge" type="HRP3HandControllerServiceROSBridgeComp"
+        output="screen" args='-o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/rtc%p.log"' />
+  <rtconnect from="HRP3HandControllerServiceROSBridge.rtc:HRP3HandControllerService" to="hc.rtc:HRP3HandControllerService" subscription_type="new"/>
+  <rtactivate component="HRP3HandControllerServiceROSBridge.rtc" />
+  <node name="rtmlaunch_hrp2jsknts_hrpsys_bridgup" pkg="openrtm_tools" type="rtmlaunch.py" args="$(find hrpsys_gazebo_tutorials)/launch/hrp2jsknts_hrpsys_bringup.launch" output="screen"/>
+
 </launch>

hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro

@@ -7,6 +7,12 @@
       <controller>hrpsys_gazebo_configuration</controller>
     </plugin>
   </gazebo>
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrp3hand_hrpsys_gazebo_plugin">
+      <robotname>HRP3HAND</robotname>
+      <controller>hrp3hand_hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
   <!-- add imu sensor -->
   <gazebo reference="CHEST_LINK1">
     <sensor name="waist_imu" type="imu">

hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro

@@ -7,6 +7,12 @@
       <controller>hrpsys_gazebo_configuration</controller>
     </plugin>
   </gazebo>
+  <gazebo>
+    <plugin filename="libIOBPlugin.so" name="hrp3hand_hrpsys_gazebo_plugin">
+      <robotname>HRP3HAND</robotname>
+      <controller>hrp3hand_hrpsys_gazebo_configuration</controller>
+    </plugin>
+  </gazebo>
   <!-- add imu sensor -->
   <gazebo reference="CHEST_LINK1">
     <sensor name="waist_imu" type="imu">

hrpsys_ros_bridge_tutorials/CMakeLists.txt

@@ -223,7 +223,7 @@ compile_openhrp_model_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W
   --simulation-timestep-option "0.004"
   --simulation-joint-properties-option "RARM_JOINT3.angle,-1.5708,LARM_JOINT3.angle,-1.5708"
   )
-gen_minmax_table_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W)
+# gen_minmax_table_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W)
 compile_openhrp_model_for_closed_robots(HRP2G HRP2G_for_OpenHRP3 HRP2G
   --conf-file-option "end_effectors: rarm,RARM_JOINT6,CHEST_JOINT1,0.0,0.0169,-0.174,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,0.0,-0.0169,-0.174,0.0,1.0,0.0,1.5708"
   --conf-file-option "# for ThermoEstimator"
@@ -426,7 +426,7 @@ compile_rbrain_model_for_closed_robots(CHIDORI CHIDORI CHIDORI
   --conf-dt-option "0.002"
   --simulation-timestep-option "0.002"
   --conf-file-option "collision_loop: 20"
-  --conf-file-option "collision_pair: WAIST:LLEG_JOINT2 WAIST:RLEG_JOINT2 LLEG_JOINT2:LLEG_JOINT5 LLEG_JOINT2:RLEG_JOINT2 LLEG_JOINT2:RLEG_JOINT3 LLEG_JOINT2:RLEG_JOINT5 LLEG_JOINT3:RLEG_JOINT2 LLEG_JOINT3:RLEG_JOINT3 LLEG_JOINT3:RLEG_JOINT5 LLEG_JOINT5:RLEG_JOINT2 LLEG_JOINT5:RLEG_JOINT3 LLEG_JOINT5:RLEG_JOINT5 RLEG_JOINT2:RLEG_JOINT5"
+  --conf-file-option "collision_pair: LLEG_JOINT2:LLEG_JOINT5 LLEG_JOINT2:RLEG_JOINT2 LLEG_JOINT2:RLEG_JOINT3 LLEG_JOINT2:RLEG_JOINT5 LLEG_JOINT3:RLEG_JOINT2 LLEG_JOINT3:RLEG_JOINT3 LLEG_JOINT3:RLEG_JOINT5 LLEG_JOINT5:RLEG_JOINT2 LLEG_JOINT5:RLEG_JOINT3 LLEG_JOINT5:RLEG_JOINT5 RLEG_JOINT2:RLEG_JOINT5"
   --conf-file-option "# SequencePlayer optional data (contactStates x 2 + controlSwingTime x 2 (2 is rfsensor, lfsensor)"
   --conf-file-option "seq_optional_data_dim: 4"
   )

hrpsys_ros_bridge_tutorials/models/CHIDORI.PDgains_sim.dat

@@ -1,12 +1,12 @@
-33000 240
-83000 240
-33000 240
-33000 240
-47000 240
-33000 240
-33000 240
-83000 240
-33000 240
-33000 240
-47000 240
-33000 240
+33000 240 1 0
+83000 240 1 0
+33000 240 1 0
+33000 240 1 0
+47000 240 1 0
+33000 240 1 0
+33000 240 1 0
+83000 240 1 0
+33000 240 1 0
+33000 240 1 0
+47000 240 1 0
+33000 240 1 0

hrpsys_ros_bridge_tutorials/models/HRP2JSK.PDgain.dat

@@ -1,32 +1,32 @@
-1800 500
-21500 500
-8250 500
-18450 500
-4840 500
-3750 500
-1800 500
-21500 500
-8250 500
-18450 500
-4840 500
-3750 500
-8000 500
-13080 500
-1320 100
-1320 100
-5400 100
-5550 100
-430 100
-8700 100
-1400 100
-460 100
-1870 100
-1400 100
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