class gripper():
# Hardcoded values for the open and the close message.
closeGrip = outputMsg.Robotiq2FGripper_robot_output(rACT=1,
rGTO=1,
rATR=0,
rPR=255,
rSP=255,
rFR=0)
openGrip = outputMsg.Robotiq2FGripper_robot_output(rACT=1,
rGTO=1,
rATR=0,
rPR=0,
rSP=255,
rFR=0)
def __init__(self):
print "Gripper initialized"
# Open gripper: rACT = 1, rGTO = 1, rATR = 0, rPR = 0, rSP = 255, rFR = 25
# Close gripper: rACT = 1, rGTO = 1, rATR = 0, rPR = 255, rSP = 255, rFR = 25
# Publish msg to open to Gripper node.
# Return: msg (Robotiq)
def open(self):
return self.openGrip
# Publish msg to close to Gripper node.
# Return: msg (Robotiq)
def close(self):
return self.closeGrip
def __init__(self):
# run the robotiq controller process
os.system("sudo chmod 777 /dev/ttyUSB1")
self.proc = subprocess.Popen(['exec rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyUSB1'], stdout=subprocess.PIPE, \
shell=True)
time.sleep(2)
print("Robotiq Gripper Started")
self.gripper_pub = rospy.Publisher('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output, queue_size = 3)
# perform a gripper reset
print("============ Gripper about to reset Press `Enter` to continue ...")
raw_input()
self.command = outputMsg.Robotiq2FGripper_robot_output();
self.command.rACT = 0
self.gripper_pub.publish(self.command)
time.sleep(1)
self.command = outputMsg.Robotiq2FGripper_robot_output();
self.command.rACT = 1
self.command.rGTO = 1
self.command.rSP = 180
self.command.rFR = 25
self.gripper_pub.publish(self.command)
def grijper(action):
global pub
global command
if action == "reset":
command = outputMsg.Robotiq2FGripper_robot_output();
command.rACT = 0
pub.publish(command)
rospy.sleep(0.1)
if action == "activate":
# Activate
command = outputMsg.Robotiq2FGripper_robot_output();
command.rACT = 1
command.rGTO = 1
command.rSP = 255
command.rFR = 150
pub.publish(command)
rospy.sleep(0.1)
if action == "open":
command.rPR = 0
pub.publish(command)
rospy.sleep(1)
if action == "close":
command.rPR = 80
pub.publish(command)
rospy.sleep(1)
def execute():
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 1
command.rGTO = 1
command.rSP = 50
command.rFR = 150
pub.publish(command)
rospy.sleep(3)
print(1)
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 0
pub.publish(command)
rospy.sleep(3)
print(0)
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 1
command.rGTO = 1
command.rSP = 50
command.rFR = 150
pub.publish(command)
rospy.sleep(3)
print(1)
command.rPR = 100
pub.publish(command)
rospy.sleep(2)
print(2)
command.rSP = 250
command.rPR = 255
pub.publish(command)
rospy.sleep(1)
print(3)
def control_gripper(self, action):
'''opens or closes the gripper.
action must be an int in the range 0 - 100, where 0 is fully closed
and 100 is fully open
'''
global MAINLOOPRUNNING, pub
try:
action = int(action)
except Exception:
raise TypeError('Must take an int as arg')
if action > 100 or action < 0:
raise ValueError('input too big or too small')
action_to_255 = 255 - int(action * 2.55)
if real and ur5:
if not MAINLOOPRUNNING:
MAINLOOPRUNNING = True
activate_gripper_thread()
pub = rospy.Publisher('Robotiq2FGripperRobotOutput',
outputMsg.Robotiq2FGripper_robot_output,
queue_size=20)
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 1
command.rGTO = 1
command.rSP = 255
command.rFR = 150
pub.publish(command)
time.sleep(1)
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 1
command.rGTO = 1
command.rATR = 0
command.rPR = action_to_255
command.rSP = 255
command.rFR = 25
pub.publish(command)
if panda:
value = action / 100 * 0.04
print(value)
jointstate = sensor_msgs.msg.JointState()
jointstate.name += [
'panda_finger_joint1', 'panda_joint1', 'panda_joint2',
'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6',
'panda_joint7'
]
jointstate.position += [
value
] + self.robot.group.get_current_joint_values()
self.finger_pub.publish(jointstate)
def genCommand(char, command):
"""Update the command according to the character entered by the user."""
if char == 'a':
command = outputMsg.Robotiq2FGripper_robot_output();
command.rACT = 1
command.rGTO = 1
command.rSP = 255
command.rFR = 150
if char == 'r':
command = outputMsg.Robotiq2FGripper_robot_output();
command.rACT = 0
if char == 'c':
command.rPR = 255
if char == 'o':
command.rPR = 0
#If the command entered is a int, assign this value to rPRA
try:
command.rPR = int(char)
if command.rPR > 255:
command.rPR = 255
if command.rPR < 0:
command.rPR = 0
except ValueError:
pass
if char == 'f':
command.rSP += 25
if command.rSP > 255:
command.rSP = 255
if char == 'l':
command.rSP -= 25
if command.rSP < 0:
command.rSP = 0
if char == 'i':
command.rFR += 25
if command.rFR > 255:
command.rFR = 255
if char == 'd':
command.rFR -= 25
if command.rFR < 0:
command.rFR = 0
return command
def init_2f_gripper(self):
# rospy.init_node('Robotiq2FGripper')
self.gripper_pub = rospy.Publisher('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output)
self.gripper_command = outputMsg.Robotiq2FGripper_robot_output();
# gripper reset
self.gripper_command.rACT = 0
# gripper activate
self.gripper_command = outputMsg.Robotiq2FGripper_robot_output();
self.gripper_command.rACT = 1
self.gripper_command.rGTO = 1
self.gripper_command.rSP = 255
self.gripper_command.rFR = 150
rospy.sleep(0.1)
def __init__(self):
rospy.init_node('robotiq_gripper_controller', anonymous=True)
self.pub = rospy.Publisher('Robotiq2FGripperRobotOutput',
outputMsg.Robotiq2FGripper_robot_output,
queue_size=10)
self.command = outputMsg.Robotiq2FGripper_robot_output()
# activate the gripper
self.command = outputMsg.Robotiq2FGripper_robot_output()
self.command.rACT = 1
self.command.rGTO = 1
self.command.rSP = 255
self.command.rFR = 150
self.pub.publish(self.command)
time.sleep(1)
def reset_gripper():
pub = rospy.Publisher('/gripper/output', outputMsg.Robotiq2FGripper_robot_output, queue_size=1000)
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 0
pub.publish(command)
rospy.sleep(0.1)
return True
def __init__(self):
self.GOAL = 80 # in terms of desired pressure 230, 80
self.TOLERANCE = 10
self.TOLERANCE_QTY = TOLERANCE_QTY
self.input_topic = rospy.get_param("~input", "input")
self.output_topic = rospy.get_param("~output", "output")
# self.input_topic = rospy.get_param("~input", "Robotiq2FGripperRobotInput")
# self.output_topic = rospy.get_param("~output", "Robotiq2FGripperRobotOutput")
self.state=0
self.current_pos=0
rospy.init_node('pid_helper')
self.pub = rospy.Publisher('state', Float64, queue_size=100)
self.pub_goal = rospy.Publisher('setpoint', Float64, queue_size=100)
self.pub_plant = rospy.Publisher(self.output_topic, outputMsg.Robotiq2FGripper_robot_output, queue_size=100)
self.pub_pid_start = rospy.Publisher('pid_enable', Bool, queue_size=100)
self.pub_pid_done = rospy.Publisher('pid_done', Empty, queue_size=100)
rospy.Subscriber(self.input_topic, inputMsg.Robotiq2FGripper_robot_input, self.getStatus)
# command to be sent
self.command = outputMsg.Robotiq2FGripper_robot_output();
self.command.rACT = 0 # 1: activate the gripper, 0: reset the gripper -> try to activate the gripper from outside
self.command.rGTO = 0 # Go To action: 0 or 1, 1 is action is taken
self.command.rATR = 0 # Automatic Realease -> no need for now
self.command.rPR = 0 # Desired target
self.command.rSP = 0 # Desired speed: keep 0
self.command.rFR = 0 # Desired force: keep 0
self.init_gripper()
self.pub_pid_start.publish(Bool(data=0))
def publisher():
"""Main loop which requests new commands and publish them on the Robotiq2FGripperRobotOutput topic."""
rospy.init_node('Robotiq2FGripperSimpleController')
pub = rospy.Publisher('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output)
command = outputMsg.Robotiq2FGripper_robot_output();
while not rospy.is_shutdown():
print('aaa')
'''
command = genCommand(askForCommand(command), command)
pub.publish(command)
rospy.sleep(0.1)
'''
raw_input()
command = res()
pub.publish(command)
rospy.sleep(0.1)
print('sss')
raw_input()
command = test()
pub.publish(command)
rospy.sleep(0.1)
def publisher():
"""Main loop which requests new commands and publish them on the Robotiq2FGripperRobotOutput topic."""
rospy.init_node('Robotiq2FGripperSimpleController')
pub = rospy.Publisher('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output,queue_size=10)
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 0
command.rACT = 1
command.rGTO = 1
command.rPR = 130
command.rSP = 255
command.rFR = 150
pub.publish(command)
while not rospy.is_shutdown():
while True:
data, addr = s1.recvfrom(4096)
conv = pickle.loads(data)
print(conv)
break
command = genCommand(conv, command)
#askForCommand(command)
pub.publish(command)
rospy.sleep(0.1)
def gripper_to_pos(position, force, speed, hp):
hp_g = True
rospy.loginfo("I'm in the function")
pub = rospy.Publisher('/gripper/output',
outputMsg.Robotiq2FGripper_robot_output,
queue_size=1000)
command = outputMsg.Robotiq2FGripper_robot_output()
hp_g = hp
while not hp_g:
command.rACT = 1
command.rGTO = 1
command.rSP = speed
command.rFR = force
command.rPR = position
pub.publish(command)
rospy.loginfo("I'm in the while + hp: %d", hp)
rospy.loginfo("Position: %d", position)
rospy.sleep(1.0)
hp_g = True
def publisher():
hoi = True
rospy.init_node('Robotiq2FGripperSimpleController2')
pub = rospy.Publisher('Robotiq2FGripperRobotOutput',
outputMsg.Robotiq2FGripper_robot_output,
queue_size=10)
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 1
command.rGTO = 1
command.rSP = 255
command.rFR = 150
pub.publish(command)
rospy.sleep(3.0)
while not rospy.is_shutdown():
if (hoi == True):
command.rPR = 0
pub.publish(command)
rospy.sleep(2.0)
hoi = False
if (hoi == False):
command.rPR = 255
pub.publish(command)
rospy.sleep(2.0)
hoi = True
def __init__(self):
## Initializing instances of subclasses
self.r = robot.robot()
self.g = gripper.gripper()
## Initializing node and setting up topics
rospy.init_node('main', anonymous=True)
self.o = optoForce.optoForce(tf, rospy) ## test
self.m = mode.mode(self.r, self.g, self.o, self)
self.rate = rospy.Rate(125)
self.urPublisher = rospy.Publisher('/ur_driver/URScript',
String,
queue_size=10)
self.ledPublisher = rospy.Publisher('/led', LED, queue_size=10)
self.gripperPub = rospy.Publisher(
'/Robotiq2FGripperRobotOutput',
outputMsg.Robotiq2FGripper_robot_output,
queue_size=10)
self.optoZeroPub = rospy.Publisher('/ethdaq_zero', Bool, queue_size=1)
rospy.Subscriber("/joint_states", JointState, self.robotCallback)
rospy.Subscriber("/ethdaq_data", WrenchStamped,
self.wrenchSensorCallback)
rospy.Subscriber("/buttons", Buttons, self.buttonsCallback)
rospy.Subscriber("/Robotiq2FGripperRobotInput",
inputMsg.Robotiq2FGripper_robot_input,
self.gripperCallback)
time.sleep(1)
self.ledPublisher.publish(led1=True, led2=True, led3=True)
## Activating gripper
# Sending first a reset to the gripper so if it have been wrongly activated before it will be a fresh start when our init runs.
# Sleep 0.1s and then start the activating sequence.
msgReset = outputMsg.Robotiq2FGripper_robot_output()
msgReset.rACT = 0
self.gripperPub.publish(msgReset)
time.sleep(0.3)
msgActivate = outputMsg.Robotiq2FGripper_robot_output()
msgActivate.rACT = 1
msgActivate.rGTO = 1
msgActivate.rSP = 255
msgActivate.rFR = 10
self.gripperPub.publish(msgActivate)
time.sleep(2)
## Initialization complete, ready for the work in workspace to be done.
self.workspace()
def init_params(self):
# Initial position
self.go_to_init_possition = True
self.go_to_init_possition2 = False
self.custom_command = Float64MultiArray()
self.custom_command.data = [0, 0, 0, 0, 0, 0]
self.salad_offset = np.zeros(3)
# Target
self.target_reached = False
self.target_reached_init = False
self.attack_reached = False
self.target_position_initialized = False
self.target_read = False
self.trans_target_position_logged = False
# End effector transform
self.ee_svr_logged = False
self.trans_target_logged = False
self.trans_world_logged = False
# Robot parameters
self.max_vel = 0.6
self.robot_gain = 7
# Grasping
self.grasped = 0
self.allegroMsg = String()
self.trans_target_orig = np.array(
[0.1, -0.62, 0.248]) #0.236 for one plate only, 0.245 for 5 plates
self.trans_target_test = self.trans_target_orig
self.trans_target_position = self.trans_target_orig
# self.drop_position = np.array([0.50,-0.2,0.25]) # Without burger
self.drop_position = np.array([0.50, -0.2, 0.27]) # With burger
self.pick_up_1 = False
self.pick_up_2 = False
self.pick_up_3 = False
self.pick_up_4 = False
self.pick_up_5 = False
self.counter0 = 0
self.counter1 = 0
self.counter2 = 0
self.gripper_closed = 219 # ORiginal
# self.gripper_closed=200 # Bun top
self.gripper_open = 150 # Original
# self.gripper_open=120 # Bun top
self.gripper_open2 = 140
self.gripperMsg = outputMsg.Robotiq2FGripper_robot_output()
self.gripperMsg.rACT = 1
self.gripperMsg.rGTO = 1
self.gripperMsg.rATR = 0
self.gripperMsg.rPR = self.gripper_open
self.gripperMsg.rSP = 255
self.gripperMsg.rFR = 150
# Cheese communication
self.cheesemsg = Int32()
self.start_motion = False
self.burger_offset = 0
def test():
print('bbb')
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 1
command.rGTO = 1
command.rSP = 255
command.rFR = 150
return command
def gripper_move_command(degree):
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 1
command.rGTO = 1
command.rPR = degree
command.rSP = 0
command.rFR = 150
# gripper_set_vel_pub.publish(command)
return command
def __init__(self):
rospy.init_node("movement", anonymous=True, disable_signals=False)
# two ways of controlling the arm with coordinates / joint behaviors
self.coordinates_pub_pollux = rospy.Publisher(
"/coordinates_cmd_pollux", String, queue_size=10)
self.joints_pub_pollux = rospy.Publisher("/behaviors_cmd_pollux",
String,
queue_size=10)
# controller_status determines when Perception start looking for a new goal
self.status_pub = rospy.Publisher("/controller_status",
Bool,
queue_size=10)
# setting the origin (left top) of the chess board
x_init = 0.196
y_init = -0.694
z_init = 0.350
global origin
origin = [x_init, y_init, z_init]
# setting the units for the chess board, according to the right bottom
global x_unit
x_unit = (0.196 + 0.234) / 7
global y_unit
y_unit = (0.694 - 0.247) / 7
#Gripper Code
#rospy.init_node('robotiq_gripper_controller')
self.pub = rospy.Publisher('Robotiq2FGripperRobotOutput',
outputMsg.Robotiq2FGripper_robot_output)
self.command = outputMsg.Robotiq2FGripper_robot_output()
# activate the gripper
self.command = outputMsg.Robotiq2FGripper_robot_output()
self.command.rACT = 1
self.command.rGTO = 1
self.command.rSP = 255
self.command.rFR = 150
self.pub.publish(self.command)
time.sleep(1)
def activate_gripper():
pub = rospy.Publisher('/gripper/output', outputMsg.Robotiq2FGripper_robot_output, queue_size=1000)
command = outputMsg.Robotiq2FGripper_robot_output()
command.rACT = 1
command.rGTO = 1
command.rSP = 255
command.rFR = 150
pub.publish(command)
rospy.sleep(0.1)
return True
def publisher():
"""Publishes once to output topic to reset after power loss"""
rospy.init_node('robotiq2FGripperReset')
pub = rospy.Publisher('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output)
rospy.sleep(1.0)
command = outputMsg.Robotiq2FGripper_robot_output();
command.rACT = 0
pub.publish(command)
rospy.sleep(1.0)
command = outputMsg.Robotiq2FGripper_robot_output();
command.rACT = 1
command.rGTO = 1
command.rSP = 255
command.rFR = 150
pub.publish(command)
def run(self):
while not rospy.is_shutdown():
try:
self.close()
time.sleep(5)
except KeyboardInterrupt:
self.command = outputMsg.Robotiq2FGripper_robot_output()
self.command.rACT = 0
self.pub.publish(self.command)
time.sleep(1)
break
def publisher():
"""Main loop which requests new commands and publish them on the Robotiq2FGripperRobotOutput topic."""
rospy.init_node('Robotiq2FGripperSimpleController')
pub = rospy.Publisher('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output, queue_size=10)
command = outputMsg.Robotiq2FGripper_robot_output();
while not rospy.is_shutdown():
command = genCommand(askForCommand(command), command)
pub.publish(command)
rospy.sleep(0.1)
def run(self):
while not rospy.is_shutdown():
try:
# perform gripper functions multiple times
self.do_stuff()
time.sleep(5)
except KeyboardInterrupt:
# reset the gripper
self.command = outputMsg.Robotiq2FGripper_robot_output()
self.command.rACT = 0
self.pub.publish(self.command)
time.sleep(1)
break
def init_params(self):
# Initial position
self.go_to_init_possition = True
self.go_to_init_possition2 = False
self.custom_command = Float64MultiArray()
self.custom_command.data = [0, 0, 0, 0, 0, 0]
self.salad_offset = np.zeros(3)
# Target
self.target_reached = False
self.target_reached_init = False
self.attack_reached = False
self.target_position_initialized = False
self.target_read = False
# End effector transform
self.ee_svr_logged = False
self.trans_target_logged = False
self.trans_world_logged = False
# Robot parameters
self.max_vel = 0.4
self.robot_gain = 6
# Grasping
self.grasped = 0
self.allegroMsg = String()
self.drop_position = np.array([0.70, 0.1, 0.25])
self.pick_up_1 = False
self.pick_up_2 = False
self.pick_up_3 = False
self.pick_up_4 = False
self.pick_up_5 = False
self.counter0 = 0
self.counter1 = 0
self.counter2 = 0
self.gripper_closed = 217
self.gripper_open = 150
self.gripperMsg = outputMsg.Robotiq2FGripper_robot_output()
self.gripperMsg.rACT = 1
self.gripperMsg.rGTO = 1
self.gripperMsg.rATR = 0
self.gripperMsg.rPR = self.gripper_open
self.gripperMsg.rSP = 255
self.gripperMsg.rFR = 150
def ungrasp(self):
"""Main loop which requests new commands and publish them on the Robotiq2FGripperRobotOutput topic."""
#rospy.init_node('Robotiq2FGripperSimpleController')
pub = rospy.Publisher('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output)
command = outputMsg.Robotiq2FGripper_robot_output();
timeout = 2.5
timeout_start = time.time()
while time.time() < timeout_start + timeout:
#rospy.sleep(0.5)
#command = genCommand(askForCommand(command), command)
command = self.genCommand('r', command)
pub.publish(command)
rospy.sleep(1)
command = self.genCommand('a', command)
pub.publish(command)
rospy.sleep(1)
def __init__(self):
# define ros node
rospy.init_node('gripper_controller', anonymous=True)
# define ros publisher for sending command to the gripper interfaces
self.grip_pub = rospy.Publisher(
'/gripper/Robotiq2FGripperRobotOutput',
outputMsg.Robotiq2FGripper_robot_output,
queue_size=1)
# define ros publisher for sending joint states
self.jointState_pub = rospy.Publisher('/gripper/joint_states',
JointState,
queue_size=1)
# define a subscriber for listening to the gripper position
self.gripper_listener = rospy.Subscriber(
"/gripper/Robotiq2FGripperRobotInput",
inputMsg.Robotiq2FGripper_robot_input, self.gripperListener)
# define ros subscriber for the robot pose
self.grip_sub = rospy.Subscriber('/gripper/command', Int8,
self.command_receiver)
# define a variable to hold the position of the gripper
self.gripper_position = 0.0
# define a JointState message for the gripper joint states
self.js_msg = JointState()
self.js_msg.name = [
"finger_joint", "left_inner_knuckle_joint",
"left_inner_finger_joint", "right_outer_knuckle_joint",
"right_inner_knuckle_joint", "right_inner_finger_joint"
]
# self.js_msg.position.resize(6)
self.command = outputMsg.Robotiq2FGripper_robot_output()
self.current_command = 0
self.gripper_initialized = False
def reset_bool(self):
self.trans_target = np.array([0.65, -0.1, 0.175])
self.attack_reached = False
self.target_reached = False
self.allegroMsg = String()
self.pick_up_1 = False
self.pick_up_2 = False
self.pick_up_3 = False
self.pick_up_4 = False
self.pick_up_5 = False
self.counter0 = 0
self.counter1 = 0
self.counter2 = 0
self.gripper_closed = 217
self.gripper_open = 190
self.gripperMsg = outputMsg.Robotiq2FGripper_robot_output()
self.gripperMsg.rACT = 1
self.gripperMsg.rGTO = 1
self.gripperMsg.rATR = 0
self.gripperMsg.rPR = self.gripper_open
self.gripperMsg.rSP = 255
self.gripperMsg.rFR = 150
def publishCommand(self):
"""
function for publishing the command
"""
if not self.gripper_initialized:
self.command = outputMsg.Robotiq2FGripper_robot_output()
self.command.rACT = 1
self.command.rGTO = 1
self.command.rSP = 255
self.command.rFR = 150
self.gripper_initialized = True
else:
if self.current_command == 0:
# reinitialize gripper
self.gripper_initialized = True
if self.current_command == 1:
# close the gripper
self.command.rPR = 255
if self.current_command == 2:
# open the gripper
self.command.rPR = 0
self.grip_pub.publish(self.command)
def reset_bool(self):
self.trans_target = self.trans_target_orig
self.attack_reached = False
self.target_reached = False
self.target_position_initialized = False
self.allegroMsg = String()
self.pick_up_1 = False
self.pick_up_2 = False
self.pick_up_3 = False
self.pick_up_4 = False
self.pick_up_5 = False
self.counter0 = 0
self.counter1 = 0
self.counter2 = 0
self.gripper_closed = 219
self.gripper_open = 150
self.gripperMsg = outputMsg.Robotiq2FGripper_robot_output()
self.gripperMsg.rACT = 1
self.gripperMsg.rGTO = 1
self.gripperMsg.rATR = 0
self.gripperMsg.rPR = self.gripper_open
self.gripperMsg.rSP = 255
self.gripperMsg.rFR = 150
self.desired_orientation_cheese = [0.2081947, 2.0178752, -0.4424049]
