4 1 3 1 1 1

0 0 0 1 1 1 1 1 1
2 2 0 0 0 1 1 1 0
4 2 0 1 1 1 1 1 1
2 0 0 1 1 1 1 1 0

0.005 30000 0.04

1 1 2 F
1 2 3 F
1 4 2 T

2 0 100 0 0 0 0

1 -0.5 0 100 0 0 0 0

2 -1 0 0 -10 0 0 -10 0