{{ 1,-1,0.005,0.001}{ 2,1,0.005,0.001}{ 3,2,0.005,0.001}{ 4,3,0.005,0.001}{ 5,4,0.005,0.001}{ 6,5,0.005,0.001}{ 7,6,0.005,0.001}{ 8,7,0.005,0.001}}