k1,k2,k3,k4,k5,k6
-0,-82.81000000000003,6.900833333333332,-0,-9.670003622750881,1.028166847804211
71.71556368738935,41.40500000000003,6.900833333333331,8.386015797373604,4.835001811375442,1.02816684780421
-71.71556368738936,41.40500000000002,6.900833333333334,-8.386015797373604,4.835001811375441,1.028166847804211