diff --git a/Karto/assignment5/measure.py b/Karto/assignment5/measure.py
index 52912e6..877cb63 100755
--- a/Karto/assignment5/measure.py
+++ b/Karto/assignment5/measure.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from math import sqrt
-
 import numpy as np
 from scipy.spatial.distance import euclidean
 
@@ -16,177 +15,40 @@ M = -5.285
 
 # Atraminiu liniju koordinates ir uzkirciu ilgiai(m) [Koord. LKS94 sistemoje jau sukeistos]:
 # -- Atrama T23-T24-T25 --
-XT23 = 564383.829 + N
-YT23 = 6173144.853 + A
-T23 = np.array([XT23, YT23])
-# ---------------
-XT24 = 564444.357 + F
-YT24 = 6173086.343 + C
-T24 = np.array([XT24, YT24])
-# ---------------
-XT25 = 564673.556 + B
-YT25 = 6173055.598 + M
-T25 = np.array([XT25, YT25])
-# ---------------
+bearings = {
+    23: np.array([564383.829+N, 6173144.853+A]),
+    24: np.array([564444.357+F, 6173086.343+C]),
+    25: np.array([564673.556+B, 6173055.598+M]),
+    26: np.array([564414.733+G, 6173298.332+N]),
+    27: np.array([564564.172+G, 6173312.063+B]),
+    28: np.array([564770.145+N, 6173230.520+N]),
+}
+
+print("""Atraminiu liniju koordinates ir uzkirciu ilgiai(m):""")
+
+for id, bearing in bearings.items():
+    print("T%d: (%.3f,%.3f)" % (id, bearing[0], bearing[1]))
+
 print("""
-Kontrolinis atstumas T23-T24 = 82.293 ?= %.3f""" % euclidean(T23,T24) + """
-Kontrolinis atstumas T24-T25 = 242.105 ?= %.3f""" % euclidean(T24,T25) + """
------ 1 tasko uzkirciai (metrais)----------
-T23-1 = 161.722
-T24-1 = 125.560
-T25-1 = 169.686
------ 2 tasko uzkirciai (metrais)----------
-T23-2 = 91.681
-T24-2 = 58.350
-T25-2 = 220.938
------ 3 tasko uzkirciai (metrais)----------
-T23-3 = 82.431
-T24-3 = 126.263
-T25-3 = 294.537
------ 9 tasko uzkirciai (metrais)----------
-T23-9 = 265.534
-T24-9 = 227.287
-T25-9 = 132.783
------ 10 tasko uzkirciai (metrais)----------
-T23-10 = 288.522
-T24-10 = 238.487
-T25-10 = 89.932
------ 11 tasko uzkirciai (metrais)----------
-T23-11 = 211.001
-T24-11 = 165.636
-T25-11 = 126.845
--- Atrama T26-T27-T28 --
-""")
-XT26 = 564414.733 + G
-YT26 = 6173298.332 + N
-T26 = np.array([XT26, YT26])
-print("""
-XT26 = %.3f""" % XT26 + """
-YT26 = %.3f""" % YT26 + """
 ---------------
-""")
-XT27 = 564564.172 + G
-YT27 = 6173312.063 + B
-T27 = np.array([XT27, YT27])
-print("""
-XT27 = %.3f""" % XT27 + """
-YT27 = %.3f""" % YT27 + """
----------------
-""")
-XT28 = 564770.145 + N
-YT28 = 6173230.520 + N
-T28 = np.array([XT28, YT28])
-print("""
-XT28 = %.3f""" % XT28 + """
-YT28 = %.3f""" % YT28 + """
----------------
-Kontrolinis atstumas T26-T27 = 151.109 ?= %.3f""" % euclidean(T26, T27) + """
-Kontrolinis atstumas T27-T28 = 214.908 ?= %.3f""" % euclidean(T27, T28) + """
------ 4 tasko uzkirciai (metrais)----------
-T26-4 = 101.226
-T27-4 = 137.261
-T28-4 = 284.950
------ 5 tasko uzkirciai (metrais)----------
-T26-5 = 32.511
-T27-5 = 125.052
-T28-5 = 319.540
------ 6 tasko uzkirciai (metrais)----------
-T26-6 = 155.114
-T27-6 = 46.286
-T28-6 = 196.223
------ 7 tasko uzkirciai (metrais)----------
-T26-7 = 247.440
-T27-7 = 128.403
-T28-7 = 107.731
------ 8 tasko uzkirciai (metrais)----------
-T26-8 = 258.183
-T27-8 = 149.388
-T28-8 = 109.161
+Kontr. atst. T23-T24 =  82.293 ?= %.3f""" % euclidean(bearings[23],bearings[24]) + """
+Kontr. atst. T24-T25 = 242.105 ?= %.3f""" % euclidean(bearings[24],bearings[25]) + """
+Kontr. atst. T26-T27 = 151.109 ?= %.3f""" % euclidean(bearings[26], bearings[27]) + """
+Kontr. atst. T27-T28 = 214.908 ?= %.3f""" % euclidean(bearings[27], bearings[28]) + """
 
-
-Objektu koordinates:
-X12 = 564474.034 + M
-Y12 = 6173175.426 + F
----------------
-X13 = 564505.240 + C
-Y13 = 6173237.929 + E
----------------
-X14 = 564519.570 + C
-Y14 = 6173255.007 + F
----------------
-X15 = 564615.010 + A
-Y15 = 6173215.649 + Z
----------------
-X16 = 564627.375 + E
-Y16 = 6173220.989 + Z
----------------
-X17 = 564627.105 + N
-Y17 = 6173210.067 + Z
----------------
-X18 = 564607.740 + C
-Y18 = 6173171.025 + Z
----------------
-X19 = 564558.331 + B
-Y19 = 6173177.716 + Z
----------------
-X20 = 564546.236 + M
-Y20 = 6173183.298 + Z
----------------
-X21 = 564558.601 + N
-Y21 = 6173188.638 + C
----------------
-X22 = 564539.728 + F
-Y22 = 6173230.148 + E
----------------
-
- --------- Kiti duomenys ----------------
-
-N1 objekto kampu skaicius = 10
-
-Objektu N1,M1,M2,M3 matmenys (metrais)
-B1 = 7.844
-B2 = 21.868
-B3 = 11.344
-B4 = 12.464
-B5 = 23.702
-B6 = 15.508
-
-Objekto M3 pasukimo kampas (laipsniais)
-K1 = 58.5910
-
-
----- A sklypui prikauso: ----
-1 objektas = M3
-2 objektas = N3
-3 objektas = N2
-Pastaba. Like objektai priklauso B sklypui.
-
-Sklypus pradeti dalinti nuo ribos tasko Nr. 4
-Pastaba. Dalinimas baigiamas bet kuriame kitame (ne pradiniame)sklypo ribos taske.
-
-Sklypo ribu (tvoru) Sutartiniai Zenklai (SZ)
-1. Isorine sklypo riba:
-SZ virsuniu skaicius
-SZ1 = 4
-Daugiakampio krastines ilgis (m)
-R1 = 2.550
-Atstumas tarp sutartiniu zenklu centru (m)
-D1 = 10.863
-Tvoros aukstis (m)
-H1 = 1.95
-
-2. Sklypo zemes dalijimo riba:
-SZ virsuniu skaicius
-SZ2 = 6
-Daugiakampio krastines ilgis (m)
-R2 = 1.454
-Atstumas tarp sutartiniu zenklu centru (m)
-D2 = 4.173
-Ribos tvoros aukstis (m)
-H2 = 2.20
-
-
-
-Medziu aukstis (m)
-Hm = 2.94
-""")
+Objektu koordinates:""")
+objs = {
+    12: np.array([564474.034+M, 6173175.426+F]),
+    13: np.array([564505.240+C, 6173237.929+E]),
+    14: np.array([564519.570+C, 6173255.007+F]),
+    15: np.array([564615.010+A, 6173215.649+Z]),
+    16: np.array([564627.375+E, 6173220.989+Z]),
+    17: np.array([564627.105+N, 6173210.067+Z]),
+    18: np.array([564607.740+C, 6173171.025+Z]),
+    19: np.array([564558.331+B, 6173177.716+Z]),
+    20: np.array([564546.236+M, 6173183.298+Z]),
+    21: np.array([564558.601+N, 6173188.638+C]),
+    22: np.array([564539.728+F, 6173230.148+E]),
+}
+for id, obj in objs.items():
+    print("%d: (%.3f,%.3f)" % (id, obj[0], obj[1]))