From f76340d78a03b2362c946ca9c6e3844cfee6455a Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Wed, 26 Jul 2023 14:20:06 +0300 Subject: [PATCH] refactoring repo --- rasmt_moveit_config/CMakeLists.txt | 34 -- rasmt_moveit_config/README.md | 20 - .../config/cartesian_limits.yaml | 5 - .../config/chomp_planning.yaml | 18 - rasmt_moveit_config/config/joint_limits.yaml | 50 -- rasmt_moveit_config/config/kinematics.yaml | 4 - rasmt_moveit_config/config/ompl_planning.yaml | 183 ------- rasmt_moveit_config/config/rasmt.srdf | 96 ---- rasmt_moveit_config/config/rasmt_moveit.rviz | 401 -------------- .../config/rasmt_moveit_controllers.yaml | 23 - .../launch/rasmt_moveit.launch.py | 208 ------- rasmt_moveit_config/package.xml | 19 - rasmt_support/CMakeLists.txt | 40 -- rasmt_support/README.md | 42 -- rasmt_support/config/rasmt.rviz | 146 ----- .../config/rasmt_effort_controllers.yaml | 80 --- .../config/rasmt_position_controllers.yaml | 39 -- .../rasmt_position_velocity_controllers.yaml | 41 -- rasmt_support/launch/rasmt_control.launch.py | 84 --- rasmt_support/launch/rasmt_gazebo.launch.py | 73 --- rasmt_support/launch/rasmt_ignition.launch.py | 71 --- .../launch/rasmt_ignition_bridge.launch.py | 62 --- rasmt_support/launch/rviz.launch.py | 77 --- rasmt_support/meshes/collision/Base_Link.stl | Bin 17584 -> 0 bytes rasmt_support/meshes/collision/Dock_Link.stl | Bin 12784 -> 0 bytes rasmt_support/meshes/collision/Fork_1.stl | Bin 32934 -> 0 bytes rasmt_support/meshes/collision/Fork_2.stl | Bin 32934 -> 0 bytes rasmt_support/meshes/collision/Fork_3.stl | Bin 32934 -> 0 bytes rasmt_support/meshes/collision/Grip_Body.stl | Bin 12784 -> 0 bytes rasmt_support/meshes/collision/Grip_L.stl | Bin 10084 -> 0 bytes rasmt_support/meshes/collision/Grip_R.stl | Bin 10084 -> 0 bytes rasmt_support/meshes/collision/Link_1.stl | Bin 8184 -> 0 bytes rasmt_support/meshes/collision/Link_2.stl | Bin 8184 -> 0 bytes rasmt_support/meshes/images/Base_Link.jpg | Bin 261203 -> 0 bytes rasmt_support/meshes/images/Dock_Link.jpg | Bin 253368 -> 0 bytes rasmt_support/meshes/images/Fork_1,2,3.jpg | Bin 270347 -> 0 bytes rasmt_support/meshes/images/Grip_Body.jpg | Bin 255631 -> 0 bytes rasmt_support/meshes/images/Grip_L,R.jpg | Bin 305839 -> 0 bytes rasmt_support/meshes/images/Link_1,2.jpg | Bin 267455 -> 0 bytes rasmt_support/meshes/visual/Base_Link.dae | 228 -------- rasmt_support/meshes/visual/Dock_Link.dae | 385 ------------- rasmt_support/meshes/visual/Fork_1.dae | 201 ------- rasmt_support/meshes/visual/Fork_2.dae | 201 ------- rasmt_support/meshes/visual/Fork_3.dae | 201 ------- rasmt_support/meshes/visual/Grip_Body.dae | 149 ----- rasmt_support/meshes/visual/Grip_L.dae | 149 ----- rasmt_support/meshes/visual/Grip_R.dae | 149 ----- rasmt_support/meshes/visual/Link_1.dae | 198 ------- rasmt_support/meshes/visual/Link_2.dae | 198 ------- rasmt_support/package.xml | 24 - rasmt_support/urdf/cube5x.sdf | 38 -- rasmt_support/urdf/ras.sdf | 89 --- rasmt_support/urdf/rasmt.sdf | 512 ------------------ rasmt_support/urdf/rasmt.urdf | 486 ----------------- rasmt_support/urdf/rasmt.xacro | 26 - .../urdf/robot/rasmt_single_control.xacro | 68 --- .../urdf/robot/rasmt_single_gazebo.xacro | 26 - .../urdf/robot/rasmt_single_macro.xacro | 421 -------------- .../urdf/tools/rasmt_hand_control.xacro | 40 -- .../urdf/tools/rasmt_hand_gazebo.xacro | 33 -- .../urdf/tools/rasmt_hand_macro.xacro | 189 ------- rasmt_support/world/robossembler.world | 120 ---- rbs_bringup/launch/bringup.launch.py | 8 +- rbs_bringup/launch/control.launch.py | 125 ----- rbs_bringup/launch/moveit.launch.py | 198 ------- rbs_perception/CMakeLists.txt | 2 +- .../launch/perception.launch.py | 0 .../launch/simulation.launch.py | 0 68 files changed, 5 insertions(+), 6275 deletions(-) delete mode 100644 rasmt_moveit_config/CMakeLists.txt delete mode 100644 rasmt_moveit_config/README.md delete mode 100644 rasmt_moveit_config/config/cartesian_limits.yaml delete mode 100644 rasmt_moveit_config/config/chomp_planning.yaml delete mode 100644 rasmt_moveit_config/config/joint_limits.yaml delete mode 100644 rasmt_moveit_config/config/kinematics.yaml delete mode 100644 rasmt_moveit_config/config/ompl_planning.yaml delete mode 100644 rasmt_moveit_config/config/rasmt.srdf delete mode 100644 rasmt_moveit_config/config/rasmt_moveit.rviz delete mode 100644 rasmt_moveit_config/config/rasmt_moveit_controllers.yaml delete mode 100644 rasmt_moveit_config/launch/rasmt_moveit.launch.py delete mode 100644 rasmt_moveit_config/package.xml delete mode 100644 rasmt_support/CMakeLists.txt delete mode 100644 rasmt_support/README.md delete mode 100644 rasmt_support/config/rasmt.rviz delete mode 100644 rasmt_support/config/rasmt_effort_controllers.yaml delete mode 100644 rasmt_support/config/rasmt_position_controllers.yaml delete mode 100644 rasmt_support/config/rasmt_position_velocity_controllers.yaml delete mode 100644 rasmt_support/launch/rasmt_control.launch.py delete mode 100644 rasmt_support/launch/rasmt_gazebo.launch.py delete mode 100644 rasmt_support/launch/rasmt_ignition.launch.py delete mode 100644 rasmt_support/launch/rasmt_ignition_bridge.launch.py delete mode 100644 rasmt_support/launch/rviz.launch.py delete mode 100644 rasmt_support/meshes/collision/Base_Link.stl delete mode 100644 rasmt_support/meshes/collision/Dock_Link.stl delete mode 100644 rasmt_support/meshes/collision/Fork_1.stl delete mode 100644 rasmt_support/meshes/collision/Fork_2.stl delete mode 100644 rasmt_support/meshes/collision/Fork_3.stl delete mode 100644 rasmt_support/meshes/collision/Grip_Body.stl delete mode 100644 rasmt_support/meshes/collision/Grip_L.stl delete mode 100644 rasmt_support/meshes/collision/Grip_R.stl delete mode 100644 rasmt_support/meshes/collision/Link_1.stl delete mode 100644 rasmt_support/meshes/collision/Link_2.stl delete mode 100644 rasmt_support/meshes/images/Base_Link.jpg delete mode 100644 rasmt_support/meshes/images/Dock_Link.jpg delete mode 100644 rasmt_support/meshes/images/Fork_1,2,3.jpg delete mode 100644 rasmt_support/meshes/images/Grip_Body.jpg delete mode 100644 rasmt_support/meshes/images/Grip_L,R.jpg delete mode 100644 rasmt_support/meshes/images/Link_1,2.jpg delete mode 100644 rasmt_support/meshes/visual/Base_Link.dae delete mode 100644 rasmt_support/meshes/visual/Dock_Link.dae delete mode 100644 rasmt_support/meshes/visual/Fork_1.dae delete mode 100644 rasmt_support/meshes/visual/Fork_2.dae delete mode 100644 rasmt_support/meshes/visual/Fork_3.dae delete mode 100644 rasmt_support/meshes/visual/Grip_Body.dae delete mode 100644 rasmt_support/meshes/visual/Grip_L.dae delete mode 100644 rasmt_support/meshes/visual/Grip_R.dae delete mode 100644 rasmt_support/meshes/visual/Link_1.dae delete mode 100644 rasmt_support/meshes/visual/Link_2.dae delete mode 100644 rasmt_support/package.xml delete mode 100644 rasmt_support/urdf/cube5x.sdf delete mode 100644 rasmt_support/urdf/ras.sdf delete mode 100644 rasmt_support/urdf/rasmt.sdf delete mode 100644 rasmt_support/urdf/rasmt.urdf delete mode 100644 rasmt_support/urdf/rasmt.xacro delete mode 100644 rasmt_support/urdf/robot/rasmt_single_control.xacro delete mode 100644 rasmt_support/urdf/robot/rasmt_single_gazebo.xacro delete mode 100644 rasmt_support/urdf/robot/rasmt_single_macro.xacro delete mode 100644 rasmt_support/urdf/tools/rasmt_hand_control.xacro delete mode 100644 rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro delete mode 100644 rasmt_support/urdf/tools/rasmt_hand_macro.xacro delete mode 100644 rasmt_support/world/robossembler.world delete mode 100644 rbs_bringup/launch/control.launch.py delete mode 100644 rbs_bringup/launch/moveit.launch.py rename {rbs_bringup => rbs_perception}/launch/perception.launch.py (100%) rename {rbs_bringup => rbs_simulation}/launch/simulation.launch.py (100%) diff --git a/rasmt_moveit_config/CMakeLists.txt b/rasmt_moveit_config/CMakeLists.txt deleted file mode 100644 index be0f30a..0000000 --- a/rasmt_moveit_config/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(rasmt_moveit_config) - -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME}) - -ament_package() diff --git a/rasmt_moveit_config/README.md b/rasmt_moveit_config/README.md deleted file mode 100644 index b03bd18..0000000 --- a/rasmt_moveit_config/README.md +++ /dev/null @@ -1,20 +0,0 @@ -# Robossembler MoveIt2 package - -This package contains the basic robot configuration files for MoveIt2 -``` -. -├── CMakeLists.txt -├── config -│ ├── cartesian_limits.yaml -│ ├── chomp_planning.yaml -│ ├── joint_limits.yaml -│ ├── kinematics.yaml -│ ├── ompl_planning.yaml -│ ├── rasmt_moveit_controllers.yaml -│ ├── rasmt_moveit.rviz -│ └── rasmt.srdf -├── launch -│ └── rasmt_moveit.launch.py -├── package.xml -└── README.md -``` \ No newline at end of file diff --git a/rasmt_moveit_config/config/cartesian_limits.yaml b/rasmt_moveit_config/config/cartesian_limits.yaml deleted file mode 100644 index 7df72f6..0000000 --- a/rasmt_moveit_config/config/cartesian_limits.yaml +++ /dev/null @@ -1,5 +0,0 @@ -cartesian_limits: - max_trans_vel: 1 - max_trans_acc: 2.25 - max_trans_dec: -5 - max_rot_vel: 1.57 diff --git a/rasmt_moveit_config/config/chomp_planning.yaml b/rasmt_moveit_config/config/chomp_planning.yaml deleted file mode 100644 index c14a673..0000000 --- a/rasmt_moveit_config/config/chomp_planning.yaml +++ /dev/null @@ -1,18 +0,0 @@ -planning_time_limit: 10.0 -max_iterations: 200 -max_iterations_after_collision_free: 5 -smoothness_cost_weight: 0.1 -obstacle_cost_weight: 1.0 -learning_rate: 0.01 -smoothness_cost_velocity: 0.0 -smoothness_cost_acceleration: 1.0 -smoothness_cost_jerk: 0.0 -ridge_factor: 0.01 -use_pseudo_inverse: false -pseudo_inverse_ridge_factor: 1e-4 -joint_update_limit: 0.1 -collision_clearance: 0.2 -collision_threshold: 0.07 -use_stochastic_descent: true -enable_failure_recovery: true -max_recovery_attempts: 5 \ No newline at end of file diff --git a/rasmt_moveit_config/config/joint_limits.yaml b/rasmt_moveit_config/config/joint_limits.yaml deleted file mode 100644 index 4ddfe45..0000000 --- a/rasmt_moveit_config/config/joint_limits.yaml +++ /dev/null @@ -1,50 +0,0 @@ -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed - -# For beginners, we downscale velocity and acceleration limits. -# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. -default_velocity_scaling_factor: 1 -default_acceleration_scaling_factor: 1 - -# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] -# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -joint_limits: - rasmt_Rot_Y_1: - has_velocity_limits: true - max_velocity: 0.99903 - has_acceleration_limits: false - max_acceleration: 0 - rasmt_Rot_Y_2: - has_velocity_limits: true - max_velocity: 0.99903 - has_acceleration_limits: false - max_acceleration: 0 - rasmt_Rot_Y_4: - has_velocity_limits: true - max_velocity: 0.99903 - has_acceleration_limits: false - max_acceleration: 0 - rasmt_Rot_Z_1: - has_velocity_limits: true - max_velocity: 0.99903 - has_acceleration_limits: false - max_acceleration: 0 - rasmt_Rot_Z_2: - has_velocity_limits: true - max_velocity: 0.99903 - has_acceleration_limits: false - max_acceleration: 0 - rasmt_Rot_Z_3: - has_velocity_limits: true - max_velocity: 0.99903 - has_acceleration_limits: false - max_acceleration: 0 - rasmt_Slide_1: - has_velocity_limits: true - max_velocity: 0.2 - has_acceleration_limits: false - max_acceleration: 0 - rasmt_Slide_2: - has_velocity_limits: true - max_velocity: 0.2 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file diff --git a/rasmt_moveit_config/config/kinematics.yaml b/rasmt_moveit_config/config/kinematics.yaml deleted file mode 100644 index 6005cf5..0000000 --- a/rasmt_moveit_config/config/kinematics.yaml +++ /dev/null @@ -1,4 +0,0 @@ -rasmt_arm_group: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/rasmt_moveit_config/config/ompl_planning.yaml b/rasmt_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index d24933f..0000000 --- a/rasmt_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,183 +0,0 @@ -planner_configs: - AnytimePathShortening: - type: geometric::AnytimePathShortening - shortcut: true # Attempt to shortcut all new solution paths - hybridize: true # Compute hybrid solution trajectories - max_hybrid_paths: 24 # Number of hybrid paths generated per iteration - num_planners: 4 # The number of default planners to use for planning - planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" - SBL: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - EST: - type: geometric::EST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECE: - type: geometric::LBKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECE: - type: geometric::BKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECE: - type: geometric::KPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRT: - type: geometric::RRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnect: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstar: - type: geometric::RRTstar - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRT: - type: geometric::TRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - max_states_failed: 10 # when to start increasing temp. default: 10 - temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 - min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 - init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRM: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstar: - type: geometric::PRMstar - FMT: - type: geometric::FMT - num_samples: 1000 # number of states that the planner should sample. default: 1000 - radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 - nearest_k: 1 # use Knearest strategy. default: 1 - cache_cc: 1 # use collision checking cache. default: 1 - heuristics: 0 # activate cost to go heuristics. default: 0 - extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 - BFMT: - type: geometric::BFMT - num_samples: 1000 # number of states that the planner should sample. default: 1000 - radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 - nearest_k: 1 # use the Knearest strategy. default: 1 - balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 - optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 - heuristics: 1 # activates cost to go heuristics. default: 1 - cache_cc: 1 # use the collision checking cache. default: 1 - extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 - PDST: - type: geometric::PDST - STRIDE: - type: geometric::STRIDE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 - degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 - max_degree: 18 # max degree of a node in the GNAT. default: 12 - min_degree: 12 # min degree of a node in the GNAT. default: 12 - max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 - estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 - min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 - BiTRRT: - type: geometric::BiTRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 - init_temperature: 100 # initial temperature. default: 100 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf - LBTRRT: - type: geometric::LBTRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - epsilon: 0.4 # optimality approximation factor. default: 0.4 - BiEST: - type: geometric::BiEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ProjEST: - type: geometric::ProjEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LazyPRM: - type: geometric::LazyPRM - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - LazyPRMstar: - type: geometric::LazyPRMstar - SPARS: - type: geometric::SPARS - stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 - sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 - dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 - max_failures: 1000 # maximum consecutive failure limit. default: 1000 - SPARStwo: - type: geometric::SPARStwo - stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 - sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 - dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 - max_failures: 5000 # maximum consecutive failure limit. default: 5000 -rasmt_arm_group: - default_planner_config: RRTConnect - planner_configs: - - AnytimePathShortening - - SBL - - EST - - LBKPIECE - - BKPIECE - - KPIECE - - RRT - - RRTConnect - - RRTstar - - TRRT - - PRM - - PRMstar - - FMT - - BFMT - - PDST - - STRIDE - - BiTRRT - - LBTRRT - - BiEST - - ProjEST - - LazyPRM - - LazyPRMstar - - SPARS - - SPARStwo - -rasmt_hand_arm_group: - planner_configs: - - AnytimePathShortening - - SBL - - EST - - LBKPIECE - - BKPIECE - - KPIECE - - RRT - - RRTConnect - - RRTstar - - TRRT - - PRM - - PRMstar - - FMT - - BFMT - - PDST - - STRIDE - - BiTRRT - - LBTRRT - - BiEST - - ProjEST - - LazyPRM - - LazyPRMstar - - SPARS - - SPARStwo diff --git a/rasmt_moveit_config/config/rasmt.srdf b/rasmt_moveit_config/config/rasmt.srdf deleted file mode 100644 index 7fd30ca..0000000 --- a/rasmt_moveit_config/config/rasmt.srdf +++ /dev/null @@ -1,96 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/rasmt_moveit_config/config/rasmt_moveit.rviz b/rasmt_moveit_config/config/rasmt_moveit.rviz deleted file mode 100644 index fe85465..0000000 --- a/rasmt_moveit_config/config/rasmt_moveit.rviz +++ /dev/null @@ -1,401 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 393 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: moveit_rviz_plugin/PlanningScene - Enabled: false - Move Group Namespace: "" - Name: PlanningScene - Planning Scene Topic: /monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 0.8999999761581421 - Scene Color: 50; 230; 50 - Scene Display Time: 0.009999999776482582 - Show Scene Geometry: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: false - - Acceleration_Scaling_Factor: 1 - Class: moveit_rviz_plugin/MotionPlanning - Enabled: true - Move Group Namespace: "" - MoveIt_Allow_Approximate_IK: false - MoveIt_Allow_External_Program: false - MoveIt_Allow_Replanning: false - MoveIt_Allow_Sensor_Positioning: false - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Cartesian_Path: false - MoveIt_Use_Constraint_Aware_IK: false - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 - MoveIt_Workspace: - Center: - X: 0 - Y: 0 - Z: 0 - Size: - X: 2 - Y: 2 - Z: 2 - Name: MotionPlanning - Planned Path: - Color Enabled: false - Interrupt Display: false - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - rasmt_Base_Link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Dock_Link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_Body: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_L: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_R: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Loop Animation: false - Robot Alpha: 0.5 - Robot Color: 150; 50; 150 - Show Robot Collision: false - Show Robot Visual: true - Show Trail: false - State Display Time: 0.05 s - Trail Step Size: 1 - Trajectory Topic: /display_planned_path - Planning Metrics: - Payload: 1 - Show Joint Torques: false - Show Manipulability: false - Show Manipulability Index: false - Show Weight Limit: false - TextHeight: 0.07999999821186066 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0 - Joint Violation Color: 255; 0; 255 - Planning Group: rasmt_arm_group - Query Goal State: true - Query Start State: false - Show Workspace: false - Start State Alpha: 1 - Start State Color: 0; 255; 0 - Planning Scene Topic: /monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 0.8999999761581421 - Scene Color: 50; 230; 50 - Scene Display Time: 0.009999999776482582 - Show Scene Geometry: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - rasmt_Base_Link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Dock_Link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_Body: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_L: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_R: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Velocity_Scaling_Factor: 1 - - Class: rviz_default_plugins/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - rasmt_Base_Link: - Value: true - rasmt_Dock_Link: - Value: true - rasmt_Fork_1: - Value: true - rasmt_Fork_2: - Value: true - rasmt_Fork_3: - Value: true - rasmt_Grip_Body: - Value: true - rasmt_Grip_L: - Value: true - rasmt_Grip_R: - Value: true - rasmt_Link_1: - Value: true - rasmt_Link_2: - Value: true - rasmt_tool0: - Value: true - world: - Value: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - world: - rasmt_Base_Link: - rasmt_Fork_1: - rasmt_Link_1: - rasmt_Fork_2: - rasmt_Link_2: - rasmt_Fork_3: - rasmt_Dock_Link: - rasmt_Grip_Body: - rasmt_Grip_L: - {} - rasmt_Grip_R: - {} - rasmt_tool0: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 2.575685977935791 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.35113412141799927 - Y: 0.04733692854642868 - Z: 0.32357215881347656 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.4853982627391815 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.343599319458008 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: true - MotionPlanning: - collapsed: false - MotionPlanning - Trajectory Slider: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001f3000003a2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000212000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002530000018a0000016900fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000053f000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1848 - X: 72 - Y: 27 diff --git a/rasmt_moveit_config/config/rasmt_moveit_controllers.yaml b/rasmt_moveit_config/config/rasmt_moveit_controllers.yaml deleted file mode 100644 index afe920c..0000000 --- a/rasmt_moveit_config/config/rasmt_moveit_controllers.yaml +++ /dev/null @@ -1,23 +0,0 @@ -controller_names: - - rasmt_arm_controller - - rasmt_hand_controller - -rasmt_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - rasmt_Rot_Z_1 - - rasmt_Rot_Y_1 - - rasmt_Rot_Z_2 - - rasmt_Rot_Y_2 - - rasmt_Rot_Z_3 - - rasmt_Rot_Y_4 - -rasmt_hand_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - rasmt_Slide_1 - - rasmt_Slide_2 \ No newline at end of file diff --git a/rasmt_moveit_config/launch/rasmt_moveit.launch.py b/rasmt_moveit_config/launch/rasmt_moveit.launch.py deleted file mode 100644 index c4c789c..0000000 --- a/rasmt_moveit_config/launch/rasmt_moveit.launch.py +++ /dev/null @@ -1,208 +0,0 @@ -import os -import yaml - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, OpaqueFunction -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - -from ament_index_python import get_package_share_directory - - -def load_yaml(package_name: str, file_path: str): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, "r") as f: - return yaml.safe_load(f) - except EnvironmentError: - return None - - -def load_file(package_name: str, file_path: str) -> str: - package_path = get_package_share_directory(package_name) - absolut_file_path = os.path.join(package_path, file_path) - - try: - with open(absolut_file_path, "r") as f: - return f.read() - except EnvironmentError: - return None - -def generate_launch_description(): - - # Launch arguments - launch_args = [] - - launch_args.append( - DeclareLaunchArgument( - name="robot_description", - description="Robot description XML file." - ) - ) - - """launch_args.append( - DeclareLaunchArgument( - name="robot_name", - default_value="rasmt", - description="" - ) - )""" - - launch_args.append( - DeclareLaunchArgument( - name="sim", - default_value="true", - description="Launch robot in simulation or on real setup." - ) - ) - - # Evaluate frequently used variables - #robot_name = LaunchConfiguration("robot_name").perform() - - # Configure robot_description - robot_description = {"robot_description": LaunchConfiguration("robot_description")} - - # Robot semantics SRDF - robot_description_semantic = { - "robot_description_semantic": load_file("rasmt_moveit_config", "config/rasmt.srdf") - } - - # Kinematics - kinematics_yaml = load_yaml("rasmt_moveit_config", "config/kinematics.yaml") - - # Update group name - - # Joint limits - robot_description_planning = { - "robot_description_planning": PathJoinSubstitution( - [ - FindPackageShare("rasmt_moveit_config"), - "config/joint_limits.yaml" - ] - ) - } - - # Planning - ompl_yaml = load_yaml("rasmt_moveit_config", "config/ompl_planning.yaml") - - planning = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": "default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints", - "start_state_max_bounds_error": 0.1 - } - } - - # Trajectory execution - trajectory_execution = { - "moveit_manage_controllers": True, - "trajectory_execution.allowed_execution_duration_scaling": 1.2, - "trajectory_execution.allowed_goal_duration_margin": 0.5, - "trajectory_execution.allowed_start_tolerance": 0.01, - } - - # Controllers - controllers_yaml = load_yaml( - "rasmt_moveit_config", - "config/rasmt_moveit_controllers.yaml" - ) - - moveit_controllers = {"moveit_simple_controller_manager": controllers_yaml, - "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"} - - # Planning scene - planning_scene_monitor_parameters = {"publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True} - - # Time configuration - use_sim_time = {"use_sime_time": LaunchConfiguration("sim")} - - # Prepare move group node - move_group_node = Node( - package="moveit_ros_move_group", - executable="move_group", - output="screen", - arguments=["--ros-args"], - parameters=[ - robot_description, - robot_description_semantic, - kinematics_yaml, - robot_description_planning, - ompl_yaml, - planning, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters, - use_sim_time - ] - ) - - # RViz - rviz_config = PathJoinSubstitution([FindPackageShare("rasmt_moveit_config"), "config/rasmt_moveit.rviz"]) - - rviz = Node( - package="rviz2", - executable="rviz2", - parameters=[ - robot_description, - robot_description_semantic, - kinematics_yaml, - planning, - use_sim_time - ], - arguments=[ - '-d', rviz_config - ] - ) - - # move_topose_action_server = Node( - # package="robossembler_servers", - # executable="move_topose_action_server", - # name="move_to_pose_moveit", - # parameters=[ - # robot_description, - # robot_description_semantic, - # kinematics_yaml, - # robot_description_planning, - # ompl_yaml, - # planning, - # trajectory_execution, - # moveit_controllers, - # planning_scene_monitor_parameters, - # use_sim_time - # ] - # ) - - # move_cartesian_path_action_server = Node( - # package="robossembler_servers", - # executable="move_cartesian_path_action_server", - # name="move_cartesian_path_action_server", - # parameters=[ - # robot_description, - # robot_description_semantic, - # kinematics_yaml, - # robot_description_planning, - # ompl_yaml, - # planning, - # trajectory_execution, - # moveit_controllers, - # planning_scene_monitor_parameters, - # use_sim_time - # ] - # ) - - launch_nodes = [] - launch_nodes.append(rviz) - launch_nodes.append(move_group_node) - # launch_nodes.append(move_topose_action_server) - # launch_nodes.append(move_cartesian_path_action_server) - # launch_nodes.append(move_to_joint_state_action_server) - - - - return LaunchDescription(launch_args + launch_nodes) \ No newline at end of file diff --git a/rasmt_moveit_config/package.xml b/rasmt_moveit_config/package.xml deleted file mode 100644 index 0012a73..0000000 --- a/rasmt_moveit_config/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - rasmt_moveit_config - 0.0.0 - robossembler moveit configuration for rasmt robot. - bill-finger - BCD - - ament_cmake - - - - - ament_cmake - - \ No newline at end of file diff --git a/rasmt_support/CMakeLists.txt b/rasmt_support/CMakeLists.txt deleted file mode 100644 index d0ec2ae..0000000 --- a/rasmt_support/CMakeLists.txt +++ /dev/null @@ -1,40 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(rasmt_support) - -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(urdf REQUIRED) -find_package(xacro REQUIRED) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY world DESTINATION share/${PROJECT_NAME}) - -ament_package() diff --git a/rasmt_support/README.md b/rasmt_support/README.md deleted file mode 100644 index 2d0f545..0000000 --- a/rasmt_support/README.md +++ /dev/null @@ -1,42 +0,0 @@ -# Robossembler package for description of robot2 - -This package consists of files describing the AQUA model of the robot, the entire scene and the gripper device. It also contains startup files for launching robot controllers and simulations in gazebo. - -``` -. -├── CMakeLists.txt -├── config -│ ├── rasmt_effort_controllers.yaml # File describing the robot controllers -│ └── rasmt.rviz -├── launch -│ ├── rasmt_control.launch.py # Launch file for running robot controlles -│ ├── rasmt_gazebo.launch.py # File for running gazebo simulation -│ └── rviz.launch.py # File for running RViz visualisation -├── meshes -│ ├── collision -│ │ ├── Base_Link.stl -│ │ ├── cube5x.stl -│ │ ├── Dock_Link.stl -│ │ ├── Fork_1.stl -│ │ ├── Fork_2.stl -│ │ ├── Fork_3.stl -│ │ ├── Grip_Body.stl -│ │ ├── Grip_L.stl -│ │ ├── Grip_R.stl -│ │ ├── Link_1.stl -│ │ └── Link_2.stl -│ └── visual -├── package.xml -├── README.md -└── urdf - ├── cube5x.sdf # The cube inside which the robot works - ├── rasmt.xacro # Main Robot scene description file - ├── robot # Single robot description files - │ ├── rasmt_single_control.xacro - │ ├── rasmt_single_gazebo.xacro - │ └── rasmt_single_macro.xacro - └── tools # Robot tool description files - ├── rasmt_hand_control.xacro - ├── rasmt_hand_gazebo.xacro - └── rasmt_hand_macro.xacro -``` \ No newline at end of file diff --git a/rasmt_support/config/rasmt.rviz b/rasmt_support/config/rasmt.rviz deleted file mode 100644 index 6a51841..0000000 --- a/rasmt_support/config/rasmt.rviz +++ /dev/null @@ -1,146 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 787 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: "" - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 2.053321123123169 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.35200047492980957 - Y: 0.026240859180688858 - Z: 0.2903156876564026 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.680398166179657 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.493580341339111 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1848 - X: 72 - Y: 27 diff --git a/rasmt_support/config/rasmt_effort_controllers.yaml b/rasmt_support/config/rasmt_effort_controllers.yaml deleted file mode 100644 index 0485066..0000000 --- a/rasmt_support/config/rasmt_effort_controllers.yaml +++ /dev/null @@ -1,80 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 250 - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - rasmt_arm_controller: - type: effort_controllers/JointGroupEffortController - - rasmt_hand_controller: - type: effort_controllers/JointGroupEffortController - -rasmt_arm_controller: - ros__parameters: - joints: - - rasmt_Rot_Z_1 - - rasmt_Rot_Y_1 - - rasmt_Rot_Z_2 - - rasmt_Rot_Y_2 - - rasmt_Rot_Z_3 - - rasmt_Rot_Y_4 - command_interfaces: - - effort - state_interfaces: - - position - - velocity - gains: - rasmt_Rot_Z_1: - p: 4000.0 - d: 10.0 - i: 250.0 - i_clamp: 15.0 - rasmt_Rot_Y_1: - p: 10000.0 - d: 25.0 - i: 600.0 - i_clamp: 45.0 - rasmt_Rot_Z_2: - p: 8000.0 - d: 20.0 - i: 450.0 - i_clamp: 30.0 - rasmt_Rot_Y_2: - p: 6000.0 - d: 15.0 - i: 300.0 - i_clamp: 30.0 - rasmt_Rot_Z_3: - p: 3000.0 - d: 5.0 - i: 175.0 - i_clamp: 7.0 - rasmt_Rot_Y_4: - p: 2500.0 - d: 3.0 - i: 150.0 - i_clamp: 6.0 - -rasmt_hand_controller: - ros__parameters: - joints: - - rasmt_Slide_1 - - rasmt_Slide_2 - command_interfaces: - - effort - state_interfaces: - - position - - velocity - gains: - rasmt_Slide_1: - p: 225.0 - d: 0.001 - i: 0.4 - i_clamp: 4.0 - rasmt_Slide_2: - p: 225.0 - d: 0.001 - i: 0.4 - i_clamp: 4.0 \ No newline at end of file diff --git a/rasmt_support/config/rasmt_position_controllers.yaml b/rasmt_support/config/rasmt_position_controllers.yaml deleted file mode 100644 index 12c0b0b..0000000 --- a/rasmt_support/config/rasmt_position_controllers.yaml +++ /dev/null @@ -1,39 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - rasmt_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - rasmt_hand_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - -rasmt_arm_controller: - ros__parameters: - joints: - - rasmt_Rot_Z_1 - - rasmt_Rot_Y_1 - - rasmt_Rot_Z_2 - - rasmt_Rot_Y_2 - - rasmt_Rot_Z_3 - - rasmt_Rot_Y_4 - command_interfaces: - - position - state_interfaces: - - position - - velocity - -rasmt_hand_controller: - ros__parameters: - joints: - - rasmt_Slide_1 - - rasmt_Slide_2 - command_interfaces: - - position - state_interfaces: - - position - - velocity \ No newline at end of file diff --git a/rasmt_support/config/rasmt_position_velocity_controllers.yaml b/rasmt_support/config/rasmt_position_velocity_controllers.yaml deleted file mode 100644 index bebd134..0000000 --- a/rasmt_support/config/rasmt_position_velocity_controllers.yaml +++ /dev/null @@ -1,41 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - rasmt_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - rasmt_hand_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - -rasmt_arm_controller: - ros__parameters: - joints: - - rasmt_Rot_Z_1 - - rasmt_Rot_Y_1 - - rasmt_Rot_Z_2 - - rasmt_Rot_Y_2 - - rasmt_Rot_Z_3 - - rasmt_Rot_Y_4 - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity - -rasmt_hand_controller: - ros__parameters: - joints: - - rasmt_Slide_1 - - rasmt_Slide_2 - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity \ No newline at end of file diff --git a/rasmt_support/launch/rasmt_control.launch.py b/rasmt_support/launch/rasmt_control.launch.py deleted file mode 100644 index 9d5e276..0000000 --- a/rasmt_support/launch/rasmt_control.launch.py +++ /dev/null @@ -1,84 +0,0 @@ -from numpy import load -from launch.launch_description import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess -from launch.conditions import UnlessCondition, IfCondition -from launch.substitutions import PathJoinSubstitution, LaunchConfiguration -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - -def generate_launch_description(): - - # Launch arguments - launch_args = [] - - launch_args.append( - DeclareLaunchArgument( - name="robot_description", - description="Robot description XML file." - ) - ) - - launch_args.append( - DeclareLaunchArgument( - name="sim", - default_value="true", - description="Launch robot in simulation or on real setup." - ) - ) - - # Configure robot_description - robot_description = {"robot_description": LaunchConfiguration("robot_description")} - # Load controllers from YAML configuration file - controller_configurations = PathJoinSubstitution([ - FindPackageShare("rasmt_support"), - "config", - "rasmt_position_velocity_controllers.yaml" - ]) - - # Prepare controller manager and other required nodes - # ros2_control_node = Node( - # package="controller_manager", - # executable="ros2_control_node", - # parameters=[robot_description, controller_configurations], - # output={ - # "stdout": "screen", - # "stderr": "screen", - # }, - # ) - - robot_state_publisher = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="screen", - parameters=[robot_description] - ) - - # action_server_controller_hand_node = Node( - # package="robossembler_servers", - # executable="gripper_cmd_node" - # ) - - - # Load controllers - load_controllers = [] - for controller in [ - "rasmt_arm_controller", - "rasmt_hand_controller", - "joint_state_broadcaster", - ]: - load_controllers += [ - ExecuteProcess( - cmd=["ros2 control load_controller --set-state start {}".format(controller)], - shell=True, - output="screen", - ) - ] - - - return LaunchDescription( - [ - robot_state_publisher - ] - + load_controllers - + launch_args - ) diff --git a/rasmt_support/launch/rasmt_gazebo.launch.py b/rasmt_support/launch/rasmt_gazebo.launch.py deleted file mode 100644 index 3fa7c3e..0000000 --- a/rasmt_support/launch/rasmt_gazebo.launch.py +++ /dev/null @@ -1,73 +0,0 @@ -from launch.launch_description import LaunchDescription -from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument -from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command -from launch_ros.substitutions import FindPackageShare -from launch_ros.actions import Node -from launch.launch_description_sources import PythonLaunchDescriptionSource -import xacro -import os -from ament_index_python import get_package_share_directory - - -def generate_launch_description(): - - launch_args = [] - launch_args.append(DeclareLaunchArgument( - name="robot_name", - default_value="rasmt", - description="Set robot name in gazebo env" - )) - - world_file = os.path.join(get_package_share_directory("rasmt_support"), "world", "robossembler.world") - #test_world_file = "/home/bill-finger/gazebo_pkgs_ws/gazebo-pkgs/gazebo_grasp_plugin/test_world/test_world_full.world" - - # gzserver = IncludeLaunchDescription( - # PythonLaunchDescriptionSource( - # os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gzserver.launch.py'), - # ), launch_arguments={'world':world_file}.items() - # ) - # gzclient = IncludeLaunchDescription( - # PythonLaunchDescriptionSource( - # os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gzclient.launch.py'), - # ) - # ) - - gazebo = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(get_package_share_directory("gazebo_ros"), 'launch', 'gazebo.launch.py'), - ) - ) - - """xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro") - # get error if xacro file if missing - assert os.path.exists(xacro_file), "The xacro file of rasmt.xacro doesnt exist"+str(xacro_file)""" - - #sdf_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","cube5x.sdf") - - - spawn_entity = Node( - package="gazebo_ros", - executable="spawn_entity.py", - arguments=[ - "-topic", "/robot_description", - "-entity", LaunchConfiguration("robot_name") - ], - output="screen" - ) - """cube_spawn = Node( - package="gazebo_ros", - executable="spawn_entity.py", - arguments=[ - "-file", sdf_file, - "-entity", "cube_station" - ] - )""" - - launch_nodes = [] - launch_nodes.append(gazebo) - #launch_nodes.append(gzserver) - #launch_nodes.append(gzclient) - launch_nodes.append(spawn_entity) - #launch_nodes.append(cube_spawn) - - return LaunchDescription(launch_args + launch_nodes) \ No newline at end of file diff --git a/rasmt_support/launch/rasmt_ignition.launch.py b/rasmt_support/launch/rasmt_ignition.launch.py deleted file mode 100644 index abe796d..0000000 --- a/rasmt_support/launch/rasmt_ignition.launch.py +++ /dev/null @@ -1,71 +0,0 @@ -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - IncludeLaunchDescription, - OpaqueFunction, - RegisterEventHandler, -) -from launch.conditions import IfCondition, UnlessCondition -from launch.event_handlers import OnProcessExit -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare -import xacro -import os -from ament_index_python import get_package_share_directory - - -def generate_launch_description(): - - launch_args = [] - launch_args.append(DeclareLaunchArgument( - name="robot_name", - default_value="rasmt", - description="Set robot name in gazebo env" - ) - ) - launch_args.append(DeclareLaunchArgument( - name="robot_description_content", - description="Robot XML file" - ) - ) - - #robot_description_content = {"robot_description":LaunchConfiguration("robot_description_content")} - robot_description_content = LaunchConfiguration("robot_description_content") - # launch Ignition Gazebo - pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo') - gazebo = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')), - launch_arguments={'ign_args': '-r empty.sdf'}.items(), - ) - - ros2_ign_bridge = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("rasmt_support"), - "launch", - "rasmt_ignition_bridge.launch.py" - ] - ) - ) - ) - - # Spawn - spawn = Node(package='ros_ign_gazebo', executable='create', - arguments=[ - '-string', robot_description_content, - '-name', 'rasmt', - '-allow_renaming', 'true'], - output='screen') - - - launch_nodes = [] - launch_nodes.append(gazebo) - launch_nodes.append(spawn) - launch_nodes.append(ros2_ign_bridge) - - - return LaunchDescription(launch_args + launch_nodes) \ No newline at end of file diff --git a/rasmt_support/launch/rasmt_ignition_bridge.launch.py b/rasmt_support/launch/rasmt_ignition_bridge.launch.py deleted file mode 100644 index 38c3b10..0000000 --- a/rasmt_support/launch/rasmt_ignition_bridge.launch.py +++ /dev/null @@ -1,62 +0,0 @@ -from launch.launch_description import LaunchDescription -from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument -from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command -from launch_ros.substitutions import FindPackageShare -from launch_ros.actions import Node -from launch.launch_description_sources import PythonLaunchDescriptionSource -import xacro -import os -from ament_index_python import get_package_share_directory - - - -def generate_launch_description(): - - use_sim_time = LaunchConfiguration('use_sim_time', default=True) - log_level = LaunchConfiguration('log_level', default='fatal') - - - launch_args = [] - launch_args.append( - DeclareLaunchArgument( - name='use_sim_time', - default_value=use_sim_time, - description="If true, use simulated clock" - ) - ) - launch_args.append( - DeclareLaunchArgument( - name='log_level', - default_value=log_level, - description="Log level of all nodes launched by this script" - ) - ) - - # JointTrajectory bridge for gripper (ROS2 -> IGN) - joint_trajectory_controller_bridge = Node(package='ros_ign_bridge', - executable='parameter_bridge', - name='parameter_bridge_gripper_trajectory', - output='screen', - arguments=['/gripper_trajectory@trajectory_msgs/msg/JointTrajectory]ignition.msgs.JointTrajectory', - '--ros-args', '--log-level', log_level], - parameters=[{'use_sim_time': use_sim_time}]) - - # ros_ign_bridge (clock -> ROS 2) - ros2_ign_clock_bridge = Node( - package="ros_ign_bridge", - executable="parameter_bridge", - output="log", - arguments=[ - "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock", - "--ros-args", - "--log-level", - log_level, - ], - parameters=[{"use_sim_time": use_sim_time}], - ) - - launch_nodes = [] - #launch_nodes.append(joint_trajectory_controller_bridge) - launch_nodes.append(ros2_ign_clock_bridge) - - return LaunchDescription(launch_nodes + launch_args) \ No newline at end of file diff --git a/rasmt_support/launch/rviz.launch.py b/rasmt_support/launch/rviz.launch.py deleted file mode 100644 index 6f874bd..0000000 --- a/rasmt_support/launch/rviz.launch.py +++ /dev/null @@ -1,77 +0,0 @@ -from multiprocessing import context -from webbrowser import get -from launch.actions.declare_launch_argument import DeclareLaunchArgument -from launch.launch_description import LaunchDescription -#from launch.substitutions.launch_configuration import LaunchConfiguration -from launch_ros.actions import Node -import xacro -import os -from ament_index_python import get_package_share_directory - -def generate_launch_description(): - - launch_args = [] - launch_args.append( - DeclareLaunchArgument( - name="grip", - default_value="true", - description="On or OFF gripper for launch" - ) - ) - launch_args.append( - DeclareLaunchArgument( - name="sim", - default_value="true", - description="On or OFF simulation" - ) - ) - launch_args.append( - DeclareLaunchArgument( - name="robot_name", - default_value="rasmt", - description="Robot name" - ) - ) - - # For convert LaunchConfiguration to string - # grip = LaunchConfiguration("grip").perform(context) - - # get xacro file path - xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro") - # get error if xacro file if missing - assert os.path.exists(xacro_file), "The xacro file of neptun_description doesnt exist"+str(xacro_file) - # parse xacro file from file with arguments - robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"false",'robot_name':"rasmt"}) - # convert file to xml format - robot_description_content = robot_description.toxml() - - rviz_config_file = os.path.join(get_package_share_directory("rasmt_support"),"config/","rasmt.rviz") - rviz = Node( - package="rviz2", - executable="rviz2", - parameters=[{'robot_description': robot_description_content}], - arguments=[ - '-d', rviz_config_file - ] - ) - robot_state_publisher = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="screen", - parameters=[{'robot_description': robot_description_content}] - ) - joint_state_publisher =Node( - package="joint_state_publisher_gui", - executable="joint_state_publisher_gui", - output="log", - arguments=["--ros-args"], - ) - - launch_nodes = [] - launch_nodes.append(rviz) - launch_nodes.append(robot_state_publisher) - launch_nodes.append(joint_state_publisher) - #launch_nodes.add_action(launch_args) - - - return LaunchDescription(launch_nodes) \ No newline at end of file diff --git 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2078 2456 8763 2089 2465 8764 2086 2464 8765 2080 2459 8766 2089 2465 8767 2078 2456 8768 2030 2407 8769 2082 2461 8770 2079 2466 8771 2083 2455 8772 2090 2467 8773 2087 2463 8774 2080 2459 8775 2092 2468 8776 2089 2465 8777 2085 2460 8778 2091 2469 8779 2082 2461 8780 2083 2455 8781 2093 2470 8782 2090 2467 8783 2084 2462 8784 2092 2468 8785 2080 2459 8786 2086 2464 8787 2093 2470 8788 2083 2455 8789 2085 2460 8790 2095 2471 8791 2091 2469 8792 2084 2462 8793 2094 2472 8794 2092 2468 8795 2087 2463 8796 2095 2471 8797 2085 2460 8798 2086 2464 8799 2096 2473 8800 2093 2470 8801 2084 2462 8802 617 570 8803 2094 2472 8804 2087 2463 8805 2099 2474 8806 2095 2471 8807 2089 2465 8808 2096 2473 8809 2086 2464 8810 2088 2475 8811 2079 2466 8812 2097 2476 8813 2097 2476 8814 2079 2466 8815 2098 2477 8816 2090 2467 8817 2099 2474 8818 2087 2463 8819 2082 2461 8820 2098 2477 8821 2079 2466 8822 2089 2465 8823 2100 2478 8824 2096 2473 8825 2090 2467 8826 2101 2479 8827 2099 2474 8828 2092 2468 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2500 8963 2122 2500 8964 2128 2499 8965 2126 2504 8966 2119 2495 8967 2132 2506 8968 2116 2493 8969 2121 2498 8970 2125 2501 8971 2108 2485 8972 2116 2493 8973 2132 2506 8974 2128 2499 8975 2129 2507 8976 2128 2499 8977 2130 2508 8978 2126 2504 8979 2128 2499 8980 2129 2507 8981 2121 2498 8982 2138 2509 8983 2125 2501 8984 2125 2501 8985 2135 2510 8986 2119 2495 8987 2128 2499 8988 2133 2511 8989 2130 2508 8990 2130 2508 8991 2133 2511 8992 2131 2512 8993 2131 2512 8994 2133 2511 8995 2134 2513 8996 2115 564 8997 610 559 8998 2127 2505 8999 2121 2498 9000 2127 2505 9001 2138 2509 9002 2119 2495 9003 2135 2510 9004 2132 2506 9005 2132 2506 9006 2133 2511 9007 2128 2499 9008 2127 2505 9009 2143 2514 9010 2138 2509 9011 2133 2511 9012 2136 2515 9013 2134 2513 9014 2125 2501 9015 2138 2509 9016 2135 2510 9017 2136 2515 9018 2139 2516 9019 2137 2517 9020 2133 2511 9021 2139 2516 9022 2136 2515 9023 2137 2517 9024 2139 2516 9025 2140 2518 9026 2132 2506 9027 2139 2516 9028 2133 2511 9029 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2154 2532 9097 2156 2534 9098 2157 2535 9099 2154 2532 9100 2155 2533 9101 2158 2536 9102 2154 2532 9103 2157 2535 9104 2152 2530 9105 2154 2532 9106 2158 2536 9107 2154 2532 9108 2144 2521 9109 2156 2534 9110 2156 2534 9111 2144 2521 9112 2159 2537 9113 2153 2528 9114 2159 2537 9115 2144 2521 9116 2160 2538 9117 2153 2528 9118 2161 2539 9119 2159 2537 9120 2153 2528 9121 2160 2538 9122 612 561 9123 2162 2531 9124 610 559 9125 2153 2528 9126 2163 2540 9127 2161 2539 9128 2163 2540 9129 2153 2528 9130 2164 2541 9131 2165 2542 9132 2153 2528 9133 2166 2543 9134 2164 2541 9135 2153 2528 9136 2165 2542 9137 2153 2528 9138 2167 2544 9139 2166 2543 9140 2162 2531 9141 2167 2544 9142 2153 2528 9143 2167 2544 9144 2162 2531 9145 2168 2545 9146 2169 2546 9147 2162 2531 9148 612 561 9149 2168 2545 9150 2162 2531 9151 2169 2546 9152 6585 2547 9153 2170 2548 9154 2171 2549 9155 6586 2550 9156 2171 2549 9157 2170 2548 9158 6586 2550 9159 6045 1112 9160 2171 2549 9161 2172 2551 9162 6585 2547 9163 2171 2549 9164 2173 2552 9165 2172 2551 9166 2171 2549 9167 6584 2553 9168 2173 2552 9169 2171 2549 9170 6583 2554 9171 6584 2553 9172 2171 2549 9173 6582 2555 9174 6583 2554 9175 2171 2549 9176 6581 2556 9177 6582 2555 9178 2171 2549 9179 6580 2557 9180 6581 2556 9181 2171 2549 9182 6579 2558 9183 6580 2557 9184 2171 2549 9185 6578 2559 9186 6579 2558 9187 2171 2549 9188 2174 2560 9189 6578 2559 9190 2171 2549 9191 6577 2561 9192 2174 2560 9193 2171 2549 9194 2175 2562 9195 6577 2561 9196 2171 2549 9197 2176 2563 9198 2175 2562 9199 2171 2549 9200 2177 2564 9201 2176 2563 9202 2171 2549 9203 2178 2565 9204 2177 2564 9205 2171 2549 9206 2179 2566 9207 2177 2564 9208 2178 2565 9209 6576 2567 9210 2179 2566 9211 2178 2565 9212 2180 2568 9213 6576 2567 9214 2178 2565 9215 2181 2569 9216 2180 2568 9217 2178 2565 9218 2182 2570 9219 2181 2569 9220 2178 2565 9221 2183 2571 9222 2182 2570 9223 2178 2565 9224 6575 2572 9225 2183 2571 9226 2178 2565 9227 2184 2573 9228 6575 2572 9229 2178 2565 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38571 11228 10335 38572 11226 10332 38573 11226 10332 38574 11228 10335 38575 11229 10336 38576 11227 10334 38577 11084 10337 38578 11085 10333 38579 11230 10338 38580 11084 10337 38581 11231 173 38582 11231 173 38583 11084 10337 38584 11227 10334 38585 11229 10336 38586 11064 10339 38587 11232 173 38588 11228 10335 38589 11064 10339 38590 11229 10336 38591 11230 10338 38592 11083 10340 38593 11084 10337 38594 11233 10341 38595 11083 10340 38596 11230 10338 38597 11232 173 38598 11065 173 38599 11234 173 38600 11064 10339 38601 11065 173 38602 11232 173 38603 11235 10342 38604 11082 10343 38605 11233 10341 38606 11233 10341 38607 11082 10343 38608 11083 10340 38609 11234 173 38610 11066 173 38611 11236 173 38612 11065 173 38613 11066 173 38614 11234 173 38615 11237 173 38616 11081 173 38617 11235 10342 38618 11235 10342 38619 11081 173 38620 11082 10343 38621 11238 10344 38622 11239 10345 38623 11240 173 38624 11241 10346 38625 11239 10345 38626 11238 10344 38627 11242 173 38628 11243 10347 38629 11244 173 38630 11245 173 38631 11243 10347 38632 11242 173 38633 11066 173 38634 11246 173 38635 11236 173 38636 11236 173 38637 11246 173 38638 11247 10348 38639 11248 173 38640 11080 173 38641 11237 173 38642 11237 173 38643 11080 173 38644 11081 173 38645 11246 173 38646 11067 10349 38647 11247 10348 38648 11247 10348 38649 11067 10349 38650 11249 10350 38651 11250 173 38652 11079 173 38653 11248 173 38654 11248 173 38655 11079 173 38656 11080 173 38657 11249 10350 38658 11068 173 38659 11251 173 38660 11067 10349 38661 11068 173 38662 11249 10350 38663 11239 10345 38664 11078 173 38665 11240 173 38666 11250 173 38667 11078 173 38668 11079 173 38669 11240 173 38670 11078 173 38671 11250 173 38672 11068 173 38673 11069 10351 38674 11251 173 38675 11251 173 38676 11069 10351 38677 11245 173 38678 11245 173 38679 11069 10351 38680 11243 10347 38681 11239 10345 38682 11252 173 38683 11078 173 38684 11069 10351 38685 11253 10352 38686 11243 10347 38687 11239 10345 38688 11254 10353 38689 11252 173 38690 11253 10352 38691 11070 10354 38692 11243 10347 38693 11239 10345 38694 11255 10355 38695 11254 10353 38696 11256 10356 38697 11255 10355 38698 11239 10345 38699 11243 10347 38700 11071 10357 38701 11257 173 38702 11070 10354 38703 11071 10357 38704 11243 10347 38705 11256 10356 38706 11258 10358 38707 11255 10355 38708 11259 10359 38709 11258 10358 38710 11256 10356 38711 11257 173 38712 11260 10360 38713 11261 10361 38714 11071 10357 38715 11260 10360 38716 11257 173 38717 11259 10359 38718 11077 10362 38719 11258 10358 38720 11262 10363 38721 11077 10362 38722 11259 10359 38723 11260 10360 38724 11072 10364 38725 11261 10361 38726 11261 10361 38727 11072 10364 38728 11263 10365 38729 11262 10363 38730 11264 10366 38731 11077 10362 38732 11265 10367 38733 11264 10366 38734 11262 10363 38735 11072 10364 38736 11073 10368 38737 11263 10365 38738 11263 10365 38739 11073 10368 38740 11266 10369 38741 11267 10370 38742 11268 10371 38743 11265 10367 38744 11265 10367 38745 11268 10371 38746 11264 10366 38747 11073 10368 38748 11074 10372 38749 11266 10369 38750 11266 10369 38751 11074 10372 38752 11269 10373 38753 11270 173 38754 11076 173 38755 11267 10370 38756 11267 10370 38757 11076 173 38758 11268 10371 38759 11269 10373 38760 11075 10374 38761 11271 10375 38762 11074 10372 38763 11075 10374 38764 11269 10373 38765 11272 10376 38766 11273 10377 38767 11270 173 38768 11270 173 38769 11273 10377 38770 11076 173 38771 11272 10376 38772 11274 10378 38773 11273 10377 38774 11271 10375 38775 11274 10378 38776 11272 10376 38777 11075 10374 38778 11274 10378 38779 11271 10375 38780 11324 10379 38781 11325 10380 38782 11326 10381 38783 11324 10379 38784 11326 10381 38785 11327 10382 38786 11328 10383 38787 11325 10380 38788 11324 10379 38789 11329 10384 38790 11324 10379 38791 11327 10382 38792 11330 10385 38793 11331 167 38794 11325 10380 38795 11330 10385 38796 11325 10380 38797 11328 10383 38798 11332 10386 38799 11327 10382 38800 11333 10387 38801 11332 10386 38802 11329 10384 38803 11327 10382 38804 11334 10388 38805 11335 10389 38806 11336 10390 38807 11334 10388 38808 11336 10390 38809 11331 167 38810 11334 10388 38811 11331 167 38812 11330 10385 38813 11337 10391 38814 11333 10387 38815 11338 167 38816 11337 10391 38817 11338 167 38818 11318 10392 38819 11337 10391 38820 11332 10386 38821 11333 10387 38822 11339 10393 38823 11335 10389 38824 11334 10388 38825 11340 10394 38826 11337 10391 38827 11318 10392 38828 11341 10395 38829 11342 10396 38830 11343 10397 38831 11341 10395 38832 11343 10397 38833 11335 10389 38834 11341 10395 38835 11335 10389 38836 11339 10393 38837 11344 10398 38838 11318 10392 38839 11345 10399 38840 11344 10398 38841 11340 10394 38842 11318 10392 38843 11346 10400 38844 11342 10396 38845 11341 10395 38846 11347 10401 38847 11345 10399 38848 11348 10402 38849 11347 10401 38850 11344 10398 38851 11345 10399 38852 11349 10403 38853 11319 10404 38854 11342 10396 38855 11349 10403 38856 11342 10396 38857 11346 10400 38858 11350 10405 38859 11348 10402 38860 11317 10406 38861 11350 10405 38862 11347 10401 38863 11348 10402 38864 11351 10407 38865 11319 10404 38866 11349 10403 38867 11351 10407 38868 11320 10408 38869 11319 10404 38870 11352 10409 38871 11350 10405 38872 11317 10406 38873 11352 10409 38874 11317 10406 38875 11353 10410 38876 11352 10409 38877 11353 10410 38878 11354 10411 38879 11355 10412 38880 11356 10413 38881 11320 10408 38882 11355 10412 38883 11320 10408 38884 11351 10407 38885 11357 167 38886 11352 10409 38887 11354 10411 38888 11357 167 38889 11354 10411 38890 11316 10414 38891 11358 10415 38892 11321 10416 38893 11359 10417 38894 11358 10415 38895 11359 10417 38896 11356 10413 38897 11358 10415 38898 11356 10413 38899 11355 10412 38900 11360 10418 38901 11357 167 38902 11316 10414 38903 11361 167 38904 11321 10416 38905 11358 10415 38906 11362 10419 38907 11316 10414 38908 11315 167 38909 11362 10419 38910 11360 10418 38911 11316 10414 38912 11363 10420 38913 11322 10421 38914 11364 10422 38915 11363 10420 38916 11364 10422 38917 11321 10416 38918 11363 10420 38919 11321 10416 38920 11361 167 38921 11365 10423 38922 11315 167 38923 11366 10424 38924 11365 10423 38925 11362 10419 38926 11315 167 38927 11367 167 38928 11322 10421 38929 11363 10420 38930 11368 10425 38931 11366 10424 38932 11314 10426 38933 11368 10425 38934 11365 10423 38935 11366 10424 38936 11369 167 38937 11323 10427 38938 11322 10421 38939 11369 167 38940 11322 10421 38941 11367 167 38942 11370 10428 38943 11314 10426 38944 11313 10429 38945 11370 10428 38946 11368 10425 38947 11314 10426 38948 11371 10430 38949 11372 10431 38950 11373 10432 38951 11371 10430 38952 11373 10432 38953 11323 10427 38954 11371 10430 38955 11323 10427 38956 11369 167 38957 11374 10433 38958 11370 10428 38959 11313 10429 38960 11374 10433 38961 11313 10429 38962 11312 10434 38963 11375 167 38964 11372 10431 38965 11371 10430 38966 11376 10435 38967 11312 10434 38968 11377 10436 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10451 39025 11308 10452 39026 11390 167 39027 11276 167 39028 11386 10449 39029 11391 10454 39030 11276 167 39031 11390 167 39032 11392 167 39033 11388 10451 39034 11389 10453 39035 11393 167 39036 11391 10454 39037 11390 167 39038 11394 10455 39039 11392 167 39040 11389 10453 39041 11394 10455 39042 11389 10453 39043 11395 10456 39044 11396 10457 39045 11277 10458 39046 11391 10454 39047 11396 10457 39048 11391 10454 39049 11393 167 39050 11397 10459 39051 11395 10456 39052 11307 10460 39053 11397 10459 39054 11394 10455 39055 11395 10456 39056 11398 10461 39057 11399 10462 39058 11277 10458 39059 11398 10461 39060 11277 10458 39061 11396 10457 39062 11400 10463 39063 11397 10459 39064 11307 10460 39065 11400 10463 39066 11307 10460 39067 11401 10464 39068 11402 10465 39069 11399 10462 39070 11398 10461 39071 11403 10466 39072 11402 10465 39073 11398 10461 39074 11404 10467 39075 11400 10463 39076 11401 10464 39077 11405 10468 39078 11400 10463 39079 11404 10467 39080 11406 10469 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11418 10484 39137 11420 167 39138 11417 10483 39139 11305 10487 39140 11281 10488 39141 11280 10486 39142 11419 10485 39143 11421 10489 39144 11281 10488 39145 11419 10485 39146 11422 10490 39147 11420 167 39148 11305 10487 39149 11423 10491 39150 11420 167 39151 11422 10490 39152 11424 10492 39153 11281 10488 39154 11421 10489 39155 11282 10493 39156 11281 10488 39157 11424 10492 39158 11425 10494 39159 11423 10491 39160 11422 10490 39161 11425 10494 39162 11426 10495 39163 11423 10491 39164 11427 10496 39165 11282 10493 39166 11424 10492 39167 11427 10496 39168 11424 10492 39169 11428 167 39170 11429 10497 39171 11426 10495 39172 11425 10494 39173 11429 10497 39174 11430 10498 39175 11426 10495 39176 11431 167 39177 11427 10496 39178 11428 167 39179 11432 167 39180 11427 10496 39181 11431 167 39182 11433 10499 39183 11430 10498 39184 11429 10497 39185 11434 10500 39186 11433 10499 39187 11429 10497 39188 11435 10501 39189 11432 167 39190 11431 167 39191 11435 10501 39192 11431 167 39193 11436 10502 39194 11437 10503 39195 11433 10499 39196 11434 10500 39197 11437 10503 39198 11438 10504 39199 11433 10499 39200 11283 10505 39201 11435 10501 39202 11436 10502 39203 11283 10505 39204 11436 10502 39205 11439 167 39206 11440 10506 39207 11438 10504 39208 11437 10503 39209 11441 167 39210 11440 10506 39211 11437 10503 39212 11442 10507 39213 11283 10505 39214 11439 167 39215 11442 10507 39216 11439 167 39217 11443 10508 39218 11304 10509 39219 11444 10510 39220 11440 10506 39221 11304 10509 39222 11440 10506 39223 11441 167 39224 11284 10511 39225 11442 10507 39226 11443 10508 39227 11284 10511 39228 11443 10508 39229 11445 10512 39230 11446 10513 39231 11444 10510 39232 11304 10509 39233 11446 10513 39234 11447 10514 39235 11444 10510 39236 11448 10515 39237 11284 10511 39238 11445 10512 39239 11448 10515 39240 11445 10512 39241 11449 10516 39242 11450 10517 39243 11451 10518 39244 11447 10514 39245 11450 10517 39246 11447 10514 39247 11446 10513 39248 11452 10519 39249 11448 10515 39250 11449 10516 39251 11285 10520 39252 11448 10515 39253 11452 10519 39254 11453 10521 39255 11451 10518 39256 11450 10517 39257 11303 167 39258 11453 10521 39259 11450 10517 39260 11454 10522 39261 11452 10519 39262 11455 167 39263 11454 10522 39264 11285 10520 39265 11452 10519 39266 11456 10523 39267 11457 10524 39268 11453 10521 39269 11456 10523 39270 11453 10521 39271 11303 167 39272 11286 10525 39273 11454 10522 39274 11455 167 39275 11286 10525 39276 11455 167 39277 11458 10526 39278 11459 10527 39279 11460 167 39280 11457 10524 39281 11459 10527 39282 11457 10524 39283 11456 10523 39284 11461 10528 39285 11460 167 39286 11459 10527 39287 11462 10529 39288 11458 10526 39289 11463 167 39290 11462 10529 39291 11286 10525 39292 11458 10526 39293 11464 10530 39294 11461 10528 39295 11459 10527 39296 11287 10531 39297 11462 10529 39298 11463 167 39299 11287 10531 39300 11463 167 39301 11465 10532 39302 11466 10533 39303 11287 10531 39304 11465 10532 39305 11467 10534 39306 11461 10528 39307 11464 10530 39308 11467 10534 39309 11468 10535 39310 11461 10528 39311 11469 10536 39312 11468 10535 39313 11467 10534 39314 11470 10537 39315 11287 10531 39316 11466 10533 39317 11471 10538 39318 11469 10536 39319 11467 10534 39320 11288 10539 39321 11470 10537 39322 11466 10533 39323 11288 10539 39324 11466 10533 39325 11472 10540 39326 11302 10541 39327 11469 10536 39328 11471 10538 39329 11302 10541 39330 11473 10542 39331 11469 10536 39332 11289 10543 39333 11288 10539 39334 11472 10540 39335 11289 10543 39336 11472 10540 39337 11474 10544 39338 11475 10545 39339 11473 10542 39340 11302 10541 39341 11475 10545 39342 11476 10546 39343 11473 10542 39344 11477 10547 39345 11289 10543 39346 11474 10544 39347 11477 10547 39348 11474 10544 39349 11478 10548 39350 11301 10549 39351 11479 10550 39352 11476 10546 39353 11301 10549 39354 11476 10546 39355 11475 10545 39356 11290 10551 39357 11477 10547 39358 11478 10548 39359 11290 10551 39360 11478 10548 39361 11480 10552 39362 11481 10553 39363 11479 10550 39364 11301 10549 39365 11481 10553 39366 11482 10554 39367 11479 10550 39368 11483 10555 39369 11290 10551 39370 11480 10552 39371 11483 10555 39372 11484 10556 39373 11485 167 39374 11483 10555 39375 11480 10552 39376 11484 10556 39377 11486 10557 39378 11487 10558 39379 11482 10554 39380 11486 10557 39381 11482 10554 39382 11481 10553 39383 11488 167 39384 11483 10555 39385 11485 167 39386 11300 10559 39387 11489 10560 39388 11487 10558 39389 11300 10559 39390 11490 10561 39391 11489 10560 39392 11300 10559 39393 11487 10558 39394 11486 10557 39395 11491 167 39396 11485 167 39397 11492 167 39398 11491 167 39399 11488 167 39400 11485 167 39401 11299 167 39402 11490 10561 39403 11300 10559 39404 11493 10562 39405 11492 167 39406 11494 10563 39407 11493 10562 39408 11491 167 39409 11492 167 39410 11495 10564 39411 11496 10565 39412 11490 10561 39413 11495 10564 39414 11497 10566 39415 11496 10565 39416 11495 10564 39417 11490 10561 39418 11299 167 39419 11498 10567 39420 11499 10568 39421 11500 10569 39422 11498 10567 39423 11494 10563 39424 11499 10568 39425 11498 10567 39426 11493 10562 39427 11494 10563 39428 11501 167 39429 11497 10566 39430 11495 10564 39431 11291 10570 39432 11498 10567 39433 11500 10569 39434 11298 10571 39435 11502 10572 39436 11497 10566 39437 11298 10571 39438 11503 10573 39439 11502 10572 39440 11298 10571 39441 11497 10566 39442 11501 167 39443 11504 10574 39444 11500 10569 39445 11505 167 39446 11504 10574 39447 11291 10570 39448 11500 10569 39449 11506 167 39450 11503 10573 39451 11298 10571 39452 11507 10575 39453 11504 10574 39454 11505 167 39455 11507 10575 39456 11508 167 39457 11509 10576 39458 11507 10575 39459 11505 167 39460 11508 167 39461 11297 167 39462 11503 10573 39463 11506 167 39464 11297 167 39465 11510 167 39466 11503 10573 39467 11511 10577 39468 11509 10576 39469 11512 10578 39470 11511 10577 39471 11507 10575 39472 11509 10576 39473 11513 167 39474 11510 167 39475 11297 167 39476 11513 167 39477 11514 167 39478 11510 167 39479 11292 10579 39480 11511 10577 39481 11512 10578 39482 11515 167 39483 11516 167 39484 11514 167 39485 11515 167 39486 11514 167 39487 11513 167 39488 11517 167 39489 11292 10579 39490 11512 10578 39491 11517 167 39492 11512 10578 39493 11518 167 39494 11296 167 39495 11516 167 39496 11515 167 39497 11296 167 39498 11519 167 39499 11516 167 39500 11293 10580 39501 11517 167 39502 11518 167 39503 11293 10580 39504 11518 167 39505 11520 10581 39506 11521 167 39507 11519 167 39508 11296 167 39509 11521 167 39510 11522 167 39511 11519 167 39512 11521 167 39513 11523 167 39514 11522 167 39515 11294 10582 39516 11524 10583 39517 11525 10584 39518 11294 10582 39519 11520 10581 39520 11524 10583 39521 11294 10582 39522 11293 10580 39523 11520 10581 39524 11526 167 39525 11523 167 39526 11521 167 39527 11295 10585 39528 11294 10582 39529 11525 10584 39530 11295 10585 39531 11525 10584 39532 11523 167 39533 11295 10585 39534 11523 167 39535 11526 167 39536 11529 10586 39537 11636 10587 39538 11637 10588 39539 11530 174 39540 11529 10586 39541 11637 10588 39542 11531 10589 39543 11530 174 39544 11637 10588 39545 11635 10590 39546 11531 10589 39547 11637 10588 39548 11532 10591 39549 11637 10588 39550 11638 10592 39551 11532 10591 39552 11533 10593 39553 11635 10590 39554 11532 10591 39555 11635 10590 39556 11637 10588 39557 11634 10594 39558 11532 10591 39559 11638 10592 39560 11534 10595 39561 11634 10594 39562 11638 10592 39563 11633 10596 39564 11638 10592 39565 11535 10597 39566 11633 10596 39567 11534 10595 39568 11638 10592 39569 11536 10598 39570 11537 174 39571 11632 10599 39572 11630 10600 39573 11631 10601 39574 11536 10598 39575 11538 10602 39576 11630 10600 39577 11536 10598 39578 11629 174 39579 11538 10602 39580 11536 10598 39581 11628 10603 39582 11539 10604 39583 11540 10605 39584 11628 10603 39585 11632 10599 39586 11539 10604 39587 11628 10603 39588 11536 10598 39589 11632 10599 39590 11628 10603 39591 11629 174 39592 11536 10598 39593 11541 10606 39594 11540 10605 39595 11633 10596 39596 11541 10606 39597 11628 10603 39598 11540 10605 39599 11542 10607 39600 11543 10608 39601 11541 10606 39602 11542 10607 39603 11544 10609 39604 11543 10608 39605 11542 10607 39606 11541 10606 39607 11633 10596 39608 11545 10610 39609 11542 10607 39610 11633 10596 39611 11546 10611 39612 11547 10612 39613 11548 10613 39614 11549 10614 39615 11545 10610 39616 11633 10596 39617 11550 10615 39618 11546 10611 39619 11551 10616 39620 11550 10615 39621 11547 10612 39622 11546 10611 39623 11640 10617 39624 11550 10615 39625 11639 174 39626 11641 10618 39627 11550 10615 39628 11640 10617 39629 11642 10619 39630 11550 10615 39631 11641 10618 39632 11644 10620 39633 11550 10615 39634 11642 10619 39635 11644 10620 39636 11642 10619 39637 11643 10621 39638 11626 10622 39639 11552 10623 39640 11549 10614 39641 11626 10622 39642 11553 10624 39643 11552 10623 39644 11625 10625 39645 11626 10622 39646 11549 10614 39647 11645 10626 39648 11547 10612 39649 11550 10615 39650 11645 10626 39651 11550 10615 39652 11644 10620 39653 11645 10626 39654 11644 10620 39655 11554 10627 39656 11555 174 39657 11547 10612 39658 11645 10626 39659 11627 10628 39660 11625 10625 39661 11549 10614 39662 11556 10629 39663 11547 10612 39664 11555 174 39665 11599 10630 39666 11535 10597 39667 11557 10631 39668 11599 10630 39669 11627 10628 39670 11549 10614 39671 11599 10630 39672 11633 10596 39673 11535 10597 39674 11599 10630 39675 11549 10614 39676 11633 10596 39677 11646 10632 39678 11556 10629 39679 11558 10633 39680 11559 10634 39681 11556 10629 39682 11646 10632 39683 11647 10635 39684 11547 10612 39685 11556 10629 39686 11647 10635 39687 11556 10629 39688 11559 10634 39689 11648 10636 39690 11560 10637 39691 11561 10638 39692 11648 10636 39693 11647 10635 39694 11560 10637 39695 11562 10639 39696 11647 10635 39697 11648 10636 39698 11649 10640 39699 11647 10635 39700 11562 10639 39701 11649 10640 39702 11562 10639 39703 11563 174 39704 11650 10641 39705 11649 10640 39706 11564 10642 39707 11651 174 39708 11647 10635 39709 11649 10640 39710 11651 174 39711 11649 10640 39712 11650 10641 39713 11652 10643 39714 11651 174 39715 11565 174 39716 11653 10644 39717 11652 10643 39718 11566 10645 39719 11653 10644 39720 11647 10635 39721 11651 174 39722 11653 10644 39723 11651 174 39724 11652 10643 39725 11567 174 39726 11647 10635 39727 11653 10644 39728 11568 10646 39729 11647 10635 39730 11567 174 39731 11569 10647 39732 11568 10646 39733 11654 10648 39734 11570 10649 39735 11547 10612 39736 11647 10635 39737 11570 10649 39738 11647 10635 39739 11568 10646 39740 11570 10649 39741 11568 10646 39742 11569 10647 39743 11571 174 39744 11655 174 39745 11656 174 39746 11571 174 39747 11570 10649 39748 11655 174 39749 11572 174 39750 11570 10649 39751 11571 174 39752 11598 174 39753 11570 10649 39754 11572 174 39755 11573 10650 39756 11570 10649 39757 11598 174 39758 11595 10651 39759 11597 10652 39760 11596 10653 39761 11595 10651 39762 11573 10650 39763 11597 10652 39764 11594 10654 39765 11557 10631 39766 11547 10612 39767 11594 10654 39768 11547 10612 39769 11570 10649 39770 11594 10654 39771 11570 10649 39772 11573 10650 39773 11594 10654 39774 11573 10650 39775 11595 10651 39776 11622 10655 39777 11623 10656 39778 11574 10657 39779 11622 10655 39780 11624 174 39781 11623 10656 39782 11620 10658 39783 11575 10659 39784 11622 10655 39785 11620 10658 39786 11621 174 39787 11575 10659 39788 11576 10660 39789 11620 10658 39790 11622 10655 39791 11619 10661 39792 11622 10655 39793 11574 10657 39794 11619 10661 39795 11576 10660 39796 11622 10655 39797 11617 10662 39798 11619 10661 39799 11574 10657 39800 11617 10662 39801 11618 10663 39802 11619 10661 39803 11577 10664 39804 11578 10665 39805 11617 10662 39806 11579 10666 39807 11577 10664 39808 11617 10662 39809 11593 10667 39810 11599 10630 39811 11557 10631 39812 11593 10667 39813 11574 10657 39814 11599 10630 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174 39871 11611 10681 39872 11586 10684 39873 11615 10671 39874 11580 10668 39875 11586 10684 39876 11611 10681 39877 11615 10671 39878 11586 10684 39879 11580 10668 39880 11584 10678 39881 11603 10685 39882 11602 10686 39883 11588 10687 39884 11603 10685 39885 11600 10682 39886 11602 10686 39887 11609 10688 39888 11610 10689 39889 11586 10684 39890 11589 10690 39891 11584 10678 39892 11600 10682 39893 11589 10690 39894 11600 10682 39895 11603 10685 39896 11607 10691 39897 11608 174 39898 11609 10688 39899 11604 10692 39900 11589 10690 39901 11590 174 39902 11604 10692 39903 11584 10678 39904 11589 10690 39905 11606 10693 39906 11609 10688 39907 11586 10684 39908 11606 10693 39909 11607 10691 39910 11609 10688 39911 11605 10694 39912 11586 10684 39913 11584 10678 39914 11605 10694 39915 11584 10678 39916 11604 10692 39917 11605 10694 39918 11606 10693 39919 11586 10684 39920 11701 10695 39921 11694 10696 39922 11702 174 39923 11703 10697 39924 11701 10695 39925 11695 10698 39926 11696 10699 39927 11703 10697 39928 11704 10700 39929 11705 10701 39930 11694 10696 39931 11701 10695 39932 11705 10701 39933 11701 10695 39934 11703 10697 39935 11705 10701 39936 11703 10697 39937 11696 10699 39938 11699 10702 39939 11698 10703 39940 11700 10704 39941 11699 10702 39942 11697 10705 39943 11698 10703 39944 11699 10702 39945 11705 10701 39946 11697 10705 39947 11699 10702 39948 11694 10696 39949 11705 10701 39950 11693 10706 39951 11694 10696 39952 11699 10702 39953 11769 10707 39954 11694 10696 39955 11693 10706 39956 11706 10708 39957 11707 174 39958 11769 10707 39959 11679 10709 39960 11708 10710 39961 11706 10708 39962 11678 10711 39963 11709 10712 39964 11679 10709 39965 11677 10713 39966 11679 10709 39967 11706 10708 39968 11677 10713 39969 11678 10711 39970 11679 10709 39971 11710 10714 39972 11677 10713 39973 11706 10708 39974 11676 10715 39975 11710 10714 39976 11706 10708 39977 11711 10716 39978 11676 10715 39979 11706 10708 39980 11675 10717 39981 11712 10718 39982 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11683 174 40039 11684 174 40040 11729 174 40041 11726 10737 40042 11722 10733 40043 11730 10739 40044 11729 174 40045 11722 10733 40046 11730 10739 40047 11722 10733 40048 11706 10708 40049 11731 174 40050 11683 174 40051 11728 174 40052 11731 174 40053 11728 174 40054 11685 174 40055 11732 174 40056 11733 174 40057 11730 10739 40058 11732 174 40059 11734 174 40060 11733 174 40061 11686 174 40062 11724 10735 40063 11683 174 40064 11686 174 40065 11683 174 40066 11731 174 40067 11686 174 40068 11731 174 40069 11735 174 40070 11736 174 40071 11732 174 40072 11730 10739 40073 11737 174 40074 11724 10735 40075 11686 174 40076 11670 10740 40077 11736 174 40078 11730 10739 40079 11738 174 40080 11724 10735 40081 11737 174 40082 11687 10741 40083 11724 10735 40084 11738 174 40085 11739 10742 40086 11740 174 40087 11670 10740 40088 11741 10743 40089 11718 10729 40090 11724 10735 40091 11741 10743 40092 11724 10735 40093 11687 10741 40094 11741 10743 40095 11680 10728 40096 11718 10729 40097 11668 10744 40098 11742 10745 40099 11743 10746 40100 11668 10744 40101 11743 10746 40102 11669 10747 40103 11744 174 40104 11741 10743 40105 11745 174 40106 11667 174 40107 11746 174 40108 11668 10744 40109 11667 174 40110 11668 10744 40111 11669 10747 40112 11747 10748 40113 11680 10728 40114 11741 10743 40115 11747 10748 40116 11741 10743 40117 11744 174 40118 11747 10748 40119 11716 10724 40120 11680 10728 40121 11666 10749 40122 11667 174 40123 11669 10747 40124 11666 10749 40125 11669 10747 40126 11739 10742 40127 11748 174 40128 11666 10749 40129 11739 10742 40130 11749 174 40131 11748 174 40132 11739 10742 40133 11688 10750 40134 11716 10724 40135 11747 10748 40136 11663 10751 40137 11750 174 40138 11749 174 40139 11663 10751 40140 11664 174 40141 11750 174 40142 11663 10751 40143 11670 10740 40144 11730 10739 40145 11663 10751 40146 11739 10742 40147 11670 10740 40148 11663 10751 40149 11749 174 40150 11739 10742 40151 11665 10752 40152 11663 10751 40153 11730 10739 40154 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40210 11658 10768 40211 11762 10770 40212 11657 10763 40213 11659 10769 40214 11762 10770 40215 11659 10769 40216 11763 10771 40217 11762 10770 40218 11716 10724 40219 11657 10763 40220 11661 10772 40221 11660 10773 40222 11764 10774 40223 11661 10772 40224 11765 10775 40225 11660 10773 40226 11661 10772 40227 11762 10770 40228 11765 10775 40229 11766 10776 40230 11693 10706 40231 11716 10724 40232 11766 10776 40233 11769 10707 40234 11693 10706 40235 11766 10776 40236 11751 10753 40237 11769 10707 40238 11767 10777 40239 11762 10770 40240 11661 10772 40241 11768 10778 40242 11716 10724 40243 11762 10770 40244 11768 10778 40245 11766 10776 40246 11716 10724 40247 11768 10778 40248 11762 10770 40249 11767 10777 40250 11768 10778 40251 11662 174 40252 11766 10776 40253 11837 10779 40254 11820 10780 40255 11838 174 40256 11818 10781 40257 11819 174 40258 11820 10780 40259 11821 10782 40260 11837 10779 40261 11839 174 40262 11821 10782 40263 11820 10780 40264 11837 10779 40265 11817 10783 40266 11840 10784 40267 11818 10781 40268 11816 10785 40269 11818 10781 40270 11820 10780 40271 11816 10785 40272 11820 10780 40273 11821 10782 40274 11816 10785 40275 11817 10783 40276 11818 10781 40277 11824 10786 40278 11822 174 40279 11823 174 40280 11824 10786 40281 11821 10782 40282 11822 174 40283 11825 10787 40284 11824 10786 40285 11841 10788 40286 11825 10787 40287 11821 10782 40288 11824 10786 40289 11825 10787 40290 11816 10785 40291 11821 10782 40292 11813 10789 40293 11814 10790 40294 11815 10791 40295 11842 10792 40296 11825 10787 40297 11826 10793 40298 11812 10794 40299 11843 174 40300 11816 10785 40301 11812 10794 40302 11815 10791 40303 11843 174 40304 11812 10794 40305 11813 10789 40306 11815 10791 40307 11827 10795 40308 11825 10787 40309 11842 10792 40310 11810 174 40311 11811 174 40312 11812 10794 40313 11809 10796 40314 11810 174 40315 11812 10794 40316 11809 10796 40317 11812 10794 40318 11816 10785 40319 11844 10797 40320 11828 10798 40321 11845 10799 40322 11844 10797 40323 11827 10795 40324 11828 10798 40325 11844 10797 40326 11825 10787 40327 11827 10795 40328 11830 10800 40329 11844 10797 40330 11829 174 40331 11831 10801 40332 11830 10800 40333 11846 10802 40334 11831 10801 40335 11844 10797 40336 11830 10800 40337 11847 10803 40338 11831 10801 40339 11848 174 40340 11849 10804 40341 11831 10801 40342 11847 10803 40343 11832 10805 40344 11844 10797 40345 11831 10801 40346 11832 10805 40347 11831 10801 40348 11849 10804 40349 11834 10806 40350 11832 10805 40351 11833 10807 40352 11850 10808 40353 11851 10809 40354 11852 10810 40355 11850 10808 40356 11834 10806 40357 11851 10809 40358 11850 10808 40359 11832 10805 40360 11834 10806 40361 11850 10808 40362 11816 10785 40363 11825 10787 40364 11850 10808 40365 11825 10787 40366 11844 10797 40367 11850 10808 40368 11844 10797 40369 11832 10805 40370 11853 10811 40371 11836 10812 40372 11854 10813 40373 11853 10811 40374 11835 174 40375 11836 10812 40376 11853 10811 40377 11850 10808 40378 11835 174 40379 11853 10811 40380 11816 10785 40381 11850 10808 40382 11853 10811 40383 11855 10814 40384 11809 10796 40385 11853 10811 40386 11856 10815 40387 11855 10814 40388 11853 10811 40389 11809 10796 40390 11816 10785 40391 11808 174 40392 11856 10815 40393 11853 10811 40394 11857 10816 40395 11858 174 40396 11859 10817 40397 11860 10818 40398 11861 10819 40399 11857 10816 40400 11862 10820 40401 11860 10818 40402 11857 10816 40403 11863 10821 40404 11859 10817 40405 11856 10815 40406 11863 10821 40407 11856 10815 40408 11808 174 40409 11807 10822 40410 11864 174 40411 11862 10820 40412 11806 10823 40413 11857 10816 40414 11859 10817 40415 11806 10823 40416 11862 10820 40417 11857 10816 40418 11806 10823 40419 11807 10822 40420 11862 10820 40421 11865 10824 40422 11779 10825 40423 11866 174 40424 11865 10824 40425 11863 10821 40426 11779 10825 40427 11867 10826 40428 11806 10823 40429 11859 10817 40430 11867 10826 40431 11805 10827 40432 11806 10823 40433 11867 10826 40434 11804 10828 40435 11805 10827 40436 11867 10826 40437 11868 174 40438 11804 10828 40439 11869 10829 40440 11863 10821 40441 11865 10824 40442 11869 10829 40443 11865 10824 40444 11870 174 40445 11780 10830 40446 11863 10821 40447 11869 10829 40448 11802 10831 40449 11803 10832 40450 11867 10826 40451 11801 10833 40452 11802 10831 40453 11867 10826 40454 11871 10834 40455 11780 10830 40456 11872 174 40457 11873 10835 40458 11801 10833 40459 11867 10826 40460 11873 10835 40461 11800 174 40462 11801 10833 40463 11781 10836 40464 11780 10830 40465 11871 10834 40466 11799 174 40467 11873 10835 40468 11867 10826 40469 11783 10837 40470 11781 10836 40471 11782 10838 40472 11783 10837 40473 11780 10830 40474 11781 10836 40475 11784 10839 40476 11863 10821 40477 11780 10830 40478 11784 10839 40479 11780 10830 40480 11783 10837 40481 11798 174 40482 11874 174 40483 11875 174 40484 11798 174 40485 11799 174 40486 11867 10826 40487 11798 174 40488 11875 174 40489 11799 174 40490 11797 174 40491 11798 174 40492 11867 10826 40493 11876 10840 40494 11797 174 40495 11867 10826 40496 11876 10840 40497 11867 10826 40498 11859 10817 40499 11796 10841 40500 11876 10840 40501 11859 10817 40502 11770 10842 40503 11785 174 40504 11877 174 40505 11770 10842 40506 11784 10839 40507 11785 174 40508 11770 10842 40509 11863 10821 40510 11784 10839 40511 11795 10843 40512 11878 10844 40513 11796 10841 40514 11879 10845 40515 11795 10843 40516 11796 10841 40517 11772 10846 40518 11880 10847 40519 11771 174 40520 11772 10846 40521 11770 10842 40522 11880 10847 40523 11772 10846 40524 11863 10821 40525 11770 10842 40526 11881 174 40527 11772 10846 40528 11882 174 40529 11883 10848 40530 11863 10821 40531 11772 10846 40532 11883 10848 40533 11772 10846 40534 11881 174 40535 11884 10849 40536 11794 10850 40537 11879 10845 40538 11884 10849 40539 11793 10851 40540 11794 10850 40541 11792 10852 40542 11879 10845 40543 11796 10841 40544 11792 10852 40545 11884 10849 40546 11879 10845 40547 11774 10853 40548 11883 10848 40549 11773 10854 40550 11775 10855 40551 11883 10848 40552 11774 10853 40553 11775 10855 40554 11774 10853 40555 11885 10856 40556 11791 10857 40557 11886 174 40558 11792 10852 40559 11791 10857 40560 11792 10852 40561 11796 10841 40562 11777 174 40563 11883 10848 40564 11775 10855 40565 11777 174 40566 11775 10855 40567 11776 174 40568 11887 10858 40569 11863 10821 40570 11883 10848 40571 11887 10858 40572 11859 10817 40573 11863 10821 40574 11887 10858 40575 11883 10848 40576 11777 174 40577 11887 10858 40578 11778 10859 40579 11888 10860 40580 11887 10858 40581 11777 174 40582 11778 10859 40583 11889 10861 40584 11890 174 40585 11791 10857 40586 11891 10862 40587 11892 10863 40588 11889 10861 40589 11790 10864 40590 11889 10861 40591 11791 10857 40592 11790 10864 40593 11891 10862 40594 11889 10861 40595 11893 10865 40596 11789 174 40597 11790 10864 40598 11893 10865 40599 11894 174 40600 11789 174 40601 11893 10865 40602 11791 10857 40603 11796 10841 40604 11893 10865 40605 11790 10864 40606 11791 10857 40607 11895 174 40608 11786 174 40609 11787 10866 40610 11896 10867 40611 11788 10868 40612 11893 10865 40613 11896 10867 40614 11787 10866 40615 11788 10868 40616 11896 10867 40617 11895 174 40618 11787 10866 40619 11897 10869 40620 11859 10817 40621 11887 10858 40622 11898 10870 40623 11893 10865 40624 11796 10841 40625 11898 10870 40626 11859 10817 40627 11897 10869 40628 11898 10870 40629 11896 10867 40630 11893 10865 40631 11898 10870 40632 11796 10841 40633 11859 10817 40634 11899 10871 40635 11900 10872 40636 11991 10873 40637 11899 10871 40638 12006 174 40639 11900 10872 40640 11899 10871 40641 11901 174 40642 12006 174 40643 11902 10874 40644 11903 10875 40645 11899 10871 40646 11902 10874 40647 11899 10871 40648 11991 10873 40649 11904 10876 40650 12004 174 40651 11905 10877 40652 12002 174 40653 12003 174 40654 11904 10876 40655 11906 10878 40656 12005 10879 40657 11902 10874 40658 11906 10878 40659 11905 10877 40660 12005 10879 40661 11906 10878 40662 11904 10876 40663 11905 10877 40664 11906 10878 40665 12002 174 40666 11904 10876 40667 12001 10880 40668 11906 10878 40669 11902 10874 40670 12000 10881 40671 11907 10882 40672 12001 10880 40673 12000 10881 40674 11902 10874 40675 11991 10873 40676 12000 10881 40677 12001 10880 40678 11902 10874 40679 11908 10883 40680 11909 10884 40681 12000 10881 40682 11908 10883 40683 11910 10885 40684 11909 10884 40685 11911 10886 40686 12000 10881 40687 11991 10873 40688 11911 10886 40689 11908 10883 40690 12000 10881 40691 11912 10887 40692 11913 174 40693 11911 10886 40694 11914 10888 40695 11912 10887 40696 11911 10886 40697 11914 10888 40698 11999 10889 40699 11912 10887 40700 11914 10888 40701 11998 174 40702 11999 10889 40703 11915 10890 40704 11914 10888 40705 11911 10886 40706 11915 10890 40707 11911 10886 40708 11991 10873 40709 11916 10891 40710 11996 10892 40711 11997 10893 40712 11917 10894 40713 11915 10890 40714 11991 10873 40715 11917 10894 40716 11997 10893 40717 11915 10890 40718 11917 10894 40719 11916 10891 40720 11997 10893 40721 11918 10895 40722 11919 10896 40723 11917 10894 40724 11920 10897 40725 11917 10894 40726 11991 10873 40727 11920 10897 40728 11921 10898 40729 11918 10895 40730 11920 10897 40731 11922 10899 40732 11921 10898 40733 11920 10897 40734 11918 10895 40735 11917 10894 40736 11995 10900 40737 11923 10901 40738 11920 10897 40739 11924 10902 40740 11920 10897 40741 11991 10873 40742 11924 10902 40743 11925 10903 40744 11995 10900 40745 11924 10902 40746 11995 10900 40747 11920 10897 40748 11926 174 40749 11927 174 40750 11924 10902 40751 11994 10904 40752 11926 174 40753 11924 10902 40754 12015 10905 40755 11973 10906 40756 11974 10907 40757 12015 10905 40758 11972 10908 40759 11973 10906 40760 12015 10905 40761 11928 10909 40762 11972 10908 40763 12015 10905 40764 11971 10910 40765 11928 10909 40766 12015 10905 40767 11970 10911 40768 11971 10910 40769 12015 10905 40770 11969 10912 40771 11970 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73633 22787 167 73634 22633 21357 73635 22862 21337 73636 22851 21329 73637 22633 21357 73638 22851 21329 73639 22551 21343 73640 22633 21357 73641 22551 21343 73642 22786 21355 73643 22632 21358 73644 22862 21337 73645 22633 21357 73646 22631 21359 73647 22862 21337 73648 22632 21358 73649 22785 21360 73650 22862 21337 73651 22631 21359 73652 22647 21361 73653 22497 167 73654 22854 21345 73655 22630 21362 73656 22862 21337 73657 22785 21360 73658 22784 21363 73659 22862 21337 73660 22630 21362 73661 22783 21364 73662 22862 21337 73663 22784 21363 73664 22845 21365 73665 22616 21344 73666 22844 21334 73667 22845 21365 73668 22617 21366 73669 22616 21344 73670 22845 21365 73671 22618 21367 73672 22617 21366 73673 22845 21365 73674 22619 21368 73675 22618 21367 73676 22845 21365 73677 22755 21369 73678 22619 21368 73679 22845 21365 73680 22620 21370 73681 22755 21369 73682 22845 21365 73683 22756 21371 73684 22620 21370 73685 22584 21372 73686 22783 21364 73687 22782 167 73688 22584 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22561 21431 73915 22562 167 73916 22861 21434 73917 22760 21435 73918 22629 21436 73919 22861 21434 73920 22625 21437 73921 22760 21435 73922 22861 21434 73923 22761 21410 73924 22625 21437 73925 22861 21434 73926 22636 21428 73927 22778 21426 73928 22861 21434 73929 22774 21409 73930 22761 21410 73931 22861 21434 73932 22779 21438 73933 22774 21409 73934 22861 21434 73935 22716 21439 73936 22779 21438 73937 22861 21434 73938 22717 21440 73939 22716 21439 73940 22861 21434 73941 22780 21441 73942 22717 21440 73943 22861 21434 73944 22781 21442 73945 22780 21441 73946 22861 21434 73947 22778 21426 73948 22781 21442 73949 22563 21443 73950 22653 21433 73951 22562 167 73952 22523 21444 73953 22857 21414 73954 22677 21432 73955 22502 21445 73956 22563 21443 73957 22564 21446 73958 22502 21445 73959 22653 21433 73960 22563 21443 73961 22676 21447 73962 22857 21414 73963 22523 21444 73964 22848 21448 73965 22636 21428 73966 22861 21434 73967 22848 21448 73968 22793 21449 73969 22636 21428 73970 22848 21448 73971 22637 21450 73972 22793 21449 73973 22848 21448 73974 22638 21451 73975 22637 21450 73976 22848 21448 73977 22639 21452 73978 22638 21451 73979 22848 21448 73980 22640 21453 73981 22639 21452 73982 22848 21448 73983 22641 21454 73984 22640 21453 73985 22654 21455 73986 22800 21456 73987 22801 21457 73988 22654 21455 73989 22564 21446 73990 22800 21456 73991 22654 21455 73992 22502 21445 73993 22564 21446 73994 22833 21458 73995 22641 21454 73996 22848 21448 73997 22833 21458 73998 22832 21459 73999 22641 21454 74000 22718 167 74001 22833 21458 74002 22848 21448 74003 22655 21460 74004 22802 21461 74005 22803 21462 74006 22655 21460 74007 22801 21457 74008 22802 21461 74009 22655 21460 74010 22654 21455 74011 22801 21457 74012 22834 167 74013 22718 167 74014 22848 21448 74015 22835 21463 74016 22834 167 74017 22848 21448 74018 22859 21464 74019 22685 21465 74020 22857 21414 74021 22859 21464 74022 22676 21447 74023 22522 21466 74024 22859 21464 74025 22857 21414 74026 22676 21447 74027 22675 167 74028 22859 21464 74029 22522 21466 74030 22683 21467 74031 22861 21434 74032 22684 21468 74033 22683 21467 74034 22848 21448 74035 22861 21434 74036 22503 21469 74037 22804 21470 74038 22565 21471 74039 22503 21469 74040 22803 21462 74041 22804 21470 74042 22503 21469 74043 22655 21460 74044 22803 21462 74045 22521 21472 74046 22859 21464 74047 22675 167 74048 22656 21473 74049 22503 21469 74050 22565 21471 74051 22656 21473 74052 22805 21474 74053 22566 21475 74054 22656 21473 74055 22565 21471 74056 22805 21474 74057 22674 21476 74058 22859 21464 74059 22521 21472 74060 22504 21477 74061 22806 21478 74062 22807 21479 74063 22504 21477 74064 22566 21475 74065 22806 21478 74066 22504 21477 74067 22656 21473 74068 22566 21475 74069 22673 167 74070 22859 21464 74071 22674 21476 74072 22505 21480 74073 22807 21479 74074 22808 21481 74075 22505 21480 74076 22504 21477 74077 22807 21479 74078 22860 21482 74079 22837 21483 74080 22836 21484 74081 22860 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109698 29767 26809 109699 29776 26818 109700 29789 26831 109701 29780 26822 109702 29767 26809 109703 29790 26832 109704 29781 26823 109705 29768 26810 109706 29790 26832 109707 29768 26810 109708 29777 26819 109709 29791 26833 109710 29770 26812 109711 29779 26821 109712 29791 26833 109713 29783 26825 109714 29770 26812 109715 29792 26834 109716 29784 26826 109717 29780 26822 109718 29793 26835 109719 29772 26814 109720 29781 26823 109721 29793 26835 109722 29785 26827 109723 29772 26814 109724 29794 26836 109725 29292 26335 109726 29296 26339 109727 29794 26836 109728 29782 26824 109729 29292 26335 109730 29794 26836 109731 29786 26828 109732 29773 26815 109733 29794 26836 109734 29773 26815 109735 29782 26824 109736 29795 26837 109737 29774 26816 109738 29783 26825 109739 29795 26837 109740 29626 26668 109741 29787 26829 109742 29795 26837 109743 29787 26829 109744 29774 26816 109745 29796 26838 109746 29788 26830 109747 29775 26817 109748 29796 26838 109749 29775 26817 109750 29784 26826 109751 29797 26839 109752 29776 26818 109753 29785 26827 109754 29797 26839 109755 29789 26831 109756 29776 26818 109757 29798 26840 109758 29777 26819 109759 29786 26828 109760 29798 26840 109761 29790 26832 109762 29777 26819 109763 29799 26841 109764 29779 26821 109765 29788 26830 109766 29799 26841 109767 29788 26830 109768 29796 26838 109769 29799 26841 109770 29791 26833 109771 29779 26821 109772 29800 26842 109773 29780 26822 109774 29789 26831 109775 29800 26842 109776 29792 26834 109777 29780 26822 109778 29800 26842 109779 29789 26831 109780 29797 26839 109781 29801 26843 109782 29781 26823 109783 29790 26832 109784 29801 26843 109785 29793 26835 109786 29781 26823 109787 29802 26844 109788 29791 26833 109789 29799 26841 109790 29802 26844 109791 29627 26669 109792 29626 26668 109793 29802 26844 109794 29626 26668 109795 29795 26837 109796 29802 26844 109797 29783 26825 109798 29791 26833 109799 29802 26844 109800 29795 26837 109801 29783 26825 109802 29803 26845 109803 29784 26826 109804 29792 26834 109805 29803 26845 109806 29796 26838 109807 29784 26826 109808 29804 26846 109809 29785 26827 109810 29793 26835 109811 29804 26846 109812 29797 26839 109813 29785 26827 109814 29805 26847 109815 29296 26339 109816 29301 26344 109817 29805 26847 109818 29301 26344 109819 29309 26352 109820 29805 26847 109821 29794 26836 109822 29296 26339 109823 29805 26847 109824 29798 26840 109825 29786 26828 109826 29805 26847 109827 29786 26828 109828 29794 26836 109829 29806 26848 109830 29799 26841 109831 29796 26838 109832 29807 26849 109833 29800 26842 109834 29797 26839 109835 29808 26850 109836 29801 26843 109837 29790 26832 109838 29808 26850 109839 29790 26832 109840 29798 26840 109841 29808 26850 109842 29798 26840 109843 29805 26847 109844 29809 26851 109845 29627 26669 109846 29802 26844 109847 29809 26851 109848 29802 26844 109849 29799 26841 109850 29810 26852 109851 29792 26834 109852 29800 26842 109853 29810 26852 109854 29803 26845 109855 29792 26834 109856 29811 26853 109857 29793 26835 109858 29801 26843 109859 29811 26853 109860 29804 26846 109861 29793 26835 109862 29812 26854 109863 29803 26845 109864 29810 26852 109865 29812 26854 109866 29806 26848 109867 29796 26838 109868 29812 26854 109869 29796 26838 109870 29803 26845 109871 29813 26855 109872 29807 26849 109873 29797 26839 109874 29813 26855 109875 29797 26839 109876 29804 26846 109877 29814 26856 109878 29805 26847 109879 29309 26352 109880 29814 26856 109881 29309 26352 109882 29317 26360 109883 29814 26856 109884 29808 26850 109885 29805 26847 109886 29815 26857 109887 29627 26669 109888 29809 26851 109889 29815 26857 109890 29809 26851 109891 29799 26841 109892 29815 26857 109893 29628 26670 109894 29627 26669 109895 29815 26857 109896 29799 26841 109897 29806 26848 109898 29816 26858 109899 29810 26852 109900 29800 26842 109901 29816 26858 109902 29800 26842 109903 29807 26849 109904 29817 26859 109905 29801 26843 109906 29808 26850 109907 29817 26859 109908 29811 26853 109909 29801 26843 109910 29818 26860 109911 29812 26854 109912 29810 26852 109913 29818 26860 109914 29810 26852 109915 29816 26858 109916 29819 26861 109917 29804 26846 109918 29811 26853 109919 29819 26861 109920 29813 26855 109921 29804 26846 109922 29820 26862 109923 29815 26857 109924 29806 26848 109925 29820 26862 109926 29806 26848 109927 29812 26854 109928 29820 26862 109929 29628 26670 109930 29815 26857 109931 29820 26862 109932 29812 26854 109933 29818 26860 109934 29821 26863 109935 29816 26858 109936 29807 26849 109937 29821 26863 109938 29807 26849 109939 29813 26855 109940 29822 26864 109941 29817 26859 109942 29808 26850 109943 29822 26864 109944 29814 26856 109945 29317 26360 109946 29822 26864 109947 29808 26850 109948 29814 26856 109949 29823 26865 109950 29818 26860 109951 29816 26858 109952 29824 26866 109953 29819 26861 109954 29811 26853 109955 29824 26866 109956 29811 26853 109957 29817 26859 109958 29825 26867 109959 29629 26671 109960 29628 26670 109961 29825 26867 109962 29820 26862 109963 29818 26860 109964 29825 26867 109965 29628 26670 109966 29820 26862 109967 29825 26867 109968 29818 26860 109969 29823 26865 109970 29826 26868 109971 29813 26855 109972 29819 26861 109973 29826 26868 109974 29821 26863 109975 29813 26855 109976 29827 26869 109977 29816 26858 109978 29821 26863 109979 29827 26869 109980 29823 26865 109981 29816 26858 109982 29827 26869 109983 29821 26863 109984 29826 26868 109985 29828 26870 109986 29317 26360 109987 29328 26371 109988 29828 26870 109989 29822 26864 109990 29317 26360 109991 29828 26870 109992 29817 26859 109993 29822 26864 109994 29828 26870 109995 29824 26866 109996 29817 26859 109997 29829 26871 109998 29630 26672 109999 29629 26671 110000 29829 26871 110001 29629 26671 110002 29825 26867 110003 29829 26871 110004 29825 26867 110005 29823 26865 110006 29829 26871 110007 29823 26865 110008 29827 26869 110009 29830 26872 110010 29826 26868 110011 29819 26861 110012 29830 26872 110013 29819 26861 110014 29824 26866 110015 29831 26873 110016 29827 26869 110017 29826 26868 110018 29832 26874 110019 29630 26672 110020 29829 26871 110021 29832 26874 110022 29829 26871 110023 29827 26869 110024 29833 26875 110025 29828 26870 110026 29328 26371 110027 29833 26875 110028 29328 26371 110029 29339 26382 110030 29833 26875 110031 29824 26866 110032 29828 26870 110033 29833 26875 110034 29830 26872 110035 29824 26866 110036 29834 26876 110037 29831 26873 110038 29826 26868 110039 29834 26876 110040 29826 26868 110041 29830 26872 110042 29835 26877 110043 29827 26869 110044 29831 26873 110045 29835 26877 110046 29832 26874 110047 29827 26869 110048 29835 26877 110049 29630 26672 110050 29832 26874 110051 29835 26877 110052 29631 26673 110053 29630 26672 110054 29836 26878 110055 29830 26872 110056 29833 26875 110057 29836 26878 110058 29339 26382 110059 29340 26383 110060 29836 26878 110061 29833 26875 110062 29339 26382 110063 29836 26878 110064 29834 26876 110065 29830 26872 110066 29837 26879 110067 29831 26873 110068 29834 26876 110069 29837 26879 110070 29631 26673 110071 29835 26877 110072 29837 26879 110073 29835 26877 110074 29831 26873 110075 29838 26880 110076 29631 26673 110077 29837 26879 110078 29838 26880 110079 29837 26879 110080 29834 26876 110081 29838 26880 110082 29836 26878 110083 29340 26383 110084 29838 26880 110085 29340 26383 110086 29369 26412 110087 29838 26880 110088 29369 26412 110089 29368 26411 110090 29838 26880 110091 29368 26411 110092 29631 26673 110093 29838 26880 110094 29834 26876 110095 29836 26878 110096

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110149 29845 23593 110150 29856 23604 110151 29853 23601 110152 29857 23605 110153 29856 23604 110154 29852 23600 110155 29853 23601 110156 29858 23606 110157 29851 23599 110158 29850 23598 110159 29858 23606 110160 29859 23607 110161 29851 23599 110162 29860 23608 110163 29847 23595 110164 29852 23600 110165 29860 23608 110166 29854 23602 110167 29847 23595 110168 29861 23609 110169 29849 23597 110170 29854 23602 110171 29861 23609 110172 29855 23603 110173 29849 23597 110174 29862 23610 110175 29857 23605 110176 29863 23611 110177 29862 23610 110178 29856 23604 110179 29857 23605 110180 29864 23612 110181 29850 23598 110182 29855 23603 110183 29864 23612 110184 29858 23606 110185 29850 23598 110186 29865 23613 110187 29852 23600 110188 29856 23604 110189 29865 23613 110190 29860 23608 110191 29852 23600 110192 29866 23614 110193 29867 23615 110194 29859 23607 110195 29866 23614 110196 29859 23607 110197 29858 23606 110198 29868 23616 110199 29854 23602 110200 29860 23608 110201 29868 23616 110202 29861 23609 110203 29854 23602 110204 29869 23617 110205 29863 23611 110206 29870 23618 110207 29869 23617 110208 29862 23610 110209 29863 23611 110210 29871 23619 110211 29855 23603 110212 29861 23609 110213 29871 23619 110214 29864 23612 110215 29855 23603 110216 29872 23620 110217 29856 23604 110218 29862 23610 110219 29872 23620 110220 29865 23613 110221 29856 23604 110222 29873 23621 110223 29858 23606 110224 29864 23612 110225 29873 23621 110226 29866 23614 110227 29858 23606 110228 29874 23622 110229 29865 23613 110230 29872 23620 110231 29874 23622 110232 29868 23616 110233 29860 23608 110234 29874 23622 110235 29860 23608 110236 29865 23613 110237 29875 23623 110238 29869 23617 110239 29870 23618 110240 29875 23623 110241 29870 23618 110242 29876 23624 110243 29877 23625 110244 29878 23626 110245 29867 23615 110246 29877 23625 110247 29867 23615 110248 29866 23614 110249 29879 23627 110250 29861 23609 110251 29868 23616 110252 29879 23627 110253 29871 23619 110254 29861 23609 110255 29880 23628 110256 29862 23610 110257 29869 23617 110258 29880 23628 110259 29872 23620 110260 29862 23610 110261 29881 23629 110262 29864 23612 110263 29871 23619 110264 29881 23629 110265 29873 23621 110266 29864 23612 110267 29882 23630 110268 29874 23622 110269 29872 23620 110270 29883 23631 110271 29875 23623 110272 29876 23624 110273 29883 23631 110274 29876 23624 110275 29884 23632 110276 29885 23633 110277 29866 23614 110278 29873 23621 110279 29885 23633 110280 29877 23625 110281 29866 23614 110282 29886 23634 110283 29868 23616 110284 29874 23622 110285 29886 23634 110286 29879 23627 110287 29868 23616 110288 29887 23635 110289 29880 23628 110290 29869 23617 110291 29887 23635 110292 29869 23617 110293 29875 23623 110294 29888 23636 110295 29889 23637 110296 29878 23626 110297 29888 23636 110298 29878 23626 110299 29877 23625 110300 29888 23636 110301 29877 23625 110302 29885 23633 110303 29890 23638 110304 29879 23627 110305 29886 23634 110306 29890 23638 110307 29871 23619 110308 29879 23627 110309 29890 23638 110310 29881 23629 110311 29871 23619 110312 29891 23639 110313 29880 23628 110314 29887 23635 110315 29891 23639 110316 29872 23620 110317 29880 23628 110318 29891 23639 110319 29882 23630 110320 29872 23620 110321 29892 23640 110322 29884 23632 110323 29893 23641 110324 29892 23640 110325 29883 23631 110326 29884 23632 110327 29894 23642 110328 29873 23621 110329 29881 23629 110330 29894 23642 110331 29885 23633 110332 29873 23621 110333 29895 23643 110334 29886 23634 110335 29874 23622 110336 29895 23643 110337 29874 23622 110338 29882 23630 110339 29896 23644 110340 29887 23635 110341 29875 23623 110342 29896 23644 110343 29875 23623 110344 29883 23631 110345 29897 23645 110346 29888 23636 110347 29885 23633 110348 29898 23646 110349 29890 23638 110350 29886 23634 110351 29899 23647 110352 29891 23639 110353 29887 23635 110354 29900 23648 110355 29893 23641 110356 29901 23649 110357 29900 23648 110358 29892 23640 110359 29893 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29944 23692 110729 29971 23719 110730 29946 23694 110731 29956 23704 110732 29971 23719 110733 29972 23720 110734 29961 23709 110735 29971 23719 110736 29960 23708 110737 29946 23694 110738 29971 23719 110739 29961 23709 110740 29960 23708 110741 29971 23719 110742 29956 23704 110743 29967 23715 110744 29973 23721 110745 29957 23705 110746 29968 23716 110747 29973 23721 110748 29962 23710 110749 29957 23705 110750 29974 23722 110751 29958 23706 110752 29969 23717 110753 29974 23722 110754 29963 23711 110755 29948 23696 110756 29974 23722 110757 29948 23696 110758 29958 23706 110759 29975 23723 110760 29949 23697 110761 29959 23707 110762 29975 23723 110763 29964 23712 110764 29949 23697 110765 29976 23724 110766 29966 23714 110767 29977 23725 110768 29976 23724 110769 29965 23713 110770 29966 23714 110771 29978 23726 110772 29967 23715 110773 29951 23699 110774 29978 23726 110775 29951 23699 110776 29962 23710 110777 29979 23727 110778 29968 23716 110779 29952 23700 110780 29979 23727 110781 29963 23711 110782 29974 23722 110783 29979 23727 110784 29952 23700 110785 29963 23711 110786 29980 23728 110787 29969 23717 110788 29953 23701 110789 29980 23728 110790 29964 23712 110791 29975 23723 110792 29980 23728 110793 29953 23701 110794 29964 23712 110795 29981 23729 110796 29970 23718 110797 29954 23702 110798 29981 23729 110799 29965 23713 110800 29976 23724 110801 29981 23729 110802 29954 23702 110803 29965 23713 110804 29982 23730 110805 29971 23719 110806 29967 23715 110807 29982 23730 110808 29972 23720 110809 29971 23719 110810 29983 23731 110811 29973 23721 110812 29968 23716 110813 29984 23732 110814 29974 23722 110815 29969 23717 110816 29985 23733 110817 29975 23723 110818 29959 23707 110819 29985 23733 110820 29959 23707 110821 29970 23718 110822 29986 23734 110823 29977 23725 110824 29987 23735 110825 29986 23734 110826 29976 23724 110827 29977 23725 110828 29988 23736 110829 29962 23710 110830 29973 23721 110831 29988 23736 110832 29973 23721 110833 29983 23731 110834 29988 23736 110835 29978 23726 110836 29962 23710 110837 29989 23737 110838 29979 23727 110839 29974 23722 110840 29990 23738 110841 29980 23728 110842 29975 23723 110843 29991 23739 110844 29981 23729 110845 29976 23724 110846 29992 23740 110847 29982 23730 110848 29967 23715 110849 29992 23740 110850 29972 23720 110851 29982 23730 110852 29992 23740 110853 29993 23741 110854 29972 23720 110855 29992 23740 110856 29978 23726 110857 29988 23736 110858 29992 23740 110859 29967 23715 110860 29978 23726 110861 29994 23742 110862 29968 23716 110863 29979 23727 110864 29994 23742 110865 29983 23731 110866 29968 23716 110867 29995 23743 110868 29984 23732 110869 29969 23717 110870 29995 23743 110871 29969 23717 110872 29980 23728 110873 29996 23744 110874 29970 23718 110875 29981 23729 110876 29996 23744 110877 29985 23733 110878 29970 23718 110879 29996 23744 110880 29981 23729 110881 29991 23739 110882 29997 23745 110883 29987 23735 110884 29998 23746 110885 29997 23745 110886 29986 23734 110887 29987 23735 110888 29999 23747 110889 29988 23736 110890 29983 23731 110891 30000 23748 110892 29989 23737 110893 29974 23722 110894 30000 23748 110895 29974 23722 110896 29984 23732 110897 30000 23748 110898 29984 23732 110899 29995 23743 110900 30001 23749 110901 29975 23723 110902 29985 23733 110903 30001 23749 110904 29990 23738 110905 29975 23723 110906 30002 23750 110907 29976 23724 110908 29986 23734 110909 30002 23750 110910 29991 23739 110911 29976 23724 110912 30003 23751 110913 29993 23741 110914 29992 23740 110915 30003 23751 110916 29992 23740 110917 29988 23736 110918 30004 23752 110919 29994 23742 110920 29979 23727 110921 30004 23752 110922 29979 23727 110923 29989 23737 110924 30004 23752 110925 29989 23737 110926 30000 23748 110927 30005 23753 110928 29980 23728 110929 29990 23738 110930 30005 23753 110931 29995 23743 110932 29980 23728 110933 30006 23754 110934 29996 23744 110935 29991 23739 110936 30007 23755 110937 29998 23746 110938 30008 23756 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23738 110992 30001 23749 110993 30017 23765 110994 30006 23754 110995 29991 23739 110996 30017 23765 110997 29991 23739 110998 30002 23750 110999 30018 23766 111000 30008 23756 111001 30019 23767 111002 30018 23766 111003 30007 23755 111004 30008 23756 111005 30020 23768 111006 30009 23757 111007 29994 23742 111008 30020 23768 111009 29994 23742 111010 30004 23752 111011 30021 23769 111012 30010 23758 111013 30005 23753 111014 30022 23770 111015 30011 23759 111016 29996 23744 111017 30022 23770 111018 29996 23744 111019 30006 23754 111020 30023 23771 111021 30012 23760 111022 30007 23755 111023 30024 23772 111024 30014 23762 111025 30013 23761 111026 30024 23772 111027 30013 23761 111028 30009 23757 111029 30025 23773 111030 30000 23748 111031 30010 23758 111032 30025 23773 111033 30015 23763 111034 30000 23748 111035 30026 23774 111036 30016 23764 111037 30001 23749 111038 30026 23774 111039 30011 23759 111040 30022 23770 111041 30026 23774 111042 30001 23749 111043 30011 23759 111044 30027 23775 111045 30017 23765 111046 30002 23750 111047 30027 23775 111048 30002 23750 111049 30012 23760 111050 30028 23776 111051 30019 23767 111052 30029 23777 111053 30028 23776 111054 30029 23777 111055 30030 23778 111056 30028 23776 111057 30030 23778 111058 30031 23779 111059 30028 23776 111060 30018 23766 111061 30019 23767 111062 30032 23780 111063 30020 23768 111064 30004 23752 111065 30032 23780 111066 30004 23752 111067 30015 23763 111068 30033 23781 111069 30021 23769 111070 30005 23753 111071 30033 23781 111072 30005 23753 111073 30016 23764 111074 30034 23782 111075 30006 23754 111076 30017 23765 111077 30034 23782 111078 30022 23770 111079 30006 23754 111080 30035 23783 111081 30023 23771 111082 30007 23755 111083 30035 23783 111084 30007 23755 111085 30018 23766 111086 30035 23783 111087 30018 23766 111088 30028 23776 111089 30036 23784 111090 30020 23768 111091 30032 23780 111092 30036 23784 111093 30037 23785 111094 30014 23762 111095 30036 23784 111096 30014 23762 111097 30024 23772 111098 30036 23784 111099 30024 23772 111100 30009 23757 111101 30036 23784 111102 30009 23757 111103 30020 23768 111104 30038 23786 111105 30025 23773 111106 30010 23758 111107 30038 23786 111108 30010 23758 111109 30021 23769 111110 30039 23787 111111 30026 23774 111112 30022 23770 111113 30040 23788 111114 30027 23775 111115 30012 23760 111116 30040 23788 111117 30012 23760 111118 30023 23771 111119 30041 23789 111120 30015 23763 111121 30025 23773 111122 30041 23789 111123 30032 23780 111124 30015 23763 111125 30042 23790 111126 30016 23764 111127 30026 23774 111128 30042 23790 111129 30033 23781 111130 30016 23764 111131 30042 23790 111132 30026 23774 111133 30039 23787 111134 30043 23791 111135 30034 23782 111136 30017 23765 111137 30043 23791 111138 30027 23775 111139 30040 23788 111140 30043 23791 111141 30017 23765 111142 30027 23775 111143 30044 23792 111144 30028 23776 111145 30031 23779 111146 30044 23792 111147 30035 23783 111148 30028 23776 111149 30045 23793 111150 30036 23784 111151 30032 23780 111152 30045 23793 111153 30037 23785 111154 30036 23784 111155 30046 23794 111156 30021 23769 111157 30033 23781 111158 30046 23794 111159 30038 23786 111160 30021 23769 111161 30047 23795 111162 30022 23770 111163 30034 23782 111164 30047 23795 111165 30039 23787 111166 30022 23770 111167 30048 23796 111168 30023 23771 111169 30035 23783 111170 30048 23796 111171 30040 23788 111172 30023 23771 111173 30049 23797 111174 30041 23789 111175 30025 23773 111176 30049 23797 111177 30025 23773 111178 30038 23786 111179 30050 23798 111180 30042 23790 111181 30039 23787 111182 30051 23799 111183 30043 23791 111184 30040 23788 111185 30052 23800 111186 30053 23801 111187 30037 23785 111188 30052 23800 111189 30045 23793 111190 30032 23780 111191 30052 23800 111192 30032 23780 111193 30041 23789 111194 30052 23800 111195 30037 23785 111196 30045 23793 111197 30054 23802 111198 30042 23790 111199 30050 23798 111200 30054 23802 111201 30033 23781 111202 30042 23790 111203 30054 23802 111204 30046 23794 111205 30033 23781 111206 30055 23803 111207 30047 23795 111208 30034 23782 111209 30055 23803 111210 30034 23782 111211 30043 23791 111212 30056 23804 111213 30044 23792 111214 30031 23779 111215 30056 23804 111216 30031 23779 111217 30057 23805 111218 30056 23804 111219 30048 23796 111220 30035 23783 111221 30056 23804 111222 30035 23783 111223 30044 23792 111224 30058 23806 111225 30046 23794 111226 30054 23802 111227 30058 23806 111228 30038 23786 111229 30046 23794 111230 30058 23806 111231 30049 23797 111232 30038 23786 111233 30059 23807 111234 30039 23787 111235 30047 23795 111236 30059 23807 111237 30050 23798 111238 30039 23787 111239 30060 23808 111240 30051 23799 111241 30040 23788 111242 30060 23808 111243 30040 23788 111244 30048 23796 111245 30060 23808 111246 30048 23796 111247 30056 23804 111248 30061 23809 111249 30049 23797 111250 30058 23806 111251 30061 23809 111252 30052 23800 111253 30041 23789 111254 30061 23809 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23813 111308 30071 23819 111309 30050 23798 111310 30059 23807 111311 30071 23819 111312 30062 23810 111313 30050 23798 111314 30072 23820 111315 30063 23811 111316 30060 23808 111317 30073 23821 111318 30062 23810 111319 30071 23819 111320 30073 23821 111321 30054 23802 111322 30062 23810 111323 30073 23821 111324 30064 23812 111325 30054 23802 111326 30074 23822 111327 30065 23813 111328 30063 23811 111329 30075 23823 111330 30058 23806 111331 30064 23812 111332 30075 23823 111333 30069 23817 111334 30058 23806 111335 30075 23823 111336 30070 23818 111337 30069 23817 111338 30075 23823 111339 30064 23812 111340 30073 23821 111341 30076 23824 111342 30071 23819 111343 30065 23813 111344 30077 23825 111345 30060 23808 111346 30066 23814 111347 30077 23825 111348 30072 23820 111349 30060 23808 111350 30077 23825 111351 30066 23814 111352 30068 23816 111353 30078 23826 111354 30073 23821 111355 30071 23819 111356 30079 23827 111357 30063 23811 111358 30072 23820 111359 30079 23827 111360 30074 23822 111361 30063 23811 111362 30079 23827 111363 30072 23820 111364 30077 23825 111365 30080 23828 111366 30081 23829 111367 30070 23818 111368 30080 23828 111369 30070 23818 111370 30075 23823 111371 30080 23828 111372 30075 23823 111373 30073 23821 111374 30082 23830 111375 30065 23813 111376 30074 23822 111377 30082 23830 111378 30076 23824 111379 30065 23813 111380 30082 23830 111381 30074 23822 111382 30079 23827 111383 30083 23831 111384 30071 23819 111385 30076 23824 111386 30083 23831 111387 30078 23826 111388 30071 23819 111389 30084 23832 111390 30068 23816 111391 30085 23833 111392 30084 23832 111393 30077 23825 111394 30068 23816 111395 30084 23832 111396 30079 23827 111397 30077 23825 111398 30086 23834 111399 30087 23835 111400 30081 23829 111401 30086 23834 111402 30081 23829 111403 30080 23828 111404 30086 23834 111405 30073 23821 111406 30078 23826 111407 30086 23834 111408 30080 23828 111409 30073 23821 111410 30088 23836 111411 30082 23830 111412 30079 23827 111413 30089 23837 111414 30076 23824 111415 30082 23830 111416 30089 23837 111417 30083 23831 111418 30076 23824 111419 30090 23838 111420 30087 23835 111421 30086 23834 111422 30090 23838 111423 30078 23826 111424 30083 23831 111425 30090 23838 111426 30086 23834 111427 30078 23826 111428 30091 23839 111429 30085 23833 111430 30092 23840 111431 30091 23839 111432 30084 23832 111433 30085 23833 111434 30091 23839 111435 30079 23827 111436 30084 23832 111437 30091 23839 111438 30088 23836 111439 30079 23827 111440 30093 23841 111441 30089 23837 111442 30082 23830 111443 30093 23841 111444 30082 23830 111445 30088 23836 111446 30094 23842 111447 30090 23838 111448 30083 23831 111449 30094 23842 111450 30095 23843 111451 30087 23835 111452 30094 23842 111453 30089 23837 111454 30093 23841 111455 30094 23842 111456 30083 23831 111457 30089 23837 111458 30094 23842 111459 30087 23835 111460 30090 23838 111461 30096 23844 111462 30093 23841 111463 30088 23836 111464 30096 23844 111465 30092 23840 111466 30097 23845 111467 30096 23844 111468 30091 23839 111469 30092 23840 111470 30096 23844 111471 30088 23836 111472 30091 23839 111473 30098 23846 111474 30094 23842 111475 30093 23841 111476 30098 23846 111477 30095 23843 111478 30094 23842 111479 30099 23847 111480 30096 23844 111481 30097 23845 111482 30099 23847 111483 30095 23843 111484 30098 23846 111485 30099 23847 111486 30097 23845 111487 30100 23848 111488 30099 23847 111489 30100 23848 111490 30101 23849 111491 30099 23847 111492 30101 23849 111493 30095 23843 111494 30099 23847 111495 30098 23846 111496 30093 23841 111497 30099 23847 111498 30093 23841 111499 30096 23844 111500 30102 23850 111501 30029 23777 111502 30019 23767 111503 30103 23851 111504 30019 23767 111505 30008 23756 111506 30103 23851 111507 30102 23850 111508 30019 23767 111509 30104 23852 111510 30008 23756 111511 29998 23746 111512 30104 23852 111513 30103 23851 111514 30008 23756 111515 30105 23853 111516 29998 23746 111517 29987 23735 111518 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23871 111624 30122 23870 111625 29848 23596 111626 30124 23872 111627 29844 23592 111628 29841 23589 111629 30124 23872 111630 30123 23871 111631 29844 23592 111632 30125 23873 111633 29841 23589 111634 29840 23588 111635 30125 23873 111636 30124 23872 111637 29841 23589 111638 30126 23874 111639 30125 23873 111640 29840 23588 111641 30126 23874 111642 29840 23588 111643 30127 23875 111644 30128 23876 111645 30127 23875 111646 30129 23877 111647 30128 23876 111648 30126 23874 111649 30127 23875 111650 30130 23878 111651 30129 23877 111652 30131 23879 111653 30130 23878 111654 30128 23876 111655 30129 23877 111656 30132 23880 111657 30131 23879 111658 30133 23881 111659 30132 23880 111660 30130 23878 111661 30131 23879 111662 30134 23882 111663 30133 23881 111664 30135 23883 111665 30134 23882 111666 30132 23880 111667 30133 23881 111668 30136 23884 111669 30135 23883 111670 30137 23885 111671 30136 23884 111672 30134 23882 111673 30135 23883 111674 30138 23886 111675 30137 23885 111676 30139 23887 111677 30138 23886 111678 30136 23884 111679 30137 23885 111680 30140 23888 111681 30139 23887 111682 30141 23889 111683 30140 23888 111684 30138 23886 111685 30139 23887 111686 30142 23890 111687 30141 23889 111688 30143 23891 111689 30142 23890 111690 30140 23888 111691 30141 23889 111692 30144 23892 111693 30143 23891 111694 30145 23893 111695 30144 23892 111696 30142 23890 111697 30143 23891 111698 30146 23894 111699 30145 23893 111700 30147 23895 111701 30146 23894 111702 30144 23892 111703 30145 23893 111704 30148 23896 111705 30147 23895 111706 30149 23897 111707 30148 23896 111708 30146 23894 111709 30147 23895 111710 30150 23898 111711 30148 23896 111712 30149 23897 111713 30150 23898 111714 30149 23897 111715 30151 23899 111716 30152 23900 111717 30150 23898 111718 30151 23899 111719 30152 23900 111720 30151 23899 111721 30153 23901 111722 30154 23902 111723 30152 23900 111724 30153 23901 111725 30154 23902 111726 30153 23901 111727 30155 23903 111728 30156 23904 111729 30155 23903 111730 30157 23905 111731 30156 23904 111732 30154 23902 111733 30155 23903 111734 30156 23904 111735 30157 23905 111736 30158 23906 111737 30159 23907 111738 30156 23904 111739 30158 23906 111740 30160 23908 111741 30158 23906 111742 30161 23909 111743 30160 23908 111744 30159 23907 111745 30158 23906 111746 30162 23910 111747 30161 23909 111748 30163 23911 111749 30162 23910 111750 30163 23911 111751 30164 23912 111752 30162 23910 111753 30160 23908 111754 30161 23909 111755 30165 23913 111756 30162 23910 111757 30164 23912 111758 30166 23914 111759 30164 23912 111760 30167 23915 111761 30166 23914 111762 30167 23915 111763 30168 23916 111764 30166 23914 111765 30165 23913 111766 30164 23912 111767 30169 23917 111768 30166 23914 111769 30168 23916 111770 30102 23850 111771 30168 23916 111772 30029 23777 111773 30102 23850 111774 30169 23917 111775 30168 23916 111776 29993 23741 111777 30014 23762 111778 30037 23785 111779 29961 23709 111780 29918 23666 111781 29917 23665 111782 29961 23709 111783 29917 23665 111784 29940 23688 111785 29961 23709 111786 29972 23720 111787 29993 23741 111788 29961 23709 111789 30037 23785 111790 30053 23801 111791 29961 23709 111792 30053 23801 111793 30070 23818 111794 29961 23709 111795 30070 23818 111796 30081 23829 111797 29961 23709 111798 30081 23829 111799 30087 23835 111800 29961 23709 111801 30087 23835 111802 30095 23843 111803 29961 23709 111804 30095 23843 111805 30101 23849 111806 29961 23709 111807 30101 23849 111808 30170 23918 111809 29961 23709 111810 30170 23918 111811 30171 23919 111812 29961 23709 111813 30171 23919 111814 30172 23920 111815 29961 23709 111816 30172 23920 111817 30173 23921 111818 29961 23709 111819 30173 23921 111820 30174 23922 111821 29961 23709 111822 30174 23922 111823 30175 23923 111824 29961 23709 111825 30175 23923 111826 30176 23924 111827 29961 23709 111828 30176 23924 111829 30177 23925 111830 29961 23709 111831 30177 23925 111832 30178 23926 111833 29961 23709 111834 30178 23926 111835 30179 23927 111836 29961 23709 111837 30179 23927 111838 30180 23928 111839 29961 23709 111840 30180 23928 111841 30181 23929 111842 29961 23709 111843 30181 23929 111844 29918 23666 111845 29961 23709 111846 29993 23741 111847 30037 23785 111848 30182 23930 111849 30030 23778 111850 30029 23777 111851 30182 23930 111852 30029 23777 111853 30168 23916 111854 30183 23931 111855 30168 23916 111856 30167 23915 111857 30183 23931 111858 30182 23930 111859 30168 23916 111860 30184 23932 111861 30031 23779 111862 30030 23778 111863 30184 23932 111864 30030 23778 111865 30182 23930 111866 30185 23933 111867 30183 23931 111868 30167 23915 111869 30185 23933 111870 30167 23915 111871 30164 23912 111872 30186 23934 111873 30182 23930 111874 30183 23931 111875 30186 23934 111876 30184 23932 111877 30182 23930 111878 30187 23935 111879 30057 23805 111880 30031 23779 111881 30187 23935 111882 30031 23779 111883 30184 23932 111884 30188 23936 111885 30164 23912 111886 30163 23911 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200 619 96 199 620 1849 207 621 1850 203 622 98 204 623 1849 207 624 98 204 625 1998 208 626 1849 207 627 1998 208 628 100 209 629 101 210 630 102 211 631 1965 206 632 101 210 633 1965 206 634 99 205 635 103 212 636 1849 207 637 100 209 638 103 212 639 100 209 640 104 213 641 105 214 642 102 211 643 101 210 644 105 214 645 106 215 646 102 211 647 1854 216 648 103 212 649 104 213 650 1854 216 651 104 213 652 1994 217 653 107 218 654 106 215 655 105 214 656 107 218 657 108 219 658 106 215 659 1857 220 660 1854 216 661 1994 217 662 1857 220 663 1994 217 664 1992 221 665 109 222 666 108 219 667 107 218 668 109 222 669 1970 223 670 108 219 671 110 224 672 1970 223 673 109 222 674 110 224 675 111 225 676 1970 223 677 1856 226 678 1857 220 679 1992 221 680 1856 226 681 1992 221 682 1991 227 683 112 228 684 111 225 685 110 224 686 112 228 687 113 229 688 111 225 689 114 230 690 113 229 691 112 228 692 114 230 693 1984 231 694 1982 232 695 114 230 696 1982 232 697 1980 233 698 114 230 699 1980 233 700 1978 234 701 114 230 702 1978 234 703 1976 235 704 114 230 705 1976 235 706 1974 236 707 114 230 708 1974 236 709 113 229 710 115 237 711 1856 226 712 1991 227 713 115 237 714 1991 227 715 1989 238 716 1860 30 717 115 237 718 1989 238 719 1860 30 720 1989 238 721 1987 239 722 116 240 723 1860 30 724 1987 239 725 117 30 726 114 230 727 1377 30 728 118 30 729 1377 30 730 114 230 731 1372 30 732 114 230 733 117 30 734 119 30 735 118 30 736 114 230 737 120 30 738 114 230 739 1372 30 740 1383 30 741 119 30 742 114 230 743 121 30 744 114 230 745 120 30 746 122 30 747 1383 30 748 114 230 749 123 30 750 114 230 751 121 30 752 124 30 753 122 30 754 114 230 755 1365 30 756 114 230 757 123 30 758 125 30 759 124 30 760 114 230 761 126 241 762 1984 231 763 114 230 764 126 241 765 114 230 766 1365 30 767 127 30 768 125 30 769 114 230 770 1360 242 771 1984 231 772 126 241 773 128 30 774 127 30 775 114 230 776 129 243 777 1984 231 778 1360 242 779 129 243 780 1985 244 781 1984 231 782 1392 245 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11956 40872 7704 11990 40873 7689 11975 40874 7684 11970 40875 7705 11991 40876 7671 11957 40877 7699 11985 40878 7705 11991 40879 7684 11970 40880 7671 11957 40881 7705 11991 40882 7690 11976 40883 7672 11958 40884 7706 11992 40885 7691 11977 40886 7685 11971 40887 7706 11992 40888 7672 11958 40889 7700 11986 40890 7706 11992 40891 7685 11971 40892 7686 11972 40893 7707 11993 40894 7673 11959 40895 7701 11987 40896 7707 11993 40897 7686 11972 40898 7673 11959 40899 7707 11993 40900 7692 11978 40901 7674 11960 40902 7708 11994 40903 7693 11979 40904 7687 11973 40905 7708 11994 40906 7674 11960 40907 7675 11961 40908 7709 11995 40909 7694 11980 40910 7688 11974 40911 7709 11995 40912 7675 11961 40913 7710 11996 40914 7711 11997 40915 7696 11982 40916 7696 11982 40917 7711 11997 40918 7695 11981 40919 7689 11975 40920 7712 11998 40921 7676 11962 40922 7676 11962 40923 7712 11998 40924 7697 11983 40925 7690 11976 40926 7713 11999 40927 5943 10121 40928 5943 10121 40929 7713 11999 40930 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200 619 96 199 620 1849 207 621 1850 203 622 98 204 623 1849 207 624 98 204 625 1998 208 626 1849 207 627 1998 208 628 100 209 629 101 210 630 102 211 631 1965 206 632 101 210 633 1965 206 634 99 205 635 103 212 636 1849 207 637 100 209 638 103 212 639 100 209 640 104 213 641 105 214 642 102 211 643 101 210 644 105 214 645 106 215 646 102 211 647 1854 216 648 103 212 649 104 213 650 1854 216 651 104 213 652 1994 217 653 107 218 654 106 215 655 105 214 656 107 218 657 108 219 658 106 215 659 1857 220 660 1854 216 661 1994 217 662 1857 220 663 1994 217 664 1992 221 665 109 222 666 108 219 667 107 218 668 109 222 669 1970 223 670 108 219 671 110 224 672 1970 223 673 109 222 674 110 224 675 111 225 676 1970 223 677 1856 226 678 1857 220 679 1992 221 680 1856 226 681 1992 221 682 1991 227 683 112 228 684 111 225 685 110 224 686 112 228 687 113 229 688 111 225 689 114 230 690 113 229 691 112 228 692 114 230 693 1984 231 694 1982 232 695 114 230 696 1982 232 697 1980 233 698 114 230 699 1980 233 700 1978 234 701 114 230 702 1978 234 703 1976 235 704 114 230 705 1976 235 706 1974 236 707 114 230 708 1974 236 709 113 229 710 115 237 711 1856 226 712 1991 227 713 115 237 714 1991 227 715 1989 238 716 1860 30 717 115 237 718 1989 238 719 1860 30 720 1989 238 721 1987 239 722 116 240 723 1860 30 724 1987 239 725 117 30 726 114 230 727 1377 30 728 118 30 729 1377 30 730 114 230 731 1372 30 732 114 230 733 117 30 734 119 30 735 118 30 736 114 230 737 120 30 738 114 230 739 1372 30 740 1383 30 741 119 30 742 114 230 743 121 30 744 114 230 745 120 30 746 122 30 747 1383 30 748 114 230 749 123 30 750 114 230 751 121 30 752 124 30 753 122 30 754 114 230 755 1365 30 756 114 230 757 123 30 758 125 30 759 124 30 760 114 230 761 126 241 762 1984 231 763 114 230 764 126 241 765 114 230 766 1365 30 767 127 30 768 125 30 769 114 230 770 1360 242 771 1984 231 772 126 241 773 128 30 774 127 30 775 114 230 776 129 243 777 1984 231 778 1360 242 779 129 243 780 1985 244 781 1984 231 782 1392 245 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11956 40872 7704 11990 40873 7689 11975 40874 7684 11970 40875 7705 11991 40876 7671 11957 40877 7699 11985 40878 7705 11991 40879 7684 11970 40880 7671 11957 40881 7705 11991 40882 7690 11976 40883 7672 11958 40884 7706 11992 40885 7691 11977 40886 7685 11971 40887 7706 11992 40888 7672 11958 40889 7700 11986 40890 7706 11992 40891 7685 11971 40892 7686 11972 40893 7707 11993 40894 7673 11959 40895 7701 11987 40896 7707 11993 40897 7686 11972 40898 7673 11959 40899 7707 11993 40900 7692 11978 40901 7674 11960 40902 7708 11994 40903 7693 11979 40904 7687 11973 40905 7708 11994 40906 7674 11960 40907 7675 11961 40908 7709 11995 40909 7694 11980 40910 7688 11974 40911 7709 11995 40912 7675 11961 40913 7710 11996 40914 7711 11997 40915 7696 11982 40916 7696 11982 40917 7711 11997 40918 7695 11981 40919 7689 11975 40920 7712 11998 40921 7676 11962 40922 7676 11962 40923 7712 11998 40924 7697 11983 40925 7690 11976 40926 7713 11999 40927 5943 10121 40928 5943 10121 40929 7713 11999 40930 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3305 13561 16463 3302 13562 2734 3273 13563 16320 3306 13564 2768 3305 13565 16965 3307 13566 2769 3308 13567 16972 3309 13568 16966 3304 13569 2769 3308 13570 16965 3307 13571 8468 3303 13572 2769 3308 13573 16966 3304 13574 2734 3273 13575 16319 3310 13576 16320 3306 13577 2734 3273 13578 16317 3311 13579 16319 3310 13580 16972 3309 13581 8464 3312 13582 16971 3186 13583 2769 3308 13584 8464 3312 13585 16972 3309 13586 2734 3273 13587 16326 3313 13588 16317 3311 13589 2734 3273 13590 16325 3314 13591 16326 3313 13592 16971 3186 13593 2770 3186 13594 16977 3186 13595 8464 3312 13596 2770 3186 13597 16971 3186 13598 2734 3273 13599 16332 3315 13600 16325 3314 13601 2734 3273 13602 16330 3316 13603 16332 3315 13604 2770 3186 13605 8459 3186 13606 16977 3186 13607 16977 3186 13608 8459 3186 13609 2771 3186 13610 2733 3272 13611 16336 3317 13612 2734 3273 13613 2745 3279 13614 16336 3317 13615 2733 3272 13616 2734 3273 13617 16336 3317 13618 16330 3316 13619 2745 3279 13620 2772 3318 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19456 25443 110783 19459 25446 110784 19440 25427 110785 19437 25424 110786 19460 25447 110787 19402 25389 110788 19400 25387 110789 19460 25447 110790 19400 25387 110791 19457 25444 110792 19461 25448 110793 19438 25425 110794 19458 25445 110795 19461 25448 110796 19441 25428 110797 19438 25425 110798 19462 25449 110799 19443 25430 110800 19440 25427 110801 19462 25449 110802 19440 25427 110803 19459 25446 110804 19463 25450 110805 19402 25389 110806 19460 25447 110807 19463 25450 110808 19404 25391 110809 19402 25389 110810 19464 25451 110811 19444 25431 110812 19441 25428 110813 19464 25451 110814 19448 25435 110815 19444 25431 110816 19464 25451 110817 19441 25428 110818 19461 25448 110819 19465 25452 110820 19404 25391 110821 19463 25450 110822 19465 25452 110823 19406 25393 110824 19404 25391 110825 19465 25452 110826 19408 25395 110827 19406 25393 110828 19466 25453 110829 17885 23851 110830 19447 25434 110831 19466 25453 110832 19447 25434 110833 19443 25430 110834 19466 25453 110835 19443 25430 110836 19462 25449 110837 19467 25454 110838 19448 25435 110839 19464 25451 110840 19468 25455 110841 19408 25395 110842 19465 25452 110843 19469 25456 110844 19448 25435 110845 19467 25454 110846 19469 25456 110847 19451 25438 110848 19448 25435 110849 19470 25457 110850 19408 25395 110851 19468 25455 110852 19470 25457 110853 19410 25397 110854 19408 25395 110855 19471 25458 110856 19451 25438 110857 19469 25456 110858 19471 25458 110859 19454 25441 110860 19451 25438 110861 19472 25459 110862 19410 25397 110863 19470 25457 110864 19472 25459 110865 19414 25401 110866 19412 25399 110867 19472 25459 110868 19412 25399 110869 19410 25397 110870 19473 25460 110871 19454 25441 110872 19471 25458 110873 19473 25460 110874 19457 25444 110875 19454 25441 110876 19473 25460 110877 19460 25447 110878 19457 25444 110879 19474 25461 110880 19460 25447 110881 19473 25460 110882 19475 25462 110883 19414 25401 110884 19472 25459 110885 19476 25463 110886 19460 25447 110887 19474 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19472 25459 110941 19482 25469 110942 19485 25472 110943 19425 25412 110944 19483 25470 110945 19486 25473 110946 19431 25418 110947 19428 25415 110948 19486 25473 110949 19425 25412 110950 19485 25472 110951 19486 25473 110952 19428 25415 110953 19425 25412 110954 19487 25474 110955 19475 25462 110956 19472 25459 110957 19487 25474 110958 19472 25459 110959 19484 25471 110960 19488 25475 110961 19431 25418 110962 19486 25473 110963 19489 25476 110964 19475 25462 110965 19487 25474 110966 19489 25476 110967 19477 25464 110968 19475 25462 110969 19490 25477 110970 19431 25418 110971 19488 25475 110972 19490 25477 110973 19434 25421 110974 19431 25418 110975 19491 25478 110976 19479 25466 110977 19477 25464 110978 19491 25478 110979 19477 25464 110980 19489 25476 110981 19492 25479 110982 19436 25423 110983 19434 25421 110984 19492 25479 110985 19439 25426 110986 19436 25423 110987 19492 25479 110988 19434 25421 110989 19490 25477 110990 19493 25480 110991 19481 25468 110992 19479 25466 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19780 25767 112837 19778 25765 112838 19797 25784 112839 19778 25765 112840 19794 25781 112841 19798 25785 112842 19746 25733 112843 19795 25782 112844 19799 25786 112845 19748 25735 112846 19745 25732 112847 19799 25786 112848 19745 25732 112849 19796 25783 112850 19800 25787 112851 19782 25769 112852 19780 25767 112853 19800 25787 112854 19780 25767 112855 19797 25784 112856 19800 25787 112857 19784 25771 112858 19782 25769 112859 19801 25788 112860 19749 25736 112861 19746 25733 112862 19801 25788 112863 19746 25733 112864 19798 25785 112865 19802 25789 112866 19751 25738 112867 19748 25735 112868 19802 25789 112869 19748 25735 112870 19799 25786 112871 19803 25790 112872 19784 25771 112873 19800 25787 112874 19803 25790 112875 19787 25774 112876 19784 25771 112877 19804 25791 112878 19749 25736 112879 19801 25788 112880 19804 25791 112881 19752 25739 112882 19749 25736 112883 19805 25792 112884 19786 25773 112885 17870 23833 112886 19805 25792 112887 17870 23833 112888 17872 23836 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19822 25809 112995 19798 25785 112996 19819 25806 112997 19822 25809 112998 19801 25788 112999 19798 25785 113000 19823 25810 113001 19802 25789 113002 19820 25807 113003 19824 25811 113004 19767 25754 113005 19765 25752 113006 19824 25811 113007 19765 25752 113008 19821 25808 113009 19825 25812 113010 19804 25791 113011 19822 25809 113012 19826 25813 113013 19806 25793 113014 19802 25789 113015 19826 25813 113016 17880 23846 113017 19806 25793 113018 19826 25813 113019 19802 25789 113020 19823 25810 113021 19827 25814 113022 19808 25795 113023 19804 25791 113024 19827 25814 113025 19804 25791 113026 19825 25812 113027 19828 25815 113028 19771 25758 113029 19769 25756 113030 19828 25815 113031 19767 25754 113032 19824 25811 113033 19828 25815 113034 19769 25756 113035 19767 25754 113036 19829 25816 113037 19808 25795 113038 19827 25814 113039 19829 25816 113040 19811 25798 113041 19808 25795 113042 19830 25817 113043 19771 25758 113044 19828 25815 113045 19831 25818 113046 19816 25803 113047 19814 25801 113048 19831 25818 113049 19814 25801 113050 19811 25798 113051 19831 25818 113052 19811 25798 113053 19829 25816 113054 19832 25819 113055 19773 25760 113056 19771 25758 113057 19832 25819 113058 19771 25758 113059 19830 25817 113060 19833 25820 113061 19816 25803 113062 19831 25818 113063 19834 25821 113064 19777 25764 113065 19775 25762 113066 19834 25821 113067 19775 25762 113068 19773 25760 113069 19834 25821 113070 19773 25760 113071 19832 25819 113072 19835 25822 113073 19818 25805 113074 19816 25803 113075 19835 25822 113076 19816 25803 113077 19833 25820 113078 19835 25822 113079 19821 25808 113080 19818 25805 113081 19836 25823 113082 19777 25764 113083 19834 25821 113084 19837 25824 113085 19821 25808 113086 19835 25822 113087 19837 25824 113088 19824 25811 113089 19821 25808 113090 19838 25825 113091 19777 25764 113092 19836 25823 113093 19838 25825 113094 19779 25766 113095 19777 25764 113096 19839 25826 113097 19824 25811 113098 19837 25824 113099 19840 25827 113100 19779 25766 113101 19838 25825 113102 19840 25827 113103 19783 25770 113104 19781 25768 113105 19840 25827 113106 19781 25768 113107 19779 25766 113108 19841 25828 113109 19824 25811 113110 19839 25826 113111 19841 25828 113112 19828 25815 113113 19824 25811 113114 19842 25829 113115 19783 25770 113116 19840 25827 113117 19843 25830 113118 19828 25815 113119 19841 25828 113120 19843 25830 113121 19830 25817 113122 19828 25815 113123 19844 25831 113124 19783 25770 113125 19842 25829 113126 19844 25831 113127 19785 25772 113128 19783 25770 113129 19845 25832 113130 19832 25819 113131 19830 25817 113132 19845 25832 113133 19830 25817 113134 19843 25830 113135 19846 25833 113136 19785 25772 113137 19844 25831 113138 19846 25833 113139 19788 25775 113140 19785 25772 113141 19847 25834 113142 19832 25819 113143 19845 25832 113144 19847 25834 113145 19836 25823 113146 19834 25821 113147 19847 25834 113148 19834 25821 113149 19832 25819 113150 19848 25835 113151 19788 25775 113152 19846 25833 113153 19848 25835 113154 19791 25778 113155 19788 25775 113156 19848 25835 113157 19794 25781 113158 19791 25778 113159 19849 25836 113160 19836 25823 113161 19847 25834 113162 19849 25836 113163 19838 25825 113164 19836 25823 113165 19850 25837 113166 19794 25781 113167 19848 25835 113168 19851 25838 113169 19838 25825 113170 19849 25836 113171 19852 25839 113172 19797 25784 113173 19794 25781 113174 19852 25839 113175 19800 25787 113176 19797 25784 113177 19852 25839 113178 19794 25781 113179 19850 25837 113180 19853 25840 113181 19840 25827 113182 19838 25825 113183 19853 25840 113184 19838 25825 113185 19851 25838 113186 19854 25841 113187 19800 25787 113188 19852 25839 113189 19854 25841 113190 19803 25790 113191 19800 25787 113192 19855 25842 113193 19842 25829 113194 19840 25827 113195 19855 25842 113196 19840 25827 113197 19853 25840 113198 19856 25843 113199 19803 25790 113200 19854 25841 113201 19857 25844 113202 19805 25792 113203 17872 23836 113204 19858 25845 113205 19844 25831 113206 19842 25829 113207 19858 25845 113208 19842 25829 113209 19855 25842 113210 19859 25846 113211 19807 25794 113212 19803 25790 113213 19859 25846 113214 19803 25790 113215 19856 25843 113216 19860 25847 113217 19809 25796 113218 19805 25792 113219 19860 25847 113220 19805 25792 113221 19857 25844 113222 19861 25848 113223 19846 25833 113224 19844 25831 113225 19861 25848 113226 19848 25835 113227 19846 25833 113228 19861 25848 113229 19844 25831 113230 19858 25845 113231 19862 25849 113232 19810 25797 113233 19807 25794 113234 19862 25849 113235 19813 25800 113236 19810 25797 113237 19862 25849 113238 19807 25794 113239 19859 25846 113240 19863 25850 113241 19812 25799 113242 19809 25796 113243 19863 25850 113244 19815 25802 113245 19812 25799 113246 19863 25850 113247 19809 25796 113248 19860 25847 113249 19864 25851 113250 19850 25837 113251 19848 25835 113252 19864 25851 113253 19848 25835 113254 19861 25848 113255 19865 25852 113256 19813 25800 113257 19862 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19856 25843 113311 19854 25841 113312 19876 25863 113313 19825 25812 113314 19822 25809 113315 19876 25863 113316 19822 25809 113317 19873 25860 113318 19877 25864 113319 17872 23836 113320 17874 23838 113321 19877 25864 113322 19857 25844 113323 17872 23836 113324 19878 25865 113325 17879 23845 113326 17880 23846 113327 19878 25865 113328 19823 25810 113329 19874 25861 113330 19878 25865 113331 17880 23846 113332 19826 25813 113333 19878 25865 113334 19826 25813 113335 19823 25810 113336 19879 25866 113337 19856 25843 113338 19875 25862 113339 19879 25866 113340 19859 25846 113341 19856 25843 113342 19879 25866 113343 19862 25849 113344 19859 25846 113345 19880 25867 113346 19825 25812 113347 19876 25863 113348 19880 25867 113349 19827 25814 113350 19825 25812 113351 19881 25868 113352 19857 25844 113353 19877 25864 113354 19881 25868 113355 19860 25847 113356 19857 25844 113357 19882 25869 113358 19827 25814 113359 19880 25867 113360 19882 25869 113361 19829 25816 113362 19827 25814 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19978 25965 113943 19968 25955 113944 19964 25951 113945 19979 25966 113946 19913 25900 113947 19975 25962 113948 19979 25966 113949 19915 25902 113950 19913 25900 113951 19979 25966 113952 19917 25904 113953 19915 25902 113954 19980 25967 113955 19962 25949 113956 19976 25963 113957 19980 25967 113958 19966 25953 113959 19962 25949 113960 19981 25968 113961 19954 25941 113962 19977 25964 113963 19982 25969 113964 19968 25955 113965 19978 25965 113966 19983 25970 113967 19959 25946 113968 19956 25943 113969 19983 25970 113970 19954 25941 113971 19981 25968 113972 19983 25970 113973 19956 25943 113974 19954 25941 113975 19984 25971 113976 19917 25904 113977 19979 25966 113978 19985 25972 113979 19970 25957 113980 19966 25953 113981 19985 25972 113982 19966 25953 113983 19980 25967 113984 19986 25973 113985 19968 25955 113986 19982 25969 113987 19986 25973 113988 19972 25959 113989 19968 25955 113990 19987 25974 113991 19959 25946 113992 19983 25970 113993 19988 25975 113994 19973 25960 113995 19970 25957 113996 19988 25975 113997 19970 25957 113998 19985 25972 113999 19989 25976 114000 19919 25906 114001 19917 25904 114002 19989 25976 114003 19917 25904 114004 19984 25971 114005 19990 25977 114006 19976 25963 114007 17772 23839 114008 19991 25978 114009 19977 25964 114010 19972 25959 114011 19991 25978 114012 19972 25959 114013 19986 25973 114014 19992 25979 114015 19963 25950 114016 19959 25946 114017 19992 25979 114018 19959 25946 114019 19987 25974 114020 19993 25980 114021 19978 25965 114022 19973 25960 114023 19993 25980 114024 19973 25960 114025 19988 25975 114026 19994 25981 114027 19919 25906 114028 19989 25976 114029 19994 25981 114030 19921 25908 114031 19919 25906 114032 19995 25982 114033 19976 25963 114034 19990 25977 114035 19995 25982 114036 19985 25972 114037 19980 25967 114038 19995 25982 114039 19980 25967 114040 19976 25963 114041 19996 25983 114042 19977 25964 114043 19991 25978 114044 19996 25983 114045 19983 25970 114046 19981 25968 114047 19996 25983 114048 19981 25968 114049 19977 25964 114050 19997 25984 114051 19971 25958 114052 19967 25954 114053 19997 25984 114054 19963 25950 114055 19992 25979 114056 19997 25984 114057 19967 25954 114058 19963 25950 114059 19998 25985 114060 19982 25969 114061 19978 25965 114062 19998 25985 114063 19978 25965 114064 19993 25980 114065 19999 25986 114066 19921 25908 114067 19994 25981 114068 19999 25986 114069 19923 25910 114070 19921 25908 114071 20000 25987 114072 19983 25970 114073 19996 25983 114074 20001 25988 114075 19985 25972 114076 19995 25982 114077 20002 25989 114078 19971 25958 114079 19997 25984 114080 20002 25989 114081 19975 25962 114082 19971 25958 114083 20003 25990 114084 19982 25969 114085 19998 25985 114086 20003 25990 114087 19986 25973 114088 19982 25969 114089 20004 25991 114090 19923 25910 114091 19999 25986 114092 20004 25991 114093 19925 25912 114094 19923 25910 114095 20005 25992 114096 19992 25979 114097 19987 25974 114098 20005 25992 114099 19987 25974 114100 19983 25970 114101 20005 25992 114102 19983 25970 114103 20000 25987 114104 20006 25993 114105 19988 25975 114106 19985 25972 114107 20006 25993 114108 19985 25972 114109 20001 25988 114110 20007 25994 114111 19975 25962 114112 20002 25989 114113 20008 25995 114114 19991 25978 114115 19986 25973 114116 20008 25995 114117 19986 25973 114118 20003 25990 114119 20008 25995 114120 19996 25983 114121 19991 25978 114122 20009 25996 114123 19925 25912 114124 20004 25991 114125 20009 25996 114126 19930 25917 114127 19927 25914 114128 20009 25996 114129 19927 25914 114130 19925 25912 114131 20010 25997 114132 19990 25977 114133 17772 23839 114134 20011 25998 114135 19992 25979 114136 20005 25992 114137 20012 25999 114138 19993 25980 114139 19988 25975 114140 20012 25999 114141 19988 25975 114142 20006 25993 114143 20013 26000 114144 19975 25962 114145 20007 25994 114146 20013 26000 114147 19979 25966 114148 19975 25962 114149 20014 26001 114150 19996 25983 114151 20008 25995 114152 20015 26002 114153 19930 25917 114154 20009 25996 114155 20016 26003 114156 19992 25979 114157 20011 25998 114158 20016 26003 114159 19997 25984 114160 19992 25979 114161 20017 26004 114162 19990 25977 114163 20010 25997 114164 20017 26004 114165 19995 25982 114166 19990 25977 114167 20018 26005 114168 19998 25985 114169 19993 25980 114170 20018 26005 114171 19993 25980 114172 20012 25999 114173 20019 26006 114174 19984 25971 114175 19979 25966 114176 20019 26006 114177 19989 25976 114178 19984 25971 114179 20019 26006 114180 19979 25966 114181 20013 26000 114182 20020 26007 114183 19996 25983 114184 20014 26001 114185 20020 26007 114186 20000 25987 114187 19996 25983 114188 20021 26008 114189 19930 25917 114190 20015 26002 114191 20021 26008 114192 19933 25920 114193 19930 25917 114194 20021 26008 114195 19936 25923 114196 19933 25920 114197 20022 26009 114198 19995 25982 114199 20017 26004 114200 20022 26009 114201 20001 25988 114202 19995 25982 114203 20022 26009 114204 20006 25993 114205 20001 25988 114206 20023 26010 114207 20002 25989 114208 19997 25984 114209 20023 26010 114210 19997 25984 114211 20016 26003 114212 20024 26011 114213 19998 25985 114214 20018 26005 114215 20024 26011 114216 20003 25990 114217 19998 25985 114218 20025 26012 114219 20005 25992 114220 20000 25987 114221 20025 26012 114222 20000 25987 114223 20020 26007 114224 20026 26013 114225 19989 25976 114226 20019 26006 114227 20027 26014 114228 19936 25923 114229 20021 26008 114230 20027 26014 114231 19939 25926 114232 19936 25923 114233 20028 26015 114234 20006 25993 114235 20022 26009 114236 20029 26016 114237 20002 25989 114238 20023 26010 114239 20029 26016 114240 20007 25994 114241 20002 25989 114242 20030 26017 114243 20008 25995 114244 20003 25990 114245 20030 26017 114246 20003 25990 114247 20024 26011 114248 20031 26018 114249 20010 25997 114250 17772 23839 114251 20031 26018 114252 17769 26019 114253 20032 26020 114254 20031 26018 114255 17772 23839 114256 17769 26019 114257 20033 26021 114258 20005 25992 114259 20025 26012 114260 20033 26021 114261 20011 25998 114262 20005 25992 114263 20034 26022 114264 19994 25981 114265 19989 25976 114266 20034 26022 114267 19989 25976 114268 20026 26013 114269 20035 26023 114270 19939 25926 114271 20027 26014 114272 20036 26024 114273 20018 26005 114274 20012 25999 114275 20036 26024 114276 20012 25999 114277 20006 25993 114278 20036 26024 114279 20006 25993 114280 20028 26015 114281 20037 26025 114282 20013 26000 114283 20007 25994 114284 20037 26025 114285 20007 25994 114286 20029 26016 114287 20038 26026 114288 20008 25995 114289 20030 26017 114290 20038 26026 114291 20014 26001 114292 20008 25995 114293 20039 26027 114294 20016 26003 114295 20011 25998 114296 20039 26027 114297 20011 25998 114298 20033 26021 114299 20040 26028 114300 17770 26029 114301 17780 26030 114302 20040 26028 114303 20032 26020 114304 17770 26029 114305 20040 26028 114306 20031 26018 114307 20032 26020 114308 20040 26028 114309 20010 25997 114310 20031 26018 114311 20040 26028 114312 20017 26004 114313 20010 25997 114314 20041 26031 114315 19942 25929 114316 19939 25926 114317 20041 26031 114318 19939 25926 114319 20035 26023 114320 20042 26032 114321 20004 25991 114322 19999 25986 114323 20042 26032 114324 19994 25981 114325 20034 26022 114326 20042 26032 114327 19999 25986 114328 19994 25981 114329 20043 26033 114330 20018 26005 114331 20036 26024 114332 20044 26034 114333 20020 26007 114334 20014 26001 114335 20044 26034 114336 20014 26001 114337 20038 26026 114338 20045 26035 114339 20019 26006 114340 20013 26000 114341 20045 26035 114342 20013 26000 114343 20037 26025 114344 20046 26036 114345 17780 26030 114346 20047 26037 114347 20046 26036 114348 20017 26004 114349 20040 26028 114350 20046 26036 114351 20022 26009 114352 20017 26004 114353 20046 26036 114354 20040 26028 114355 17780 26030 114356 20048 26038 114357 20023 26010 114358 20016 26003 114359 20048 26038 114360 20016 26003 114361 20039 26027 114362 20048 26038 114363 20029 26016 114364 20023 26010 114365 20049 26039 114366 20004 25991 114367 20042 26032 114368 20050 26040 114369 19942 25929 114370 20041 26031 114371 20050 26040 114372 19945 25932 114373 19942 25929 114374 20051 26041 114375 20020 26007 114376 20044 26034 114377 20051 26041 114378 20025 26012 114379 20020 26007 114380 20051 26041 114381 20033 26021 114382 20025 26012 114383 20052 26042 114384 20024 26011 114385 20018 26005 114386 20052 26042 114387 20018 26005 114388 20043 26033 114389 20053 26043 114390 20019 26006 114391 20045 26035 114392 20053 26043 114393 20026 26013 114394 20019 26006 114395 20053 26043 114396 20034 26022 114397 20026 26013 114398 20054 26044 114399 20047 26037 114400 20055 26045 114401 20054 26044 114402 20022 26009 114403 20046 26036 114404 20054 26044 114405 20028 26015 114406 20022 26009 114407 20054 26044 114408 20046 26036 114409 20047 26037 114410 20056 26046 114411 20029 26016 114412 20048 26038 114413 20057 26047 114414 19948 25935 114415 19945 25932 114416 20057 26047 114417 19945 25932 114418 20050 26040 114419 20058 26048 114420 20004 25991 114421 20049 26039 114422 20058 26048 114423 20009 25996 114424 20004 25991 114425 20059 26049 114426 20033 26021 114427 20051 26041 114428 20060 26050 114429 20024 26011 114430 20052 26042 114431 20060 26050 114432 20030 26017 114433 20024 26011 114434 20060 26050 114435 20038 26026 114436 20030 26017 114437 20061 26051 114438 20034 26022 114439 20053 26043 114440 20062 26052 114441 20063 26053 114442 20064 26054 114443 20062 26052 114444 20055 26045 114445 20063 26053 114446 20062 26052 114447 20054 26044 114448 20055 26045 114449 20062 26052 114450 20028 26015 114451 20054 26044 114452 20062 26052 114453 20036 26024 114454 20028 26015 114455 20065 26055 114456 20045 26035 114457 20037 26025 114458 20065 26055 114459 20037 26025 114460 20029 26016 114461 20065 26055 114462 20029 26016 114463 20056 26046 114464 20066 26056 114465 20033 26021 114466 20059 26049 114467 20066 26056 114468 20039 26027 114469 20033 26021 114470 20067 26057 114471 19952 25939 114472 19948 25935 114473 20067 26057 114474 19948 25935 114475 20057 26047 114476 20068 26058 114477 20015 26002 114478 20009 25996 114479 20068 26058 114480 20009 25996 114481 20058 26048 114482 20069 26059 114483 20038 26026 114484 20060 26050 114485 20070 26060 114486 20042 26032 114487 20034 26022 114488 20070 26060 114489 20049 26039 114490 20042 26032 114491 20070 26060 114492 20034 26022 114493 20061 26051 114494 20071 26061 114495 20064 26054 114496 17779 26062 114497 20071 26061 114498 20062 26052 114499 20064 26054 114500 20071 26061 114501 20052 26042 114502 20043 26033 114503 20071 26061 114504 20036 26024 114505 20062 26052 114506 20071 26061 114507 20043 26033 114508 20036 26024 114509 20072 26063 114510 20045 26035 114511 20065 26055 114512 20073 26064 114513 19952 25939 114514 20067 26057 114515 20073 26064 114516 19955 25942 114517 19952 25939 114518 20073 26064 114519 19958 25945 114520 19955 25942 114521 20074 26065 114522 20021 26008 114523 20015 26002 114524 20074 26065 114525 20015 26002 114526 20068 26058 114527 20074 26065 114528 20027 26014 114529 20021 26008 114530 20075 26066 114531 20044 26034 114532 20038 26026 114533 20075 26066 114534 20038 26026 114535 20069 26059 114536 20076 26067 114537 20048 26038 114538 20039 26027 114539 20076 26067 114540 20039 26027 114541 20066 26056 114542 20077 26068 114543 20058 26048 114544 20049 26039 114545 20077 26068 114546 20049 26039 114547 20070 26060 114548 20078 26069 114549 17779 26062 114550 17778 26070 114551 20078 26069 114552 20052 26042 114553 20071 26061 114554 20078 26069 114555 20071 26061 114556 17779 26062 114557 20079 26071 114558 20051 26041 114559 20044 26034 114560 20079 26071 114561 20044 26034 114562 20075 26066 114563 20080 26072 114564 20053 26043 114565 20045 26035 114566 20080 26072 114567 20045 26035 114568 20072 26063 114569 20081 26073 114570 19958 25945 114571 20073 26064 114572 20082 26074 114573 20027 26014 114574 20074 26065 114575 20082 26074 114576 20035 26023 114577 20027 26014 114578 20083 26075 114579 20048 26038 114580 20076 26067 114581 20083 26075 114582 20056 26046 114583 20048 26038 114584 20084 26076 114585 20058 26048 114586 20077 26068 114587 20085 26077 114588 17778 26070 114589 17777 26078 114590 20085 26077 114591 20060 26050 114592 20052 26042 114593 20085 26077 114594 20069 26059 114595 20060 26050 114596 20085 26077 114597 20078 26069 114598 17778 26070 114599 20085 26077 114600 20052 26042 114601 20078 26069 114602 20086 26079 114603 20051 26041 114604 20079 26071 114605 20086 26079 114606 20059 26049 114607 20051 26041 114608 20087 26080 114609 20035 26023 114610 20082 26074 114611 20088 26081 114612 20053 26043 114613 20080 26072 114614 20088 26081 114615 20061 26051 114616 20053 26043 114617 20089 26082 114618 19965 25952 114619 19961 25948 114620 20089 26082 114621 19958 25945 114622 20081 26073 114623 20089 26082 114624 19961 25948 114625 19958 25945 114626 20090 26083 114627 20065 26055 114628 20056 26046 114629 20090 26083 114630 20056 26046 114631 20083 26075 114632 20091 26084 114633 20058 26048 114634 20084 26076 114635 20091 26084 114636 20068 26058 114637 20058 26048 114638 20092 26085 114639 20069 26059 114640 20085 26077 114641 20092 26085 114642 20085 26077 114643 17777 26078 114644 20092 26085 114645 20075 26066 114646 20069 26059 114647 20092 26085 114648 17777 26078 114649 17776 26086 114650 20093 26087 114651 20059 26049 114652 20086 26079 114653 20093 26087 114654 20066 26056 114655 20059 26049 114656 20094 26088 114657 20035 26023 114658 20087 26080 114659 20094 26088 114660 20041 26031 114661 20035 26023 114662 20095 26089 114663 20061 26051 114664 20088 26081 114665 20095 26089 114666 20070 26060 114667 20061 26051 114668 20096 26090 114669 20065 26055 114670 20090 26083 114671 20096 26090 114672 20072 26063 114673 20065 26055 114674 20097 26091 114675 19965 25952 114676 20089 26082 114677 20098 26092 114678 20075 26066 114679 20092 26085 114680 20098 26092 114681 20092 26085 114682 17776 26086 114683 20098 26092 114684 17776 26086 114685 20099 26093 114686 20100 26094 114687 20074 26065 114688 20068 26058 114689 20100 26094 114690 20068 26058 114691 20091 26084 114692 20101 26095 114693 20076 26067 114694 20066 26056 114695 20101 26095 114696 20066 26056 114697 20093 26087 114698 20102 26096 114699 20050 26040 114700 20041 26031 114701 20102 26096 114702 20041 26031 114703 20094 26088 114704 20103 26097 114705 20070 26060 114706 20095 26089 114707 20103 26097 114708 20077 26068 114709 20070 26060 114710 20104 26098 114711 19965 25952 114712 20097 26091 114713 20104 26098 114714 19969 25956 114715 19965 25952 114716 20105 26099 114717 20080 26072 114718 20072 26063 114719 20105 26099 114720 20072 26063 114721 20096 26090 114722 20106 26100 114723 20075 26066 114724 20098 26092 114725 20106 26100 114726 20098 26092 114727 20099 26093 114728 20106 26100 114729 20079 26071 114730 20075 26066 114731 20106 26100 114732 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114785 20116 26111 114786 20087 26080 114787 20108 26102 114788 20117 26112 114789 19969 25956 114790 20104 26098 114791 20117 26112 114792 19974 25961 114793 19969 25956 114794 20117 26112 114795 17877 23843 114796 17878 23844 114797 20117 26112 114798 17878 23844 114799 19974 25961 114800 20118 26113 114801 20109 26103 114802 17774 26105 114803 20118 26113 114804 20090 26083 114805 20109 26103 114806 20118 26113 114807 17774 26105 114808 20119 26114 114809 20120 26115 114810 20057 26047 114811 20111 26106 114812 20120 26115 114813 20067 26057 114814 20057 26047 114815 20121 26116 114816 20084 26076 114817 20112 26107 114818 20121 26116 114819 20091 26084 114820 20084 26076 114821 20122 26117 114822 20113 26108 114823 20114 26109 114824 20122 26117 114825 20093 26087 114826 20086 26079 114827 20122 26117 114828 20086 26079 114829 20113 26108 114830 20122 26117 114831 20114 26109 114832 17775 26118 114833 20123 26119 114834 20095 26089 114835 20088 26081 114836 20123 26119 114837 20088 26081 114838 20115 26110 114839 20124 26120 114840 20094 26088 114841 20087 26080 114842 20124 26120 114843 20087 26080 114844 20116 26111 114845 20125 26121 114846 20067 26057 114847 20120 26115 114848 20125 26121 114849 20073 26064 114850 20067 26057 114851 20126 26122 114852 20096 26090 114853 20090 26083 114854 20126 26122 114855 20090 26083 114856 20118 26113 114857 20126 26122 114858 20118 26113 114859 20119 26114 114860 20126 26122 114861 20105 26099 114862 20096 26090 114863 20126 26122 114864 20119 26114 114865 20127 26123 114866 20128 26124 114867 20091 26084 114868 20121 26116 114869 20128 26124 114870 20100 26094 114871 20091 26084 114872 20129 26125 114873 20101 26095 114874 20093 26087 114875 20129 26125 114876 20110 26104 114877 20109 26103 114878 20129 26125 114879 20122 26117 114880 17775 26118 114881 20129 26125 114882 20093 26087 114883 20122 26117 114884 20129 26125 114885 20109 26103 114886 20101 26095 114887 20129 26125 114888 17775 26118 114889 20110 26104 114890 20130 26126 114891 20123 26119 114892 20131 26127 114893 20130 26126 114894 20103 26097 114895 20095 26089 114896 20130 26126 114897 20131 26127 114898 20132 26128 114899 20130 26126 114900 20095 26089 114901 20123 26119 114902 20133 26129 114903 20094 26088 114904 20124 26120 114905 20133 26129 114906 20102 26096 114907 20094 26088 114908 20134 26130 114909 20089 26082 114910 20081 26073 114911 20134 26130 114912 20081 26073 114913 20073 26064 114914 20134 26130 114915 20073 26064 114916 20125 26121 114917 20135 26131 114918 20108 26102 114919 20100 26094 114920 20135 26131 114921 20100 26094 114922 20128 26124 114923 20135 26131 114924 20136 26132 114925 20137 26133 114926 20138 26134 114927 20105 26099 114928 20126 26122 114929 20138 26134 114930 20126 26122 114931 20127 26123 114932 20138 26134 114933 20115 26110 114934 20105 26099 114935 20138 26134 114936 20127 26123 114937 20139 26135 114938 20140 26136 114939 20103 26097 114940 20130 26126 114941 20140 26136 114942 20130 26126 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26147 114996 20141 26137 114997 17781 26139 114998 20150 26148 114999 20124 26120 115000 20116 26111 115001 20150 26148 115002 20116 26111 115003 20142 26140 115004 20150 26148 115005 20142 26140 115006 20137 26133 115007 20150 26148 115008 20137 26133 115009 17771 26149 115010 20151 26150 115011 20123 26119 115012 20115 26110 115013 20151 26150 115014 20115 26110 115015 20146 26144 115016 20151 26150 115017 20131 26127 115018 20123 26119 115019 20151 26150 115020 20146 26144 115021 20139 26135 115022 20151 26150 115023 20152 26151 115024 20131 26127 115025 20151 26150 115026 20139 26135 115027 20152 26151 115028 20153 26152 115029 20097 26091 115030 20089 26082 115031 20153 26152 115032 20143 26141 115033 20145 26143 115034 20153 26152 115035 20089 26082 115036 20143 26141 115037 20154 26153 115038 20121 26116 115039 20147 26145 115040 20154 26153 115041 20147 26145 115042 20148 26146 115043 20154 26153 115044 20128 26124 115045 20121 26116 115046 20155 26154 115047 20120 26115 115048 20149 26147 115049 20155 26154 115050 20125 26121 115051 20120 26115 115052 20155 26154 115053 17781 26139 115054 20156 26155 115055 20155 26154 115056 20149 26147 115057 17781 26139 115058 20157 26156 115059 20133 26129 115060 20124 26120 115061 20157 26156 115062 20124 26120 115063 20150 26148 115064 20157 26156 115065 20150 26148 115066 17771 26149 115067 20158 26157 115068 20145 26143 115069 17782 26158 115070 20158 26157 115071 20097 26091 115072 20153 26152 115073 20158 26157 115074 20104 26098 115075 20097 26091 115076 20158 26157 115077 20153 26152 115078 20145 26143 115079 20159 26159 115080 20154 26153 115081 20148 26146 115082 20159 26159 115083 20135 26131 115084 20128 26124 115085 20159 26159 115086 20136 26132 115087 20135 26131 115088 20159 26159 115089 20128 26124 115090 20154 26153 115091 20159 26159 115092 20148 26146 115093 20136 26132 115094 20160 26160 115095 20155 26154 115096 20156 26155 115097 20160 26160 115098 20134 26130 115099 20125 26121 115100 20160 26160 115101 20125 26121 115102 20155 26154 115103 20161 26161 115104 20157 26156 115105 17771 26149 115106 20161 26161 115107 20141 26137 115108 20133 26129 115109 20161 26161 115110 20133 26129 115111 20157 26156 115112 20161 26161 115113 17773 26138 115114 20141 26137 115115 20161 26161 115116 17771 26149 115117 17773 26138 115118 20162 26162 115119 20144 26142 115120 20143 26141 115121 20162 26162 115122 20143 26141 115123 20134 26130 115124 20162 26162 115125 20134 26130 115126 20160 26160 115127 20162 26162 115128 20156 26155 115129 20144 26142 115130 20162 26162 115131 20160 26160 115132 20156 26155 115133 20163 26163 115134 20117 26112 115135 20104 26098 115136 20163 26163 115137 17877 23843 115138 20117 26112 115139 20163 26163 115140 20158 26157 115141 17782 26158 115142 20163 26163 115143 20104 26098 115144 20158 26157 115145 20163 26163 115146 17782 26158 115147 17877 23843 115148

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3305 13561 16463 3302 13562 2734 3273 13563 16320 3306 13564 2768 3305 13565 16965 3307 13566 2769 3308 13567 16972 3309 13568 16966 3304 13569 2769 3308 13570 16965 3307 13571 8468 3303 13572 2769 3308 13573 16966 3304 13574 2734 3273 13575 16319 3310 13576 16320 3306 13577 2734 3273 13578 16317 3311 13579 16319 3310 13580 16972 3309 13581 8464 3312 13582 16971 3186 13583 2769 3308 13584 8464 3312 13585 16972 3309 13586 2734 3273 13587 16326 3313 13588 16317 3311 13589 2734 3273 13590 16325 3314 13591 16326 3313 13592 16971 3186 13593 2770 3186 13594 16977 3186 13595 8464 3312 13596 2770 3186 13597 16971 3186 13598 2734 3273 13599 16332 3315 13600 16325 3314 13601 2734 3273 13602 16330 3316 13603 16332 3315 13604 2770 3186 13605 8459 3186 13606 16977 3186 13607 16977 3186 13608 8459 3186 13609 2771 3186 13610 2733 3272 13611 16336 3317 13612 2734 3273 13613 2745 3279 13614 16336 3317 13615 2733 3272 13616 2734 3273 13617 16336 3317 13618 16330 3316 13619 2745 3279 13620 2772 3318 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19456 25443 110783 19459 25446 110784 19440 25427 110785 19437 25424 110786 19460 25447 110787 19402 25389 110788 19400 25387 110789 19460 25447 110790 19400 25387 110791 19457 25444 110792 19461 25448 110793 19438 25425 110794 19458 25445 110795 19461 25448 110796 19441 25428 110797 19438 25425 110798 19462 25449 110799 19443 25430 110800 19440 25427 110801 19462 25449 110802 19440 25427 110803 19459 25446 110804 19463 25450 110805 19402 25389 110806 19460 25447 110807 19463 25450 110808 19404 25391 110809 19402 25389 110810 19464 25451 110811 19444 25431 110812 19441 25428 110813 19464 25451 110814 19448 25435 110815 19444 25431 110816 19464 25451 110817 19441 25428 110818 19461 25448 110819 19465 25452 110820 19404 25391 110821 19463 25450 110822 19465 25452 110823 19406 25393 110824 19404 25391 110825 19465 25452 110826 19408 25395 110827 19406 25393 110828 19466 25453 110829 17885 23851 110830 19447 25434 110831 19466 25453 110832 19447 25434 110833 19443 25430 110834 19466 25453 110835 19443 25430 110836 19462 25449 110837 19467 25454 110838 19448 25435 110839 19464 25451 110840 19468 25455 110841 19408 25395 110842 19465 25452 110843 19469 25456 110844 19448 25435 110845 19467 25454 110846 19469 25456 110847 19451 25438 110848 19448 25435 110849 19470 25457 110850 19408 25395 110851 19468 25455 110852 19470 25457 110853 19410 25397 110854 19408 25395 110855 19471 25458 110856 19451 25438 110857 19469 25456 110858 19471 25458 110859 19454 25441 110860 19451 25438 110861 19472 25459 110862 19410 25397 110863 19470 25457 110864 19472 25459 110865 19414 25401 110866 19412 25399 110867 19472 25459 110868 19412 25399 110869 19410 25397 110870 19473 25460 110871 19454 25441 110872 19471 25458 110873 19473 25460 110874 19457 25444 110875 19454 25441 110876 19473 25460 110877 19460 25447 110878 19457 25444 110879 19474 25461 110880 19460 25447 110881 19473 25460 110882 19475 25462 110883 19414 25401 110884 19472 25459 110885 19476 25463 110886 19460 25447 110887 19474 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19472 25459 110941 19482 25469 110942 19485 25472 110943 19425 25412 110944 19483 25470 110945 19486 25473 110946 19431 25418 110947 19428 25415 110948 19486 25473 110949 19425 25412 110950 19485 25472 110951 19486 25473 110952 19428 25415 110953 19425 25412 110954 19487 25474 110955 19475 25462 110956 19472 25459 110957 19487 25474 110958 19472 25459 110959 19484 25471 110960 19488 25475 110961 19431 25418 110962 19486 25473 110963 19489 25476 110964 19475 25462 110965 19487 25474 110966 19489 25476 110967 19477 25464 110968 19475 25462 110969 19490 25477 110970 19431 25418 110971 19488 25475 110972 19490 25477 110973 19434 25421 110974 19431 25418 110975 19491 25478 110976 19479 25466 110977 19477 25464 110978 19491 25478 110979 19477 25464 110980 19489 25476 110981 19492 25479 110982 19436 25423 110983 19434 25421 110984 19492 25479 110985 19439 25426 110986 19436 25423 110987 19492 25479 110988 19434 25421 110989 19490 25477 110990 19493 25480 110991 19481 25468 110992 19479 25466 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19780 25767 112837 19778 25765 112838 19797 25784 112839 19778 25765 112840 19794 25781 112841 19798 25785 112842 19746 25733 112843 19795 25782 112844 19799 25786 112845 19748 25735 112846 19745 25732 112847 19799 25786 112848 19745 25732 112849 19796 25783 112850 19800 25787 112851 19782 25769 112852 19780 25767 112853 19800 25787 112854 19780 25767 112855 19797 25784 112856 19800 25787 112857 19784 25771 112858 19782 25769 112859 19801 25788 112860 19749 25736 112861 19746 25733 112862 19801 25788 112863 19746 25733 112864 19798 25785 112865 19802 25789 112866 19751 25738 112867 19748 25735 112868 19802 25789 112869 19748 25735 112870 19799 25786 112871 19803 25790 112872 19784 25771 112873 19800 25787 112874 19803 25790 112875 19787 25774 112876 19784 25771 112877 19804 25791 112878 19749 25736 112879 19801 25788 112880 19804 25791 112881 19752 25739 112882 19749 25736 112883 19805 25792 112884 19786 25773 112885 17870 23833 112886 19805 25792 112887 17870 23833 112888 17872 23836 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19822 25809 112995 19798 25785 112996 19819 25806 112997 19822 25809 112998 19801 25788 112999 19798 25785 113000 19823 25810 113001 19802 25789 113002 19820 25807 113003 19824 25811 113004 19767 25754 113005 19765 25752 113006 19824 25811 113007 19765 25752 113008 19821 25808 113009 19825 25812 113010 19804 25791 113011 19822 25809 113012 19826 25813 113013 19806 25793 113014 19802 25789 113015 19826 25813 113016 17880 23846 113017 19806 25793 113018 19826 25813 113019 19802 25789 113020 19823 25810 113021 19827 25814 113022 19808 25795 113023 19804 25791 113024 19827 25814 113025 19804 25791 113026 19825 25812 113027 19828 25815 113028 19771 25758 113029 19769 25756 113030 19828 25815 113031 19767 25754 113032 19824 25811 113033 19828 25815 113034 19769 25756 113035 19767 25754 113036 19829 25816 113037 19808 25795 113038 19827 25814 113039 19829 25816 113040 19811 25798 113041 19808 25795 113042 19830 25817 113043 19771 25758 113044 19828 25815 113045 19831 25818 113046 19816 25803 113047 19814 25801 113048 19831 25818 113049 19814 25801 113050 19811 25798 113051 19831 25818 113052 19811 25798 113053 19829 25816 113054 19832 25819 113055 19773 25760 113056 19771 25758 113057 19832 25819 113058 19771 25758 113059 19830 25817 113060 19833 25820 113061 19816 25803 113062 19831 25818 113063 19834 25821 113064 19777 25764 113065 19775 25762 113066 19834 25821 113067 19775 25762 113068 19773 25760 113069 19834 25821 113070 19773 25760 113071 19832 25819 113072 19835 25822 113073 19818 25805 113074 19816 25803 113075 19835 25822 113076 19816 25803 113077 19833 25820 113078 19835 25822 113079 19821 25808 113080 19818 25805 113081 19836 25823 113082 19777 25764 113083 19834 25821 113084 19837 25824 113085 19821 25808 113086 19835 25822 113087 19837 25824 113088 19824 25811 113089 19821 25808 113090 19838 25825 113091 19777 25764 113092 19836 25823 113093 19838 25825 113094 19779 25766 113095 19777 25764 113096 19839 25826 113097 19824 25811 113098 19837 25824 113099 19840 25827 113100 19779 25766 113101 19838 25825 113102 19840 25827 113103 19783 25770 113104 19781 25768 113105 19840 25827 113106 19781 25768 113107 19779 25766 113108 19841 25828 113109 19824 25811 113110 19839 25826 113111 19841 25828 113112 19828 25815 113113 19824 25811 113114 19842 25829 113115 19783 25770 113116 19840 25827 113117 19843 25830 113118 19828 25815 113119 19841 25828 113120 19843 25830 113121 19830 25817 113122 19828 25815 113123 19844 25831 113124 19783 25770 113125 19842 25829 113126 19844 25831 113127 19785 25772 113128 19783 25770 113129 19845 25832 113130 19832 25819 113131 19830 25817 113132 19845 25832 113133 19830 25817 113134 19843 25830 113135 19846 25833 113136 19785 25772 113137 19844 25831 113138 19846 25833 113139 19788 25775 113140 19785 25772 113141 19847 25834 113142 19832 25819 113143 19845 25832 113144 19847 25834 113145 19836 25823 113146 19834 25821 113147 19847 25834 113148 19834 25821 113149 19832 25819 113150 19848 25835 113151 19788 25775 113152 19846 25833 113153 19848 25835 113154 19791 25778 113155 19788 25775 113156 19848 25835 113157 19794 25781 113158 19791 25778 113159 19849 25836 113160 19836 25823 113161 19847 25834 113162 19849 25836 113163 19838 25825 113164 19836 25823 113165 19850 25837 113166 19794 25781 113167 19848 25835 113168 19851 25838 113169 19838 25825 113170 19849 25836 113171 19852 25839 113172 19797 25784 113173 19794 25781 113174 19852 25839 113175 19800 25787 113176 19797 25784 113177 19852 25839 113178 19794 25781 113179 19850 25837 113180 19853 25840 113181 19840 25827 113182 19838 25825 113183 19853 25840 113184 19838 25825 113185 19851 25838 113186 19854 25841 113187 19800 25787 113188 19852 25839 113189 19854 25841 113190 19803 25790 113191 19800 25787 113192 19855 25842 113193 19842 25829 113194 19840 25827 113195 19855 25842 113196 19840 25827 113197 19853 25840 113198 19856 25843 113199 19803 25790 113200 19854 25841 113201 19857 25844 113202 19805 25792 113203 17872 23836 113204 19858 25845 113205 19844 25831 113206 19842 25829 113207 19858 25845 113208 19842 25829 113209 19855 25842 113210 19859 25846 113211 19807 25794 113212 19803 25790 113213 19859 25846 113214 19803 25790 113215 19856 25843 113216 19860 25847 113217 19809 25796 113218 19805 25792 113219 19860 25847 113220 19805 25792 113221 19857 25844 113222 19861 25848 113223 19846 25833 113224 19844 25831 113225 19861 25848 113226 19848 25835 113227 19846 25833 113228 19861 25848 113229 19844 25831 113230 19858 25845 113231 19862 25849 113232 19810 25797 113233 19807 25794 113234 19862 25849 113235 19813 25800 113236 19810 25797 113237 19862 25849 113238 19807 25794 113239 19859 25846 113240 19863 25850 113241 19812 25799 113242 19809 25796 113243 19863 25850 113244 19815 25802 113245 19812 25799 113246 19863 25850 113247 19809 25796 113248 19860 25847 113249 19864 25851 113250 19850 25837 113251 19848 25835 113252 19864 25851 113253 19848 25835 113254 19861 25848 113255 19865 25852 113256 19813 25800 113257 19862 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19856 25843 113311 19854 25841 113312 19876 25863 113313 19825 25812 113314 19822 25809 113315 19876 25863 113316 19822 25809 113317 19873 25860 113318 19877 25864 113319 17872 23836 113320 17874 23838 113321 19877 25864 113322 19857 25844 113323 17872 23836 113324 19878 25865 113325 17879 23845 113326 17880 23846 113327 19878 25865 113328 19823 25810 113329 19874 25861 113330 19878 25865 113331 17880 23846 113332 19826 25813 113333 19878 25865 113334 19826 25813 113335 19823 25810 113336 19879 25866 113337 19856 25843 113338 19875 25862 113339 19879 25866 113340 19859 25846 113341 19856 25843 113342 19879 25866 113343 19862 25849 113344 19859 25846 113345 19880 25867 113346 19825 25812 113347 19876 25863 113348 19880 25867 113349 19827 25814 113350 19825 25812 113351 19881 25868 113352 19857 25844 113353 19877 25864 113354 19881 25868 113355 19860 25847 113356 19857 25844 113357 19882 25869 113358 19827 25814 113359 19880 25867 113360 19882 25869 113361 19829 25816 113362 19827 25814 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19978 25965 113943 19968 25955 113944 19964 25951 113945 19979 25966 113946 19913 25900 113947 19975 25962 113948 19979 25966 113949 19915 25902 113950 19913 25900 113951 19979 25966 113952 19917 25904 113953 19915 25902 113954 19980 25967 113955 19962 25949 113956 19976 25963 113957 19980 25967 113958 19966 25953 113959 19962 25949 113960 19981 25968 113961 19954 25941 113962 19977 25964 113963 19982 25969 113964 19968 25955 113965 19978 25965 113966 19983 25970 113967 19959 25946 113968 19956 25943 113969 19983 25970 113970 19954 25941 113971 19981 25968 113972 19983 25970 113973 19956 25943 113974 19954 25941 113975 19984 25971 113976 19917 25904 113977 19979 25966 113978 19985 25972 113979 19970 25957 113980 19966 25953 113981 19985 25972 113982 19966 25953 113983 19980 25967 113984 19986 25973 113985 19968 25955 113986 19982 25969 113987 19986 25973 113988 19972 25959 113989 19968 25955 113990 19987 25974 113991 19959 25946 113992 19983 25970 113993 19988 25975 113994 19973 25960 113995 19970 25957 113996 19988 25975 113997 19970 25957 113998 19985 25972 113999 19989 25976 114000 19919 25906 114001 19917 25904 114002 19989 25976 114003 19917 25904 114004 19984 25971 114005 19990 25977 114006 19976 25963 114007 17772 23839 114008 19991 25978 114009 19977 25964 114010 19972 25959 114011 19991 25978 114012 19972 25959 114013 19986 25973 114014 19992 25979 114015 19963 25950 114016 19959 25946 114017 19992 25979 114018 19959 25946 114019 19987 25974 114020 19993 25980 114021 19978 25965 114022 19973 25960 114023 19993 25980 114024 19973 25960 114025 19988 25975 114026 19994 25981 114027 19919 25906 114028 19989 25976 114029 19994 25981 114030 19921 25908 114031 19919 25906 114032 19995 25982 114033 19976 25963 114034 19990 25977 114035 19995 25982 114036 19985 25972 114037 19980 25967 114038 19995 25982 114039 19980 25967 114040 19976 25963 114041 19996 25983 114042 19977 25964 114043 19991 25978 114044 19996 25983 114045 19983 25970 114046 19981 25968 114047 19996 25983 114048 19981 25968 114049 19977 25964 114050 19997 25984 114051 19971 25958 114052 19967 25954 114053 19997 25984 114054 19963 25950 114055 19992 25979 114056 19997 25984 114057 19967 25954 114058 19963 25950 114059 19998 25985 114060 19982 25969 114061 19978 25965 114062 19998 25985 114063 19978 25965 114064 19993 25980 114065 19999 25986 114066 19921 25908 114067 19994 25981 114068 19999 25986 114069 19923 25910 114070 19921 25908 114071 20000 25987 114072 19983 25970 114073 19996 25983 114074 20001 25988 114075 19985 25972 114076 19995 25982 114077 20002 25989 114078 19971 25958 114079 19997 25984 114080 20002 25989 114081 19975 25962 114082 19971 25958 114083 20003 25990 114084 19982 25969 114085 19998 25985 114086 20003 25990 114087 19986 25973 114088 19982 25969 114089 20004 25991 114090 19923 25910 114091 19999 25986 114092 20004 25991 114093 19925 25912 114094 19923 25910 114095 20005 25992 114096 19992 25979 114097 19987 25974 114098 20005 25992 114099 19987 25974 114100 19983 25970 114101 20005 25992 114102 19983 25970 114103 20000 25987 114104 20006 25993 114105 19988 25975 114106 19985 25972 114107 20006 25993 114108 19985 25972 114109 20001 25988 114110 20007 25994 114111 19975 25962 114112 20002 25989 114113 20008 25995 114114 19991 25978 114115 19986 25973 114116 20008 25995 114117 19986 25973 114118 20003 25990 114119 20008 25995 114120 19996 25983 114121 19991 25978 114122 20009 25996 114123 19925 25912 114124 20004 25991 114125 20009 25996 114126 19930 25917 114127 19927 25914 114128 20009 25996 114129 19927 25914 114130 19925 25912 114131 20010 25997 114132 19990 25977 114133 17772 23839 114134 20011 25998 114135 19992 25979 114136 20005 25992 114137 20012 25999 114138 19993 25980 114139 19988 25975 114140 20012 25999 114141 19988 25975 114142 20006 25993 114143 20013 26000 114144 19975 25962 114145 20007 25994 114146 20013 26000 114147 19979 25966 114148 19975 25962 114149 20014 26001 114150 19996 25983 114151 20008 25995 114152 20015 26002 114153 19930 25917 114154 20009 25996 114155 20016 26003 114156 19992 25979 114157 20011 25998 114158 20016 26003 114159 19997 25984 114160 19992 25979 114161 20017 26004 114162 19990 25977 114163 20010 25997 114164 20017 26004 114165 19995 25982 114166 19990 25977 114167 20018 26005 114168 19998 25985 114169 19993 25980 114170 20018 26005 114171 19993 25980 114172 20012 25999 114173 20019 26006 114174 19984 25971 114175 19979 25966 114176 20019 26006 114177 19989 25976 114178 19984 25971 114179 20019 26006 114180 19979 25966 114181 20013 26000 114182 20020 26007 114183 19996 25983 114184 20014 26001 114185 20020 26007 114186 20000 25987 114187 19996 25983 114188 20021 26008 114189 19930 25917 114190 20015 26002 114191 20021 26008 114192 19933 25920 114193 19930 25917 114194 20021 26008 114195 19936 25923 114196 19933 25920 114197 20022 26009 114198 19995 25982 114199 20017 26004 114200 20022 26009 114201 20001 25988 114202 19995 25982 114203 20022 26009 114204 20006 25993 114205 20001 25988 114206 20023 26010 114207 20002 25989 114208 19997 25984 114209 20023 26010 114210 19997 25984 114211 20016 26003 114212 20024 26011 114213 19998 25985 114214 20018 26005 114215 20024 26011 114216 20003 25990 114217 19998 25985 114218 20025 26012 114219 20005 25992 114220 20000 25987 114221 20025 26012 114222 20000 25987 114223 20020 26007 114224 20026 26013 114225 19989 25976 114226 20019 26006 114227 20027 26014 114228 19936 25923 114229 20021 26008 114230 20027 26014 114231 19939 25926 114232 19936 25923 114233 20028 26015 114234 20006 25993 114235 20022 26009 114236 20029 26016 114237 20002 25989 114238 20023 26010 114239 20029 26016 114240 20007 25994 114241 20002 25989 114242 20030 26017 114243 20008 25995 114244 20003 25990 114245 20030 26017 114246 20003 25990 114247 20024 26011 114248 20031 26018 114249 20010 25997 114250 17772 23839 114251 20031 26018 114252 17769 26019 114253 20032 26020 114254 20031 26018 114255 17772 23839 114256 17769 26019 114257 20033 26021 114258 20005 25992 114259 20025 26012 114260 20033 26021 114261 20011 25998 114262 20005 25992 114263 20034 26022 114264 19994 25981 114265 19989 25976 114266 20034 26022 114267 19989 25976 114268 20026 26013 114269 20035 26023 114270 19939 25926 114271 20027 26014 114272 20036 26024 114273 20018 26005 114274 20012 25999 114275 20036 26024 114276 20012 25999 114277 20006 25993 114278 20036 26024 114279 20006 25993 114280 20028 26015 114281 20037 26025 114282 20013 26000 114283 20007 25994 114284 20037 26025 114285 20007 25994 114286 20029 26016 114287 20038 26026 114288 20008 25995 114289 20030 26017 114290 20038 26026 114291 20014 26001 114292 20008 25995 114293 20039 26027 114294 20016 26003 114295 20011 25998 114296 20039 26027 114297 20011 25998 114298 20033 26021 114299 20040 26028 114300 17770 26029 114301 17780 26030 114302 20040 26028 114303 20032 26020 114304 17770 26029 114305 20040 26028 114306 20031 26018 114307 20032 26020 114308 20040 26028 114309 20010 25997 114310 20031 26018 114311 20040 26028 114312 20017 26004 114313 20010 25997 114314 20041 26031 114315 19942 25929 114316 19939 25926 114317 20041 26031 114318 19939 25926 114319 20035 26023 114320 20042 26032 114321 20004 25991 114322 19999 25986 114323 20042 26032 114324 19994 25981 114325 20034 26022 114326 20042 26032 114327 19999 25986 114328 19994 25981 114329 20043 26033 114330 20018 26005 114331 20036 26024 114332 20044 26034 114333 20020 26007 114334 20014 26001 114335 20044 26034 114336 20014 26001 114337 20038 26026 114338 20045 26035 114339 20019 26006 114340 20013 26000 114341 20045 26035 114342 20013 26000 114343 20037 26025 114344 20046 26036 114345 17780 26030 114346 20047 26037 114347 20046 26036 114348 20017 26004 114349 20040 26028 114350 20046 26036 114351 20022 26009 114352 20017 26004 114353 20046 26036 114354 20040 26028 114355 17780 26030 114356 20048 26038 114357 20023 26010 114358 20016 26003 114359 20048 26038 114360 20016 26003 114361 20039 26027 114362 20048 26038 114363 20029 26016 114364 20023 26010 114365 20049 26039 114366 20004 25991 114367 20042 26032 114368 20050 26040 114369 19942 25929 114370 20041 26031 114371 20050 26040 114372 19945 25932 114373 19942 25929 114374 20051 26041 114375 20020 26007 114376 20044 26034 114377 20051 26041 114378 20025 26012 114379 20020 26007 114380 20051 26041 114381 20033 26021 114382 20025 26012 114383 20052 26042 114384 20024 26011 114385 20018 26005 114386 20052 26042 114387 20018 26005 114388 20043 26033 114389 20053 26043 114390 20019 26006 114391 20045 26035 114392 20053 26043 114393 20026 26013 114394 20019 26006 114395 20053 26043 114396 20034 26022 114397 20026 26013 114398 20054 26044 114399 20047 26037 114400 20055 26045 114401 20054 26044 114402 20022 26009 114403 20046 26036 114404 20054 26044 114405 20028 26015 114406 20022 26009 114407 20054 26044 114408 20046 26036 114409 20047 26037 114410 20056 26046 114411 20029 26016 114412 20048 26038 114413 20057 26047 114414 19948 25935 114415 19945 25932 114416 20057 26047 114417 19945 25932 114418 20050 26040 114419 20058 26048 114420 20004 25991 114421 20049 26039 114422 20058 26048 114423 20009 25996 114424 20004 25991 114425 20059 26049 114426 20033 26021 114427 20051 26041 114428 20060 26050 114429 20024 26011 114430 20052 26042 114431 20060 26050 114432 20030 26017 114433 20024 26011 114434 20060 26050 114435 20038 26026 114436 20030 26017 114437 20061 26051 114438 20034 26022 114439 20053 26043 114440 20062 26052 114441 20063 26053 114442 20064 26054 114443 20062 26052 114444 20055 26045 114445 20063 26053 114446 20062 26052 114447 20054 26044 114448 20055 26045 114449 20062 26052 114450 20028 26015 114451 20054 26044 114452 20062 26052 114453 20036 26024 114454 20028 26015 114455 20065 26055 114456 20045 26035 114457 20037 26025 114458 20065 26055 114459 20037 26025 114460 20029 26016 114461 20065 26055 114462 20029 26016 114463 20056 26046 114464 20066 26056 114465 20033 26021 114466 20059 26049 114467 20066 26056 114468 20039 26027 114469 20033 26021 114470 20067 26057 114471 19952 25939 114472 19948 25935 114473 20067 26057 114474 19948 25935 114475 20057 26047 114476 20068 26058 114477 20015 26002 114478 20009 25996 114479 20068 26058 114480 20009 25996 114481 20058 26048 114482 20069 26059 114483 20038 26026 114484 20060 26050 114485 20070 26060 114486 20042 26032 114487 20034 26022 114488 20070 26060 114489 20049 26039 114490 20042 26032 114491 20070 26060 114492 20034 26022 114493 20061 26051 114494 20071 26061 114495 20064 26054 114496 17779 26062 114497 20071 26061 114498 20062 26052 114499 20064 26054 114500 20071 26061 114501 20052 26042 114502 20043 26033 114503 20071 26061 114504 20036 26024 114505 20062 26052 114506 20071 26061 114507 20043 26033 114508 20036 26024 114509 20072 26063 114510 20045 26035 114511 20065 26055 114512 20073 26064 114513 19952 25939 114514 20067 26057 114515 20073 26064 114516 19955 25942 114517 19952 25939 114518 20073 26064 114519 19958 25945 114520 19955 25942 114521 20074 26065 114522 20021 26008 114523 20015 26002 114524 20074 26065 114525 20015 26002 114526 20068 26058 114527 20074 26065 114528 20027 26014 114529 20021 26008 114530 20075 26066 114531 20044 26034 114532 20038 26026 114533 20075 26066 114534 20038 26026 114535 20069 26059 114536 20076 26067 114537 20048 26038 114538 20039 26027 114539 20076 26067 114540 20039 26027 114541 20066 26056 114542 20077 26068 114543 20058 26048 114544 20049 26039 114545 20077 26068 114546 20049 26039 114547 20070 26060 114548 20078 26069 114549 17779 26062 114550 17778 26070 114551 20078 26069 114552 20052 26042 114553 20071 26061 114554 20078 26069 114555 20071 26061 114556 17779 26062 114557 20079 26071 114558 20051 26041 114559 20044 26034 114560 20079 26071 114561 20044 26034 114562 20075 26066 114563 20080 26072 114564 20053 26043 114565 20045 26035 114566 20080 26072 114567 20045 26035 114568 20072 26063 114569 20081 26073 114570 19958 25945 114571 20073 26064 114572 20082 26074 114573 20027 26014 114574 20074 26065 114575 20082 26074 114576 20035 26023 114577 20027 26014 114578 20083 26075 114579 20048 26038 114580 20076 26067 114581 20083 26075 114582 20056 26046 114583 20048 26038 114584 20084 26076 114585 20058 26048 114586 20077 26068 114587 20085 26077 114588 17778 26070 114589 17777 26078 114590 20085 26077 114591 20060 26050 114592 20052 26042 114593 20085 26077 114594 20069 26059 114595 20060 26050 114596 20085 26077 114597 20078 26069 114598 17778 26070 114599 20085 26077 114600 20052 26042 114601 20078 26069 114602 20086 26079 114603 20051 26041 114604 20079 26071 114605 20086 26079 114606 20059 26049 114607 20051 26041 114608 20087 26080 114609 20035 26023 114610 20082 26074 114611 20088 26081 114612 20053 26043 114613 20080 26072 114614 20088 26081 114615 20061 26051 114616 20053 26043 114617 20089 26082 114618 19965 25952 114619 19961 25948 114620 20089 26082 114621 19958 25945 114622 20081 26073 114623 20089 26082 114624 19961 25948 114625 19958 25945 114626 20090 26083 114627 20065 26055 114628 20056 26046 114629 20090 26083 114630 20056 26046 114631 20083 26075 114632 20091 26084 114633 20058 26048 114634 20084 26076 114635 20091 26084 114636 20068 26058 114637 20058 26048 114638 20092 26085 114639 20069 26059 114640 20085 26077 114641 20092 26085 114642 20085 26077 114643 17777 26078 114644 20092 26085 114645 20075 26066 114646 20069 26059 114647 20092 26085 114648 17777 26078 114649 17776 26086 114650 20093 26087 114651 20059 26049 114652 20086 26079 114653 20093 26087 114654 20066 26056 114655 20059 26049 114656 20094 26088 114657 20035 26023 114658 20087 26080 114659 20094 26088 114660 20041 26031 114661 20035 26023 114662 20095 26089 114663 20061 26051 114664 20088 26081 114665 20095 26089 114666 20070 26060 114667 20061 26051 114668 20096 26090 114669 20065 26055 114670 20090 26083 114671 20096 26090 114672 20072 26063 114673 20065 26055 114674 20097 26091 114675 19965 25952 114676 20089 26082 114677 20098 26092 114678 20075 26066 114679 20092 26085 114680 20098 26092 114681 20092 26085 114682 17776 26086 114683 20098 26092 114684 17776 26086 114685 20099 26093 114686 20100 26094 114687 20074 26065 114688 20068 26058 114689 20100 26094 114690 20068 26058 114691 20091 26084 114692 20101 26095 114693 20076 26067 114694 20066 26056 114695 20101 26095 114696 20066 26056 114697 20093 26087 114698 20102 26096 114699 20050 26040 114700 20041 26031 114701 20102 26096 114702 20041 26031 114703 20094 26088 114704 20103 26097 114705 20070 26060 114706 20095 26089 114707 20103 26097 114708 20077 26068 114709 20070 26060 114710 20104 26098 114711 19965 25952 114712 20097 26091 114713 20104 26098 114714 19969 25956 114715 19965 25952 114716 20105 26099 114717 20080 26072 114718 20072 26063 114719 20105 26099 114720 20072 26063 114721 20096 26090 114722 20106 26100 114723 20075 26066 114724 20098 26092 114725 20106 26100 114726 20098 26092 114727 20099 26093 114728 20106 26100 114729 20079 26071 114730 20075 26066 114731 20106 26100 114732 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114785 20116 26111 114786 20087 26080 114787 20108 26102 114788 20117 26112 114789 19969 25956 114790 20104 26098 114791 20117 26112 114792 19974 25961 114793 19969 25956 114794 20117 26112 114795 17877 23843 114796 17878 23844 114797 20117 26112 114798 17878 23844 114799 19974 25961 114800 20118 26113 114801 20109 26103 114802 17774 26105 114803 20118 26113 114804 20090 26083 114805 20109 26103 114806 20118 26113 114807 17774 26105 114808 20119 26114 114809 20120 26115 114810 20057 26047 114811 20111 26106 114812 20120 26115 114813 20067 26057 114814 20057 26047 114815 20121 26116 114816 20084 26076 114817 20112 26107 114818 20121 26116 114819 20091 26084 114820 20084 26076 114821 20122 26117 114822 20113 26108 114823 20114 26109 114824 20122 26117 114825 20093 26087 114826 20086 26079 114827 20122 26117 114828 20086 26079 114829 20113 26108 114830 20122 26117 114831 20114 26109 114832 17775 26118 114833 20123 26119 114834 20095 26089 114835 20088 26081 114836 20123 26119 114837 20088 26081 114838 20115 26110 114839 20124 26120 114840 20094 26088 114841 20087 26080 114842 20124 26120 114843 20087 26080 114844 20116 26111 114845 20125 26121 114846 20067 26057 114847 20120 26115 114848 20125 26121 114849 20073 26064 114850 20067 26057 114851 20126 26122 114852 20096 26090 114853 20090 26083 114854 20126 26122 114855 20090 26083 114856 20118 26113 114857 20126 26122 114858 20118 26113 114859 20119 26114 114860 20126 26122 114861 20105 26099 114862 20096 26090 114863 20126 26122 114864 20119 26114 114865 20127 26123 114866 20128 26124 114867 20091 26084 114868 20121 26116 114869 20128 26124 114870 20100 26094 114871 20091 26084 114872 20129 26125 114873 20101 26095 114874 20093 26087 114875 20129 26125 114876 20110 26104 114877 20109 26103 114878 20129 26125 114879 20122 26117 114880 17775 26118 114881 20129 26125 114882 20093 26087 114883 20122 26117 114884 20129 26125 114885 20109 26103 114886 20101 26095 114887 20129 26125 114888 17775 26118 114889 20110 26104 114890 20130 26126 114891 20123 26119 114892 20131 26127 114893 20130 26126 114894 20103 26097 114895 20095 26089 114896 20130 26126 114897 20131 26127 114898 20132 26128 114899 20130 26126 114900 20095 26089 114901 20123 26119 114902 20133 26129 114903 20094 26088 114904 20124 26120 114905 20133 26129 114906 20102 26096 114907 20094 26088 114908 20134 26130 114909 20089 26082 114910 20081 26073 114911 20134 26130 114912 20081 26073 114913 20073 26064 114914 20134 26130 114915 20073 26064 114916 20125 26121 114917 20135 26131 114918 20108 26102 114919 20100 26094 114920 20135 26131 114921 20100 26094 114922 20128 26124 114923 20135 26131 114924 20136 26132 114925 20137 26133 114926 20138 26134 114927 20105 26099 114928 20126 26122 114929 20138 26134 114930 20126 26122 114931 20127 26123 114932 20138 26134 114933 20115 26110 114934 20105 26099 114935 20138 26134 114936 20127 26123 114937 20139 26135 114938 20140 26136 114939 20103 26097 114940 20130 26126 114941 20140 26136 114942 20130 26126 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26147 114996 20141 26137 114997 17781 26139 114998 20150 26148 114999 20124 26120 115000 20116 26111 115001 20150 26148 115002 20116 26111 115003 20142 26140 115004 20150 26148 115005 20142 26140 115006 20137 26133 115007 20150 26148 115008 20137 26133 115009 17771 26149 115010 20151 26150 115011 20123 26119 115012 20115 26110 115013 20151 26150 115014 20115 26110 115015 20146 26144 115016 20151 26150 115017 20131 26127 115018 20123 26119 115019 20151 26150 115020 20146 26144 115021 20139 26135 115022 20151 26150 115023 20152 26151 115024 20131 26127 115025 20151 26150 115026 20139 26135 115027 20152 26151 115028 20153 26152 115029 20097 26091 115030 20089 26082 115031 20153 26152 115032 20143 26141 115033 20145 26143 115034 20153 26152 115035 20089 26082 115036 20143 26141 115037 20154 26153 115038 20121 26116 115039 20147 26145 115040 20154 26153 115041 20147 26145 115042 20148 26146 115043 20154 26153 115044 20128 26124 115045 20121 26116 115046 20155 26154 115047 20120 26115 115048 20149 26147 115049 20155 26154 115050 20125 26121 115051 20120 26115 115052 20155 26154 115053 17781 26139 115054 20156 26155 115055 20155 26154 115056 20149 26147 115057 17781 26139 115058 20157 26156 115059 20133 26129 115060 20124 26120 115061 20157 26156 115062 20124 26120 115063 20150 26148 115064 20157 26156 115065 20150 26148 115066 17771 26149 115067 20158 26157 115068 20145 26143 115069 17782 26158 115070 20158 26157 115071 20097 26091 115072 20153 26152 115073 20158 26157 115074 20104 26098 115075 20097 26091 115076 20158 26157 115077 20153 26152 115078 20145 26143 115079 20159 26159 115080 20154 26153 115081 20148 26146 115082 20159 26159 115083 20135 26131 115084 20128 26124 115085 20159 26159 115086 20136 26132 115087 20135 26131 115088 20159 26159 115089 20128 26124 115090 20154 26153 115091 20159 26159 115092 20148 26146 115093 20136 26132 115094 20160 26160 115095 20155 26154 115096 20156 26155 115097 20160 26160 115098 20134 26130 115099 20125 26121 115100 20160 26160 115101 20125 26121 115102 20155 26154 115103 20161 26161 115104 20157 26156 115105 17771 26149 115106 20161 26161 115107 20141 26137 115108 20133 26129 115109 20161 26161 115110 20133 26129 115111 20157 26156 115112 20161 26161 115113 17773 26138 115114 20141 26137 115115 20161 26161 115116 17771 26149 115117 17773 26138 115118 20162 26162 115119 20144 26142 115120 20143 26141 115121 20162 26162 115122 20143 26141 115123 20134 26130 115124 20162 26162 115125 20134 26130 115126 20160 26160 115127 20162 26162 115128 20156 26155 115129 20144 26142 115130 20162 26162 115131 20160 26160 115132 20156 26155 115133 20163 26163 115134 20117 26112 115135 20104 26098 115136 20163 26163 115137 17877 23843 115138 20117 26112 115139 20163 26163 115140 20158 26157 115141 17782 26158 115142 20163 26163 115143 20104 26098 115144 20158 26157 115145 20163 26163 115146 17782 26158 115147 17877 23843 115148

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- - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rasmt_support/package.xml b/rasmt_support/package.xml deleted file mode 100644 index 7922ee3..0000000 --- a/rasmt_support/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - rasmt_support - 0.0.0 - TODO: Package description - bill-finger - TODO: License declaration - - ament_cmake - - urdf - xacro - - ament_lint_auto - ament_lint_common - - - ament_cmake - - - - \ No newline at end of file diff --git a/rasmt_support/urdf/cube5x.sdf b/rasmt_support/urdf/cube5x.sdf deleted file mode 100644 index 4517829..0000000 --- a/rasmt_support/urdf/cube5x.sdf +++ /dev/null @@ -1,38 +0,0 @@ - - - - 1 - - - 0.004475 0 0.577443 0 0 0 - 229.703 - - 0.861062 - 2.44052e-16 - -7.22504e-17 - 0.861062 - 3.40174e-17 - 1.16487 - - - - 0 0 0 0 0 1.5707 - - - 1 1 1 - model://neptun_description/meshes/cube5x.STL - - - - - 0 0 0 0 0 1.5707 - - - 1 1 1 - model://neptun_description/meshes/cube5x.STL - 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- - - - - - - - - ign_ros2_control/IgnitionSystem - - - - - - fake_components/GenericSystem - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rasmt_support/urdf/robot/rasmt_single_gazebo.xacro b/rasmt_support/urdf/robot/rasmt_single_gazebo.xacro deleted file mode 100644 index 50bea04..0000000 --- a/rasmt_support/urdf/robot/rasmt_single_gazebo.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - $(find rasmt_support)/config/rasmt_effort_controllers.yaml - - - - - - - \ No newline at end of file diff --git a/rasmt_support/urdf/robot/rasmt_single_macro.xacro b/rasmt_support/urdf/robot/rasmt_single_macro.xacro deleted file mode 100644 index 20f7b76..0000000 --- a/rasmt_support/urdf/robot/rasmt_single_macro.xacro +++ /dev/null @@ -1,421 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/rasmt_support/urdf/tools/rasmt_hand_control.xacro b/rasmt_support/urdf/tools/rasmt_hand_control.xacro deleted file mode 100644 index 9b96f44..0000000 --- a/rasmt_support/urdf/tools/rasmt_hand_control.xacro +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - gazebo_ros2_control/GazeboSystem - - - - - ign_ros2_control/IgnitionSystem - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro b/rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro deleted file mode 100644 index b41bd8f..0000000 --- a/rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - \ No newline at end of file diff --git a/rasmt_support/urdf/tools/rasmt_hand_macro.xacro b/rasmt_support/urdf/tools/rasmt_hand_macro.xacro deleted file mode 100644 index a76580d..0000000 --- a/rasmt_support/urdf/tools/rasmt_hand_macro.xacro +++ /dev/null @@ -1,189 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/rasmt_support/world/robossembler.world b/rasmt_support/world/robossembler.world deleted file mode 100644 index e88f98b..0000000 --- a/rasmt_support/world/robossembler.world +++ /dev/null @@ -1,120 +0,0 @@ - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - 0 - 0 - 0 - - - - 1.0 - - - - 1 - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - - - - - - - - 10 - - - 0 - - - 0 0 1 - 100 100 - - - - - - - 0 - 0 - 0 - - - 0 0 -9.8 - 6e-06 2.3e-05 -4.2e-05 - - - 0.001 - 1 - 1000 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - EARTH_WGS84 - 0 - 0 - 0 - 0 - - - 46 800000000 - 46 908490360 - 1642692487 464939457 - 46800 - - 0 0 0 0 -0 0 - 1 1 1 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 10 0 -0 0 - - - - - 9.78871 -9.25042 4.66792 0 0.399643 2.3322 - orbit - perspective - - - - diff --git a/rbs_bringup/launch/bringup.launch.py b/rbs_bringup/launch/bringup.launch.py index 683c285..3bcc49e 100644 --- a/rbs_bringup/launch/bringup.launch.py +++ b/rbs_bringup/launch/bringup.launch.py @@ -281,7 +281,7 @@ def generate_launch_description(): control = IncludeLaunchDescription( PythonLaunchDescriptionSource([ PathJoinSubstitution([ - FindPackageShare('rbs_bringup'), + FindPackageShare('ur_description'), 'launch', 'control.launch.py' ]) @@ -297,7 +297,7 @@ def generate_launch_description(): simulation = IncludeLaunchDescription( PythonLaunchDescriptionSource([ PathJoinSubstitution([ - FindPackageShare('rbs_bringup'), + FindPackageShare('rbs_simulation'), 'launch', 'simulation.launch.py' ]) @@ -312,7 +312,7 @@ def generate_launch_description(): moveit = IncludeLaunchDescription( PythonLaunchDescriptionSource([ PathJoinSubstitution([ - FindPackageShare('rbs_bringup'), + FindPackageShare('ur_moveit_config'), 'launch', 'moveit.launch.py' ]) @@ -344,7 +344,7 @@ def generate_launch_description(): perception = IncludeLaunchDescription( PythonLaunchDescriptionSource([ PathJoinSubstitution([ - FindPackageShare('rbs_bringup'), + FindPackageShare('rbs_perception'), 'launch', 'perception.launch.py' ]) diff --git a/rbs_bringup/launch/control.launch.py b/rbs_bringup/launch/control.launch.py deleted file mode 100644 index 402db24..0000000 --- a/rbs_bringup/launch/control.launch.py +++ /dev/null @@ -1,125 +0,0 @@ -from launch_ros.actions import Node -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution -from launch.conditions import IfCondition, UnlessCondition - - -def generate_launch_description(): - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "with_gripper", - default_value="false", - description="With gripper or not?", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_description", - default_value="", - description="robot description param", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "start_joint_controller", - default_value="false", - description="Enable headless mode for robot control", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "initial_joint_controller", - default_value="joint_trajectory_controller", - description="Robot controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value="ur_controllers.yaml", - description="YAML file with the controllers configuration.", - ) - ) - robot_description_content = LaunchConfiguration("robot_description") - runtime_config_package = LaunchConfiguration("runtime_config_package") - controllers_file = LaunchConfiguration("controllers_file") - start_joint_controller = LaunchConfiguration("start_joint_controller") - with_gripper_condition = LaunchConfiguration("with_gripper") - initial_joint_controller = LaunchConfiguration("initial_joint_controller") - - initial_joint_controllers_file_path = PathJoinSubstitution( - [FindPackageShare(runtime_config_package), "config", controllers_file] - ) - robot_description = {"robot_description": robot_description_content} - - control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[robot_description, initial_joint_controllers_file_path], - output="both", - remappings=[ - ('motion_control_handle/target_frame', 'target_frame'), - ('cartesian_compliance_controller/target_frame', 'target_frame'), - ('cartesian_compliance_controller/target_wrench', 'target_wrench'), - ('cartesian_compliance_controller/ft_sensor_wrench', 'ft_sensor_wrench'), - ] - ) - - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["joint_state_broadcaster", "-c", "/controller_manager"], - ) - - # FIXME: Start controllers one controller by one launch or launch it all and switch by runtime? - initial_joint_controller_spawner_started = Node( - package="controller_manager", - executable="spawner", - arguments=[initial_joint_controller, "-c", "/controller_manager"], - condition=IfCondition(start_joint_controller), - ) - initial_joint_controller_spawner_stopped = Node( - package="controller_manager", - executable="spawner", - arguments=[initial_joint_controller, "-c", "/controller_manager", "--inactive"], - condition=UnlessCondition(start_joint_controller), - ) - - gripper_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - "gripper_controller"], - output='screen', - condition=IfCondition(with_gripper_condition) - ) - cartesian_motion_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["cartesian_motion_controller", "--inactive", "-c", "/controller_manager"], - ) - motion_control_handle_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["motion_control_handle", "--inactive", "-c", "/controller_manager"], - ) - - cartesian_compliance_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["cartesian_compliance_controller", "--inactive", "-c", "/controller_manager"], - ) - - nodes_to_start = [ - control_node, - joint_state_broadcaster_spawner, - initial_joint_controller_spawner_started, - initial_joint_controller_spawner_stopped, - gripper_controller, - cartesian_motion_controller_spawner, - motion_control_handle_spawner, - cartesian_compliance_controller_spawner - ] - - return LaunchDescription(declared_arguments + nodes_to_start) \ No newline at end of file diff --git a/rbs_bringup/launch/moveit.launch.py b/rbs_bringup/launch/moveit.launch.py deleted file mode 100644 index 00ba28a..0000000 --- a/rbs_bringup/launch/moveit.launch.py +++ /dev/null @@ -1,198 +0,0 @@ -import os -from launch_ros.actions import Node -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution -from launch.conditions import IfCondition -from ur_moveit_config.launch_common import load_yaml - - - - -def generate_launch_description(): - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "robot_description", - default_value="", - description="robot description string", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_description_semantic", - default_value="", - description="robot description semantic string", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "moveit_config_package", - default_value="ur_moveit_config", - description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \ - is not set, it enables use of a custom moveit config.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "moveit_config_file", - default_value="ur.srdf.xacro", - description="MoveIt SRDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_sim_time", - default_value="true", - description="Make MoveIt to use simulation time. This is needed for the trajectory planing in simulation.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "with_gripper", - default_value="false", - description="With gripper or not?", - ) - ) - - prefix = LaunchConfiguration("prefix") - moveit_config_package = LaunchConfiguration("moveit_config_package") - moveit_config_file = LaunchConfiguration("moveit_config_file") - use_sim_time = LaunchConfiguration("use_sim_time") - with_gripper_condition = LaunchConfiguration("with_gripper") - robot_description_content = LaunchConfiguration("robot_description") - robot_description_semantic_content = LaunchConfiguration("robot_description_semantic") - - robot_description = {"robot_description": robot_description_content} - robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content} - use_sim_time = {"use_sim_time": use_sim_time} - - world_config_file = PathJoinSubstitution( - [FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"] - ) - - robot_description_kinematics = PathJoinSubstitution( - [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"] - ) - - # Planning Configuration - ompl_planning_pipeline_config = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", - "start_state_max_bounds_error": 0.1, - } - } - ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml") - ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml) - - controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml") - - moveit_controllers = { - "moveit_simple_controller_manager": controllers_yaml, - "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager", - } - - trajectory_execution = { - "moveit_manage_controllers": True, - "trajectory_execution.allowed_execution_duration_scaling": 100.0, - "trajectory_execution.allowed_goal_duration_margin": 0.5, - "trajectory_execution.allowed_start_tolerance": 0.01, - } - - planning_scene_monitor_parameters = { - "publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True, - } - - move_group_node = Node( - package="moveit_ros_move_group", - executable="move_group", - output="screen", - parameters=[ - robot_description, - robot_description_semantic, - robot_description_kinematics, - ompl_planning_pipeline_config, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters, - use_sim_time, - ], - ) - - move_topose_action_server = Node( - package="rbs_skill_servers", - executable="move_topose_action_server", - parameters=[ - robot_description, - robot_description_semantic, - robot_description_kinematics, - use_sim_time, - ] - ) - - gripper_control_node = Node( - package="rbs_skill_servers", - executable="gripper_control_action_server", - parameters= [ - robot_description, - robot_description_semantic, - robot_description_kinematics, - use_sim_time, - ], - condition=IfCondition(with_gripper_condition) - ) - - move_cartesian_path_action_server = Node( - package="rbs_skill_servers", - executable="move_cartesian_path_action_server", - parameters=[ - robot_description, - robot_description_semantic, - robot_description_kinematics, - use_sim_time, - ] - ) - - move_joint_state_action_server = Node( - package="rbs_skill_servers", - executable="move_to_joint_states_action_server", - parameters=[ - robot_description, - robot_description_semantic, - robot_description_kinematics, - use_sim_time, - ] - ) - - moveit_planning_scene_init = Node( - package="rbs_skill_servers", - executable="moveit_update_planning_scene_service_server", - output="screen", - parameters=[ - {'init_scene': world_config_file}, - {'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']} - ] - ) - nodes_to_start = [ - move_group_node, - move_topose_action_server, - gripper_control_node, - move_cartesian_path_action_server, - move_joint_state_action_server, - moveit_planning_scene_init - ] - return LaunchDescription(declared_arguments + nodes_to_start) diff --git a/rbs_perception/CMakeLists.txt b/rbs_perception/CMakeLists.txt index 1fab054..a5aaf70 100644 --- a/rbs_perception/CMakeLists.txt +++ b/rbs_perception/CMakeLists.txt @@ -57,7 +57,7 @@ target_compile_definitions(pc_filter target_link_libraries(pc_filter ${PCL_LIBRARIES}) install( - DIRECTORY config + DIRECTORY config launch DESTINATION share/${PROJECT_NAME} ) diff --git a/rbs_bringup/launch/perception.launch.py b/rbs_perception/launch/perception.launch.py similarity index 100% rename from rbs_bringup/launch/perception.launch.py rename to rbs_perception/launch/perception.launch.py diff --git a/rbs_bringup/launch/simulation.launch.py b/rbs_simulation/launch/simulation.launch.py similarity index 100% rename from rbs_bringup/launch/simulation.launch.py rename to rbs_simulation/launch/simulation.launch.py