diff --git a/.codespellrc b/.codespellrc new file mode 100644 index 00000000..2723add7 --- /dev/null +++ b/.codespellrc @@ -0,0 +1,3 @@ +[codespell] +skip = *.json +ignore-words-list = parm,ned,sitl diff --git a/examples/dave_demos/README.md b/examples/dave_demos/README.md index 8ebefe92..ec7324b8 100644 --- a/examples/dave_demos/README.md +++ b/examples/dave_demos/README.md @@ -60,22 +60,22 @@ Before launching, ensure to build and source the workspace: colcon build && source install/setup.bash ``` -1. Launching REXROV in an empty world: +1. Launching REXROV in dave_ocean_waves.world: ```bash -ros2 launch dave_demos dave_robot.launch.py z:=2.0 namespace:=rexrov world_name:=empty.sdf paused:=false +ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false ``` -2. Launching REXROV in dave_ocean_waves.world: +2. Launching BlueROV2 in dave_ocean_waves.world: ```bash -ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false +ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=bluerov2 world_name:=dave_ocean_waves paused:=false ``` -3. Launching Slocum Glider in an empty world: +3. Launching BlueROV2 Heavy in dave_ocean_waves.world: ```bash -ros2 launch dave_demos dave_robot.launch.py z:=0.2 namespace:=glider_slocum world_name:=empty.sdf paused:=false +ros2 launch dave_demos dave_robot.launch.py z:=-5 namespace:=bluerov2_heavy world_name:=dave_ocean_waves paused:=false ``` 4. Launching Slocum Glider in dave_ocean_waves.world: diff --git a/extras/repos/dave.jazzy.repos b/extras/repos/dave.jazzy.repos index 0ccdf36e..575954c9 100644 --- a/extras/repos/dave.jazzy.repos +++ b/extras/repos/dave.jazzy.repos @@ -13,3 +13,4 @@ repositories: type: git url: https://github.com/IOES-Lab/dave.git version: ros2 + diff --git a/models/dave_robot_models/CMakeLists.txt b/models/dave_robot_models/CMakeLists.txt index 3f90e5d8..5c0e66cc 100644 --- a/models/dave_robot_models/CMakeLists.txt +++ b/models/dave_robot_models/CMakeLists.txt @@ -4,7 +4,7 @@ project(dave_robot_models) find_package(ament_cmake REQUIRED) install( - DIRECTORY description launch meshes + DIRECTORY description launch meshes config DESTINATION share/dave_robot_models ) diff --git a/models/dave_robot_models/config/bluerov2/ardusub.parm b/models/dave_robot_models/config/bluerov2/ardusub.parm new file mode 100644 index 00000000..40b9c1de --- /dev/null +++ b/models/dave_robot_models/config/bluerov2/ardusub.parm @@ -0,0 +1,114 @@ +# These settings were copied from ardupilot/Tools/autotest/default_params/sub.parm +BATT_MONITOR 4 +BTN0_FUNCTION 0 +BTN10_SFUNCTION 0 +BTN10_FUNCTION 22 +BTN10_SFUNCTION 0 +BTN11_FUNCTION 42 +BTN11_SFUNCTION 47 +BTN12_FUNCTION 43 +BTN12_SFUNCTION 46 +BTN13_FUNCTION 33 +BTN13_SFUNCTION 45 +BTN14_FUNCTION 32 +BTN14_SFUNCTION 44 +BTN15_FUNCTION 0 +BTN15_SFUNCTION 0 +BTN1_FUNCTION 6 +BTN1_SFUNCTION 0 +BTN2_FUNCTION 8 +BTN2_SFUNCTION 0 +BTN3_FUNCTION 7 +BTN3_SFUNCTION 0 +BTN4_FUNCTION 4 +BTN4_SFUNCTION 0 +BTN5_FUNCTION 1 +BTN5_SFUNCTION 0 +BTN6_FUNCTION 3 +BTN6_SFUNCTION 0 +BTN7_FUNCTION 21 +BTN7_SFUNCTION 0 +BTN8_FUNCTION 48 +BTN8_SFUNCTION 0 +BTN9_FUNCTION 23 +BTN9_SFUNCTION 0 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 +INS_ACCOFFS_X 0.001 +INS_ACCOFFS_Y 0.001 +INS_ACCOFFS_Z 0.001 +INS_ACCSCAL_X 1.001 +INS_ACCSCAL_Y 1.001 +INS_ACCSCAL_Z 1.001 +INS_ACC2OFFS_X 0.001 +INS_ACC2OFFS_Y 0.001 +INS_ACC2OFFS_Z 0.001 +INS_ACC2SCAL_X 1.001 +INS_ACC2SCAL_Y 1.001 +INS_ACC2SCAL_Z 1.001 +INS_ACC3OFFS_X 0.000 +INS_ACC3OFFS_Y 0.000 +INS_ACC3OFFS_Z 0.000 +INS_ACC3SCAL_X 1.000 +INS_ACC3SCAL_Y 1.000 +INS_ACC3SCAL_Z 1.000 +MNT_ANGMAX_TIL 4500 +MNT_ANGMIN_TIL -4500 +MNT_DEFLT_MODE 3 +MNT_JSTICK_SPD 100 +MNT_RC_IN_TILT 8 +MNT_STAB_TILT 0 +MNT_TYPE 1 +PSC_ACCZ_P 2 +PSC_ACCZ_I 4 +PSC_ACCZ_FF 0.75 +PSC_VELZ_P 8 +PSC_POSZ_P 3 +PSC_POSXY_P 2.5 +PSC_VELXY_D 0.8 +PSC_VELXY_I 0.5 +PSC_VELXY_P 5.0 +RNGFND1_MAX_CM 3000 +RNGFND1_PIN 0 +RNGFND1_SCALING 12.12 +RNGFND1_TYPE 1 +SERVO8_FUNCTION 7 +SERVO8_MAX 1900 +SERVO8_MIN 1100 +BARO_EXT_BUS 1 + +# Use EK3 +EK2_ENABLE 0 +EK3_ENABLE 1 +AHRS_EKF_TYPE 3 + +# Enable external nav +# From https://ardupilot.org/copter/docs/common-vio-tracking-camera.html +GPS_TYPE 0 # Disable GPS +VISO_TYPE 1 # External vision +EK3_SRC1_POSXY 6 # External nav +EK3_SRC1_VELXY 6 # External nav +EK3_SRC1_POSZ 1 # Baro is the primary z source +EK3_SRC1_VELZ 6 # External nav z velocity influences EKF +COMPASS_USE 0 # Disable compass 1 +COMPASS_USE2 0 # Disable compass 2 +COMPASS_USE3 0 # Disable compass 3 +EK3_SRC1_YAW 6 # External nav + +# See https://github.com/clydemcqueen/bluerov2_ignition/issues/7 +SIM_BARO_RND 0.01 + +# Store thruster parameters as backups +SERVO1_FUNCTION 33 +SERVO2_FUNCTION 34 +SERVO3_FUNCTION 35 +SERVO4_FUNCTION 36 +SERVO5_FUNCTION 37 +SERVO6_FUNCTION 38 diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py new file mode 100644 index 00000000..64c0d7af --- /dev/null +++ b/models/dave_robot_models/config/bluerov2/robot_config.py @@ -0,0 +1,93 @@ +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + OpaqueFunction, + ExecuteProcess, +) +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(context, *args, **kwargs): + namespace = LaunchConfiguration("namespace").perform(context) + + thruster_joints = [] + for thruster in range(1, 7): + thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint") + + bluerov2_arguments = ( + [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints] + + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints] + + [ + f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean" + for joint in thruster_joints + ] + + [ + f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry", + f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance", + f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V", + f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU", + f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer", + f"/model/{namespace}/camera/image@sensor_msgs/msg/Image@gz.msgs.Image", + f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", + ] + ) + + bluerov2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=bluerov2_arguments, + output="screen", + ) + + mavros_file = LaunchConfiguration("mavros_file") + + mavros_node = Node( + package="mavros", + executable="mavros_node", + output="screen", + parameters=[mavros_file, {"use_sim_time": True}], + ) + + nodes = [bluerov2_bridge, mavros_node] + + ardusub_params = LaunchConfiguration("ardusub_params").perform(context) + + ardusub_cmd = [ + "ardusub -S -w -M gazebo --defaults " + + ardusub_params + + " -IO --home 44.65870,-124.06556,0.0,270.0" + ] + + ardusub_process = ExecuteProcess(cmd=ardusub_cmd, shell=True, output="screen") + + processes = [ardusub_process] + + return nodes + processes + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "namespace", + default_value="", + description="Namespace", + ), + DeclareLaunchArgument( + "mavros_file", + default_value=PathJoinSubstitution( + [FindPackageShare("dave_robot_models"), "config", "mavros", "mavros.yaml"] + ), + description="Path to mavros.yaml file", + ), + DeclareLaunchArgument( + "ardusub_params", + default_value=PathJoinSubstitution( + [FindPackageShare("dave_robot_models"), "config", "bluerov2", "ardusub.parm"] + ), + description="Path to ardusub.parm file", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/models/dave_robot_models/config/bluerov2_heavy/ardusub.parm b/models/dave_robot_models/config/bluerov2_heavy/ardusub.parm new file mode 100644 index 00000000..e8f67cc8 --- /dev/null +++ b/models/dave_robot_models/config/bluerov2_heavy/ardusub.parm @@ -0,0 +1,94 @@ +# These settings were copied from ardupilot/Tools/autotest/default_params/sub-6dof.parm +BARO_RND 0.02 +BATT_MONITOR 4 +BTN0_FUNCTION 0 +BTN10_SFUNCTION 0 +BTN10_FUNCTION 22 +BTN10_SFUNCTION 0 +BTN11_FUNCTION 42 +BTN11_SFUNCTION 47 +BTN12_FUNCTION 43 +BTN12_SFUNCTION 46 +BTN13_FUNCTION 33 +BTN13_SFUNCTION 45 +BTN14_FUNCTION 32 +BTN14_SFUNCTION 44 +BTN15_FUNCTION 0 +BTN15_SFUNCTION 0 +BTN1_FUNCTION 6 +BTN1_SFUNCTION 0 +BTN2_FUNCTION 8 +BTN2_SFUNCTION 0 +BTN3_FUNCTION 7 +BTN3_SFUNCTION 0 +BTN4_FUNCTION 4 +BTN4_SFUNCTION 0 +BTN5_FUNCTION 1 +BTN5_SFUNCTION 0 +BTN6_FUNCTION 3 +BTN6_SFUNCTION 0 +BTN7_FUNCTION 21 +BTN7_SFUNCTION 0 +BTN8_FUNCTION 48 +BTN8_SFUNCTION 0 +BTN9_FUNCTION 23 +BTN9_SFUNCTION 0 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 +INS_ACCOFFS_X 0.001 +INS_ACCOFFS_Y 0.001 +INS_ACCOFFS_Z 0.001 +INS_ACCSCAL_X 1.001 +INS_ACCSCAL_Y 1.001 +INS_ACCSCAL_Z 1.001 +INS_ACC2OFFS_X 0.001 +INS_ACC2OFFS_Y 0.001 +INS_ACC2OFFS_Z 0.001 +INS_ACC2SCAL_X 1.001 +INS_ACC2SCAL_Y 1.001 +INS_ACC2SCAL_Z 1.001 +INS_ACC3OFFS_X 0.000 +INS_ACC3OFFS_Y 0.000 +INS_ACC3OFFS_Z 0.000 +INS_ACC3SCAL_X 1.000 +INS_ACC3SCAL_Y 1.000 +INS_ACC3SCAL_Z 1.000 +FRAME_CONFIG 2.000 + +# Use EK3 +EK2_ENABLE 0 +EK3_ENABLE 1 +AHRS_EKF_TYPE 3 + +# Enable external nav +# From https://ardupilot.org/copter/docs/common-vio-tracking-camera.html +GPS_TYPE 0 # Disable GPS +VISO_TYPE 1 # External vision +EK3_SRC1_POSXY 6 # External nav +EK3_SRC1_VELXY 6 # External nav +EK3_SRC1_POSZ 1 # Baro is the primary z source +EK3_SRC1_VELZ 6 # External nav z velocity influences EKF +COMPASS_USE 0 # Disable compass 1 +COMPASS_USE2 0 # Disable compass 2 +COMPASS_USE3 0 # Disable compass 3 +EK3_SRC1_YAW 6 # External nav + +# See https://github.com/clydemcqueen/bluerov2_ignition/issues/7 +SIM_BARO_RND 0.01 + +# Store thruster parameters as backups +SERVO1_FUNCTION 33 +SERVO2_FUNCTION 34 +SERVO3_FUNCTION 35 +SERVO4_FUNCTION 36 +SERVO5_FUNCTION 37 +SERVO6_FUNCTION 38 +SERVO7_FUNCTION 39 +SERVO8_FUNCTION 40 diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py new file mode 100644 index 00000000..28749b9c --- /dev/null +++ b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py @@ -0,0 +1,93 @@ +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + OpaqueFunction, + ExecuteProcess, +) +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(context, *args, **kwargs): + namespace = LaunchConfiguration("namespace").perform(context) + + thruster_joints = [] + for thruster in range(1, 9): + thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint") + + bluerov2_heavy_arguments = ( + [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints] + + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints] + + [ + f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean" + for joint in thruster_joints + ] + + [ + f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry", + f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance", + f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V", + f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU", + f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer", + f"/model/{namespace}/camera/image@sensor_msgs/msg/Image@gz.msgs.Image", + f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", + ] + ) + + bluerov2_heavy_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=bluerov2_heavy_arguments, + output="screen", + ) + + mavros_file = LaunchConfiguration("mavros_file") + + mavros_node = Node( + package="mavros", + executable="mavros_node", + output="screen", + parameters=[mavros_file, {"use_sim_time": True}], + ) + + nodes = [bluerov2_heavy_bridge, mavros_node] + + ardusub_params = LaunchConfiguration("ardusub_params").perform(context) + + ardusub_cmd = [ + "ardusub -S -w -M gazebo --defaults " + + ardusub_params + + " -IO --home 44.65870,-124.06556,0.0,270.0" + ] + + ardusub_process = ExecuteProcess(cmd=ardusub_cmd, shell=True, output="screen") + + processes = [ardusub_process] + + return nodes + processes + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "namespace", + default_value="", + description="Namespace", + ), + DeclareLaunchArgument( + "mavros_file", + default_value=PathJoinSubstitution( + [FindPackageShare("dave_robot_models"), "config", "mavros", "mavros.yaml"] + ), + description="Path to mavros.yaml file", + ), + DeclareLaunchArgument( + "ardusub_params", + default_value=PathJoinSubstitution( + [FindPackageShare("dave_robot_models"), "config", "bluerov2", "ardusub.parm"] + ), + description="Path to ardusub.parm file", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/models/dave_robot_models/config/glider_slocum/robot_config.py b/models/dave_robot_models/config/glider_slocum/robot_config.py new file mode 100644 index 00000000..0d4055a9 --- /dev/null +++ b/models/dave_robot_models/config/glider_slocum/robot_config.py @@ -0,0 +1,41 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument, OpaqueFunction + + +def launch_setup(context, *args, **kwargs): + namespace = LaunchConfiguration("namespace").perform(context) + + glider_slocum_arguments = [ + f"/model/{namespace}/battery/battery/state@sensor_msgs/msg/BatteryState@gz.msgs.BatteryState", + f"/model/{namespace}/joint/propeller_joint/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double", + f"/model/{namespace}/joint/propeller_joint/ang_vel@std_msgs/msg/Float64@gz.msgs.Double", + f"/model/{namespace}/joint/propeller_joint/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean", + f"/model/{namespace}/navsat@sensor_msgs/msg/NavSatFix@gz.msgs.NavSat", + f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry", + f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance", + f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V", + f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU", + ] + + glider_slocum_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=glider_slocum_arguments, + output="screen", + ) + + return [glider_slocum_bridge] + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "namespace", + default_value="", + description="Namespace", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/models/dave_robot_models/config/mavros/mavros.yaml b/models/dave_robot_models/config/mavros/mavros.yaml new file mode 100644 index 00000000..8d86da0c --- /dev/null +++ b/models/dave_robot_models/config/mavros/mavros.yaml @@ -0,0 +1,22 @@ +mavros: + ros__parameters: + system_id: 255 + plugin_allowlist: + - sys_status + - command + - imu + - rc_io + - param + - local* + - global_position + +mavros_node: + ros__parameters: + fcu_url: "tcp://localhost" + gcs_url: "udp://@localhost:14550" + +mavros/local_position: + ros__parameters: + frame_id: "map" + tf: + send: false diff --git a/models/dave_robot_models/config/rexrov/robot_config.py b/models/dave_robot_models/config/rexrov/robot_config.py new file mode 100644 index 00000000..b8e327cb --- /dev/null +++ b/models/dave_robot_models/config/rexrov/robot_config.py @@ -0,0 +1,51 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument, OpaqueFunction + + +def launch_setup(context, *args, **kwargs): + namespace = LaunchConfiguration("namespace").perform(context) + + thruster_joints = [] + for thruster in range(1, 9): + thruster_joints.append(f"/model/{namespace}/joint/thruster{thruster}_joint") + + rexrov_arguments = ( + [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints] + + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints] + + [ + f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean" + for joint in thruster_joints + ] + + [ + f"/model/{namespace}/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry", + f"/model/{namespace}/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance", + f"/model/{namespace}/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V", + f"/model/{namespace}/imu@sensor_msgs/msg/Imu@gz.msgs.IMU", + f"/model/{namespace}/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer", + f"/model/{namespace}/camera/image@sensor_msgs/msg/Image@gz.msgs.Image", + f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", + ] + ) + + rexrov_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=rexrov_arguments, + output="screen", + ) + + return [rexrov_bridge] + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "namespace", + default_value="", + description="Namespace", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/models/dave_robot_models/description/bluerov2/model.config b/models/dave_robot_models/description/bluerov2/model.config new file mode 100644 index 00000000..8eb0ac04 --- /dev/null +++ b/models/dave_robot_models/description/bluerov2/model.config @@ -0,0 +1,19 @@ + + + + bluerov2 + 1.0 + model.sdf + + + Patrick Jose Pereira + patrick@bluerobotics.com + + + Patrick Jose Pereira + Rakesh Vivekanandan + + + Blue Robotics BlueROV2 model + + diff --git a/models/dave_robot_models/description/bluerov2/model.sdf b/models/dave_robot_models/description/bluerov2/model.sdf new file mode 100644 index 00000000..3e43657b --- /dev/null +++ b/models/dave_robot_models/description/bluerov2/model.sdf @@ -0,0 +1,507 @@ + + + + 0 0 0 0 0 0 + + + + + + 0.0 0.0 0.011 0 0 0 + 10.0 + + 0.099 + 0 + 0 + 0.178 + 0 + 0.269 + + + + + + + model://meshes/bluerov2/bluerov2.dae + 0.025 0.025 0.025 + + + + + + + 0.0 0.0 0.06 0 0 0 + + + 0.457 0.338 0.065 + + + + + + + + 0 0 0 3.142 0 0 + 1 + 1000.0 + /model/bluerov2/imu + + + + + + 0 0 0 0 0 0 + + 0.0001 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + 10 + true + 1 + /model/bluerov2/camera + + 1.05 + + 1920 + 1080 + + + 0.1 + 10.0 + + + + 0.8 + 0.5 + 0.2 + + 85 + 107 + 47 + + + + + + 0.19 0 0.067 0 0 0 + + 0.0001 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + + + camera_mount_link + camera_link + + + + base_link + camera_mount_link + + + + + base_link + 1025.0 + + 0 + 0 + 0 + 0 + 0 + 0 + + 0 + 0 + 0 + 0 + 0 + 0 + + -33.732 + -54.16 + -73.225 + -3.992 + -3.992 + -3.992 + + + + 0.14 -0.092 0.0 -1.571 1.571 -0.785 + + 0 0 0 -1.571 0 0 + + + model://meshes/t200/ccw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + 0.14 0.092 0.0 -1.571 1.571 -2.356 + + 0 0 0 -1.571 0 0 + + + model://meshes/t200/ccw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + -0.15 -0.092 0.0 -1.571 1.571 0.785 + + 0 0 0 1.571 0 0 + + + model://meshes/t200/cw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + -0.15 0.092 0.0 -1.571 1.571 2.356 + + 0 0 0 1.571 0 0 + + + model://meshes/t200/cw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + 0.0 -0.109 0.077 0 0 0 + + 0 0 0 -1.571 0 1.571 + + + model://meshes/t200/ccw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + 0.0 0.109 0.077 0 0 0 + + 0 0 0 1.571 0 1.571 + + + model://meshes/t200/cw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + base_link + thruster1 + + 0 0 -1 + + + + + base_link + thruster2 + + 0 0 -1 + + + + + base_link + thruster3 + + 0 0 -1 + + + + + base_link + thruster4 + + 0 0 -1 + + + + + base_link + thruster5 + + 0 0 -1 + + + + + base_link + thruster6 + + 0 0 -1 + + + + + bluerov2 + thruster1_joint + 0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2 + thruster2_joint + 0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2 + thruster3_joint + + -0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2 + thruster4_joint + + -0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2 + thruster5_joint + 0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2 + thruster6_joint + + -0.02 + 1025.0 + 0.1 + true + False + + + + + 127.0.0.1 + 9002 + 5 + 1 + + + 0 0 0 3.142 0 0 + + + 0 0 0 3.142 0 1.571 + + + imu_sensor + + + + thruster1_joint + 1100 + 1900 + COMMAND + /model/bluerov2/joint/thruster1_joint/cmd_thrust + -0.5 + 100 + + + thruster2_joint + 1100 + 1900 + COMMAND + /model/bluerov2/joint/thruster2_joint/cmd_thrust + -0.5 + 100 + + + thruster3_joint + 1100 + 1900 + COMMAND + /model/bluerov2/joint/thruster3_joint/cmd_thrust + -0.5 + 100 + + + thruster4_joint + 1100 + 1900 + COMMAND + /model/bluerov2/joint/thruster4_joint/cmd_thrust + -0.5 + 100 + + + thruster5_joint + 1100 + 1900 + COMMAND + /model/bluerov2/joint/thruster5_joint/cmd_thrust + -0.5 + 100 + + + thruster6_joint + 1100 + 1900 + COMMAND + /model/bluerov2/joint/thruster6_joint/cmd_thrust + -0.5 + 100 + + + + + + map + base_link + 3 + 100 + + + + + + + + + + diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.config b/models/dave_robot_models/description/bluerov2_heavy/model.config new file mode 100644 index 00000000..b5149da4 --- /dev/null +++ b/models/dave_robot_models/description/bluerov2_heavy/model.config @@ -0,0 +1,19 @@ + + + + BlueROV2 Heavy + 1.0 + model.sdf + + + Evan Palmer + evanp922@gmail.com + + + Clyde McQueen + Rakesh Vivekanandan + + + Blue Robotics BlueROV2 Heavy configuration model + + diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.sdf b/models/dave_robot_models/description/bluerov2_heavy/model.sdf new file mode 100644 index 00000000..a01f0714 --- /dev/null +++ b/models/dave_robot_models/description/bluerov2_heavy/model.sdf @@ -0,0 +1,612 @@ + + + + 0 0 0 0 0 0 + + + + + + 0.0 0.0 0.011 0 0 0 + 13.0 + + 0.26 + 0 + 0 + 0.23 + 0 + 0.37 + + + + + + + model://meshes/bluerov2_heavy/bluerov2_heavy.dae + 0.025 0.025 0.025 + + + + + + + 0.0 0.0 0.06 0 0 0 + + + 0.457 0.575 0.05 + + + + + + + + 0 0 0 3.142 0 0 + 1 + 1000.0 + /model/bluerov2_heavy/imu + + + + + + 0 0 0 0 0 0 + + 0.0001 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + 10 + true + 1 + /model/bluerov2_heavy/camera + + 1.05 + + 1920 + 1080 + + + 0.1 + 10.0 + + + + 0.8 + 0.5 + 0.2 + + 85 + 107 + 47 + + + + + + 0.19 0 0.067 0 0 0 + + 0.0001 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + + + camera_mount_link + camera_link + + + + base_link + camera_mount_link + + + + + base_link + 1025.0 + + 0 + 0 + 0 + 0 + 0 + 0 + + 0 + 0 + 0 + 0 + 0 + 0 + + -58.42 + -55.137 + -124.818 + -4.0 + -4.0 + -4.0 + + + + 0.14 -0.092 0.0 -1.571 1.571 -0.785 + + 0 0 0 -1.571 0 0 + + + model://meshes/t200/ccw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + 0.14 0.092 0.0 -1.571 1.571 -2.356 + + 0 0 0 -1.571 0 0 + + + model://meshes/t200/ccw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + -0.15 -0.092 0.0 -1.571 1.571 0.785 + + 0 0 0 1.571 0 0 + + + model://meshes/t200/cw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + -0.15 0.092 0.0 -1.571 1.571 2.356 + + 0 0 0 1.571 0 0 + + + model://meshes/t200/cw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + 0.118 -0.215 0.064 0 0 0 + + 0 0 0 -1.571 0 1.571 + + + model://meshes/t200/ccw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + 0.118 0.215 0.064 0 0 0 + + 0 0 0 1.571 0 1.571 + + + model://meshes/t200/cw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + -0.118 -0.215 0.064 0 0 0 + + 0 0 0 1.571 0 1.571 + + + model://meshes/t200/cw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + -0.118 0.215 0.064 0 0 0 + + 0 0 0 -1.571 0 1.571 + + + model://meshes/t200/ccw_prop.dae + + + + + 0.002 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + + + base_link + thruster1 + + 0 0 -1 + + + + + base_link + thruster2 + + 0 0 -1 + + + + + base_link + thruster3 + + 0 0 -1 + + + + + base_link + thruster4 + + 0 0 -1 + + + + + base_link + thruster5 + + 0 0 -1 + + + + + base_link + thruster6 + + 0 0 -1 + + + + + base_link + thruster7 + + 0 0 -1 + + + + + base_link + thruster8 + + 0 0 -1 + + + + + bluerov2_heavy + thruster1_joint + 0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2_heavy + thruster2_joint + 0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2_heavy + thruster3_joint + + -0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2_heavy + thruster4_joint + + -0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2_heavy + thruster5_joint + 0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2_heavy + thruster6_joint + + -0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2_heavy + thruster7_joint + + -0.02 + 1025.0 + 0.1 + true + False + + + + bluerov2_heavy + thruster8_joint + 0.02 + 1025.0 + 0.1 + true + False + + + + + 127.0.0.1 + 9002 + 5 + 1 + + + 0 0 0 3.142 0 0 + + + 0 0 0 3.142 0 1.571 + + + imu_sensor + + + + thruster1_joint + 1100 + 1900 + COMMAND + /model/bluerov2_heavy/joint/thruster1_joint/cmd_thrust + -0.5 + 100 + + + thruster2_joint + 1100 + 1900 + COMMAND + /model/bluerov2_heavy/joint/thruster2_joint/cmd_thrust + -0.5 + 100 + + + thruster3_joint + 1100 + 1900 + COMMAND + /model/bluerov2_heavy/joint/thruster3_joint/cmd_thrust + -0.5 + 100 + + + thruster4_joint + 1100 + 1900 + COMMAND + /model/bluerov2_heavy/joint/thruster4_joint/cmd_thrust + -0.5 + 100 + + + thruster5_joint + 1100 + 1900 + COMMAND + /model/bluerov2_heavy/joint/thruster5_joint/cmd_thrust + -0.5 + 100 + + + thruster6_joint + 1100 + 1900 + COMMAND + /model/bluerov2_heavy/joint/thruster6_joint/cmd_thrust + -0.5 + 100 + + + thruster7_joint + 1100 + 1900 + COMMAND + /model/bluerov2_heavy/joint/thruster7_joint/cmd_thrust + -0.5 + 100 + + + thruster8_joint + 1100 + 1900 + COMMAND + /model/bluerov2_heavy/joint/thruster8_joint/cmd_thrust + -0.5 + 100 + + + + + + map + base_link + 3 + 100 + + + + + + + + + + diff --git a/models/dave_robot_models/description/rexrov/model.sdf b/models/dave_robot_models/description/rexrov/model.sdf index 4d383d2c..c0737652 100644 --- a/models/dave_robot_models/description/rexrov/model.sdf +++ b/models/dave_robot_models/description/rexrov/model.sdf @@ -66,6 +66,66 @@ + + 1.33 0 -0.74 0 0 0 + + 0.1 + + 0.000166667 + 0.000166667 + 0.000166667 + + + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 10 + true + 1 + /model/rexrov/camera + + 1.05 + + 1920 + 1080 + + + 0.1 + 10.0 + + + + 0.8 + 0.5 + 0.2 + + 85 + 107 + 47 + + + + + + 1.33 0 -0.74 0 0 0.0 + base_link + camera_link + + 0 0 0 0 0 0 diff --git a/models/dave_robot_models/launch/glider_slocum.launch.py b/models/dave_robot_models/launch/glider_slocum.launch.py deleted file mode 100644 index 59ba3060..00000000 --- a/models/dave_robot_models/launch/glider_slocum.launch.py +++ /dev/null @@ -1,24 +0,0 @@ -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description(): - - glider_bridge = Node( - package="ros_gz_bridge", - executable="parameter_bridge", - arguments=[ - "/model/glider_slocum/battery/battery/state@sensor_msgs/msg/BatteryState@gz.msgs.BatteryState", - "/model/glider_slocum/joint/propeller_joint/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double", - "/model/glider_slocum/joint/propeller_joint/ang_vel@std_msgs/msg/Float64@gz.msgs.Double", - "/model/glider_slocum/joint/propeller_joint/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean", - "/model/glider_slocum/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry", - "/model/glider_slocum/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance", - "/model/glider_slocum/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V", - "/model/glider_slocum/navsat@sensor_msgs/msg/NavSatFix@gz.msgs.NavSat", - "/model/glider_slocum/imu@sensor_msgs/msg/Imu@gz.msgs.IMU", - ], - output="screen", - ) - - return LaunchDescription([glider_bridge]) diff --git a/models/dave_robot_models/launch/rexrov.launch.py b/models/dave_robot_models/launch/rexrov.launch.py deleted file mode 100644 index 39e00c0d..00000000 --- a/models/dave_robot_models/launch/rexrov.launch.py +++ /dev/null @@ -1,41 +0,0 @@ -from launch import LaunchDescription -from launch_ros.actions import Node - - -def generate_launch_description(): - - thruster_joints = [ - "/model/rexrov/joint/thruster1_joint", - "/model/rexrov/joint/thruster2_joint", - "/model/rexrov/joint/thruster3_joint", - "/model/rexrov/joint/thruster4_joint", - "/model/rexrov/joint/thruster5_joint", - "/model/rexrov/joint/thruster6_joint", - "/model/rexrov/joint/thruster7_joint", - "/model/rexrov/joint/thruster8_joint", - ] - - rexrov_arguments = ( - [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints] - + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints] - + [ - f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean" - for joint in thruster_joints - ] - + [ - "/model/rexrov/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry", - "/model/rexrov/odometry_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance", - "/model/rexrov/pose@geometry_msgs/msg/PoseArray@gz.msgs.Pose_V", - "/model/rexrov/imu@sensor_msgs/msg/Imu@gz.msgs.IMU", - "/model/rexrov/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer", - ] - ) - - rexrov_bridge = Node( - package="ros_gz_bridge", - executable="parameter_bridge", - arguments=rexrov_arguments, - output="screen", - ) - - return LaunchDescription([rexrov_bridge]) diff --git a/models/dave_robot_models/launch/upload_robot.launch.py b/models/dave_robot_models/launch/upload_robot.launch.py index b22c0543..b48b1b4b 100755 --- a/models/dave_robot_models/launch/upload_robot.launch.py +++ b/models/dave_robot_models/launch/upload_robot.launch.py @@ -8,7 +8,6 @@ from launch.substitutions import ( LaunchConfiguration, PathJoinSubstitution, - EqualsSubstitution, ) from launch.conditions import IfCondition from launch_ros.substitutions import FindPackageShare @@ -107,7 +106,7 @@ def generate_launch_description(): ], output="both", condition=IfCondition(use_ned_frame), - parameters=[{"use_sim_time_time": use_sim_time}], + parameters=[{"use_sim_time": use_sim_time}], ) gz_spawner = Node( @@ -133,36 +132,31 @@ def generate_launch_description(): ], output="both", condition=IfCondition(gui), - parameters=[{"use_sim_time_time": use_sim_time}], + parameters=[{"use_sim_time": use_sim_time}], ) nodes = [tf2_spawner, gz_spawner] - # Include the Rexrov launch file if the namespace is "rexrov" - rexrov_launch = IncludeLaunchDescription( + # Include robot_config.py based on the model name + robot_config = IncludeLaunchDescription( PythonLaunchDescriptionSource( - PathJoinSubstitution( - [FindPackageShare("dave_robot_models"), "launch", "rexrov.launch.py"] - ) + [ + PathJoinSubstitution( + [ + FindPackageShare("dave_robot_models"), + "config", + namespace, + "robot_config.py", + ] + ) + ] ), - condition=IfCondition(EqualsSubstitution(namespace, "rexrov")), + launch_arguments={ + "namespace": namespace, + }.items(), ) - # Include the Glider launch file if the namespace is "glider_slocum" - glider_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("dave_robot_models"), - "launch", - "glider_slocum.launch.py", - ] - ) - ), - condition=IfCondition(EqualsSubstitution(namespace, "glider_slocum")), - ) - - include = [rexrov_launch, glider_launch] + include = [robot_config] event_handlers = [ RegisterEventHandler( diff --git a/models/dave_robot_models/meshes/bluerov2/bluerov2.dae b/models/dave_robot_models/meshes/bluerov2/bluerov2.dae new file mode 100644 index 00000000..288f579b --- /dev/null +++ b/models/dave_robot_models/meshes/bluerov2/bluerov2.dae @@ -0,0 +1,719 @@ + + + + + Blender User + Blender 3.5.1 commit date:2023-04-24, commit time:18:11, hash:e1ccd9d4a1d3 + + 2023-05-22T23:55:13 + 2023-05-22T23:55:13 + + Z_UP + + + + + + + + 0 0 0 1 + + + 1 0 0 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.25098 0.25098 0.25098 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.776471 0.756863 0.737255 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.207843 0.207843 0.207843 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.294118 0.294118 0.294118 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 1 1 1 1 + 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52296 30003 10954 52297 29915 10956 52298 30004 10955 52299 29915 10956 52300 29914 10957 52301 29914 10957 52302 29915 10956 52303 30005 10958 52304 30005 10958 52305 29915 10956 52306 29936 10959 52307 29915 10960 52308 30006 10960 52309 29936 10960 52310 29936 10961 52311 30006 10961 52312 30007 10962 52313 30007 10963 52314 30006 10964 52315 30008 10965 52316 30008 10965 52317 30006 10964 52318 30009 10966 52319 30010 10967 52320 30007 10963 52321 30008 10965 52322 30011 10968 52323 29934 10968 52324 29936 10968 52325 29936 10959 52326 29934 10969 52327 30005 10958 52328 29934 10970 52329 30011 10970 52330 30015 10971 52331 30015 10972 52332 30011 10973 52333 30012 10974 52334 30012 10974 52335 30011 10973 52336 30013 10975 52337 30014 10976 52338 30015 10972 52339 30012 10974 52340 30005 10958 52341 29934 10969 52342 30016 10977 52343 30017 10978 52344 30018 10979 52345 29934 10980 52346 29934 10980 52347 30018 10979 52348 29932 10981 52349 29934 10982 52350 29932 10982 52351 30016 10982 52352 30018 10979 52353 30017 10978 52354 30019 10983 52355 30019 10983 52356 30017 10978 52357 30020 10984 52358 30021 10985 52359 30018 10979 52360 30019 10983 52361 30022 10986 52362 30023 10987 52363 29932 10988 52364 29932 10988 52365 30023 10987 52366 29930 10989 52367 29932 10990 52368 29930 10990 52369 30016 10990 52370 30016 10991 52371 29930 10991 52372 30024 10991 52373 30023 10987 52374 30022 10986 52375 30025 10992 52376 30025 10992 52377 30022 10986 52378 30026 10993 52379 30027 10994 52380 30023 10987 52381 30025 10992 52382 30028 10995 52383 30029 10996 52384 29930 10997 52385 29930 10997 52386 30029 10996 52387 29928 10998 52388 29930 10999 52389 29928 10999 52390 30024 10999 52391 30024 11000 52392 29928 11000 52393 30030 11000 52394 30029 10996 52395 30028 10995 52396 30031 11001 52397 30031 11001 52398 30028 10995 52399 30032 11002 52400 30033 11003 52401 30029 10996 52402 30031 11001 52403 30034 11004 52404 29926 11004 52405 29928 11004 52406 29928 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52960 30988 11150 52961 30990 11151 52962 30995 11152 52963 30991 11153 52964 30991 11153 52965 30995 11152 52966 30989 11154 52967 30991 11153 52968 30989 11154 52969 30992 11155 52970 30993 11148 52971 30994 11147 52972 30990 11151 52973 30990 11151 52974 30994 11147 52975 30995 11152 52976 30988 11150 52977 30989 11154 52978 30994 11147 52979 30994 11147 52980 30989 11154 52981 30995 11152 52982 30990 11151 52983 30991 11153 52984 30993 11148 52985 30993 11148 52986 30991 11153 52987 30996 11149 52988 30996 11149 52989 30991 11153 52990 30992 11155 52991 30997 11156 52992 31005 11157 52993 31004 11158 52994 30997 11156 52995 31004 11158 52996 30998 11159 52997 31002 11160 52998 30998 11159 52999 31001 11161 53000 31001 11161 53001 30998 11159 53002 31004 11158 53003 30999 11162 53004 31003 11163 53005 31000 11164 53006 31000 11164 53007 31003 11163 53008 31002 11160 53009 31000 11164 53010 31002 11160 53011 31001 11161 53012 31005 11157 53013 30997 11156 53014 30999 11162 53015 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56280 31967 11850 56281 31906 11845 56282 31907 11852 56283 31906 11845 56284 31967 11850 56285 31907 11852 56286 31913 11851 56287 31908 11878 56288 31913 11851 56289 31914 11876 56290 31908 11878 56291 31908 11878 56292 31914 11876 56293 31909 11847 56294 31913 11851 56295 31970 11854 56296 31914 11876 56297 31970 11854 56298 31915 11879 56299 31914 11876 56300 31915 11879 56301 31972 11880 56302 31916 11881 56303 31972 11880 56304 31971 11882 56305 31916 11881 56306 31917 11883 56307 31916 11881 56308 31971 11882 56309 31927 11884 56310 31973 11858 56311 31928 11859 56312 31929 11855 56313 31934 11857 56314 31930 11871 56315 31934 11857 56316 31975 11864 56317 31935 11866 56318 31939 11885 56319 31938 11868 56320 31943 11869 56321 31943 11869 56322 31950 11825 56323 31952 11823 56324 31946 11835 56325 31896 11815 56326 31897 11843 56327 31941 11886 56328 31951 11827 56329 31942 11870 56330 31942 11870 56331 31951 11827 56332 31950 11825 56333 31951 11827 56334 31941 11886 56335 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11832 56557 31977 11903 56558 31994 11904 56559 31981 11905 56560 31980 11896 56561 31995 11906 56562 31979 11902 56563 31993 11901 56564 31977 11903 56565 31983 11907 56566 31978 11900 56567 31978 11900 56568 31983 11907 56569 31993 11901 56570 31993 11901 56571 31996 11908 56572 31995 11906 56573 31995 11906 56574 31997 11909 56575 31979 11902 56576 31980 11896 56577 31984 11910 56578 31994 11904 56579 31994 11904 56580 31985 11911 56581 31981 11905 56582 31981 11905 56583 31982 11912 56584 31977 11903 56585 31982 11912 56586 31986 11913 56587 31983 11907 56588 31983 11907 56589 31987 11914 56590 31998 11915 56591 31998 11915 56592 31999 11916 56593 31996 11908 56594 31997 11909 56595 31996 11917 56596 31988 11918 56597 32000 11919 56598 31990 11920 56599 31989 11921 56600 32001 11922 56601 31999 11916 56602 31987 11914 56603 31986 11913 56604 31954 11834 56605 31987 11914 56606 31987 11914 56607 31955 11817 56608 32001 11922 56609 32001 11922 56610 31956 11816 56611 31999 11916 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11954 56889 32005 11925 56890 32009 11947 56891 32054 11923 56892 32005 11925 56893 32006 11950 56894 32002 11926 56895 32054 11923 56896 32007 11948 56897 32003 11949 56898 32009 11947 56899 32004 11946 56900 32010 11954 56901 32011 11952 56902 32006 11950 56903 32008 11991 56904 32014 11956 56905 32009 11947 56906 32014 11956 56907 32070 11953 56908 32009 11947 56909 32010 11954 56910 32009 11947 56911 32070 11953 56912 32011 11952 56913 32071 11958 56914 32012 11951 56915 32013 11960 56916 32012 11951 56917 32071 11958 56918 32013 11960 56919 32017 11959 56920 32014 11956 56921 32017 11959 56922 32019 11957 56923 32014 11956 56924 32018 11990 56925 32024 11963 56926 32019 11957 56927 32021 11966 56928 32026 11965 56929 32022 11962 56930 32026 11965 56931 32072 11992 56932 32022 11962 56933 32023 11993 56934 32022 11962 56935 32072 11992 56936 32023 11993 56937 32029 11967 56938 32024 11963 56939 32034 11975 56940 32074 11994 56941 32029 11967 56942 32029 11967 56943 32074 11994 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49709 253792 22732 49706 253793 22737 49709 253794 22734 49711 253795 22732 49706 253796 22734 49711 253797 22744 49704 253798 22732 49706 253799 22745 49718 253800 23106 49719 253801 22746 49720 253802 22746 49720 253803 23106 49719 253804 23125 49721 253805 23125 49721 253806 23106 49719 253807 22747 49722 253808 23125 49721 253809 22747 49722 253810 22748 49723 253811 22748 49723 253812 22747 49722 253813 23118 49724 253814 22748 49723 253815 23118 49724 253816 23108 49725 253817 23108 49725 253818 23118 49724 253819 23120 49726 253820 23108 49725 253821 23120 49726 253822 22740 49715 253823 22740 49715 253824 23120 49726 253825 22749 49727 253826 22740 49715 253827 22749 49727 253828 22739 49713 253829 22749 49727 253830 23120 49726 253831 22751 49728 253832 22752 49729 253833 22749 49727 253834 22751 49728 253835 22752 49729 253836 22753 49730 253837 22754 49731 253838 22762 49732 253839 22754 49731 253840 22755 49733 253841 22757 49734 253842 22756 49735 253843 22758 49736 253844 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49768 253950 22781 49769 253951 22782 49770 253952 22782 49770 253953 22781 49769 253954 22804 49771 253955 22782 49770 253956 22804 49771 253957 22783 49772 253958 22782 49770 253959 22783 49772 253960 23130 49773 253961 23130 49773 253962 22783 49772 253963 22784 49774 253964 22784 49774 253965 22783 49772 253966 22789 49775 253967 22784 49774 253968 22789 49775 253969 22785 49776 253970 22785 49776 253971 22789 49775 253972 22802 49777 253973 22785 49776 253974 22802 49777 253975 23129 49778 253976 23129 49778 253977 22802 49777 253978 22782 49770 253979 23129 49778 253980 22782 49770 253981 23130 49773 253982 22786 49779 253983 22787 49780 253984 22781 49769 253985 22788 49781 253986 22789 49775 253987 22786 49779 253988 22786 49779 253989 22789 49775 253990 22790 49782 253991 22786 49779 253992 22790 49782 253993 22791 49783 253994 22791 49783 253995 22790 49782 253996 22792 49784 253997 22792 49784 253998 22790 49782 253999 22793 49785 254000 22792 49784 254001 22793 49785 254002 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254055 22804 49771 254056 22794 49786 254057 22791 49783 254058 22787 49780 254059 22786 49779 254060 22781 49769 254061 22787 49780 254062 22795 49787 254063 22806 49797 254064 22807 49798 254065 22808 49799 254066 22806 49797 254067 22808 49799 254068 22809 49794 254069 22809 49794 254070 22808 49799 254071 22801 49788 254072 22807 49798 254073 22806 49797 254074 22798 49791 254075 22807 49798 254076 22798 49791 254077 22796 49789 254078 22796 49789 254079 22798 49791 254080 22788 49781 254081 22810 49800 254082 22835 49801 254083 23049 49802 254084 23049 49802 254085 22835 49801 254086 22811 49803 254087 22810 49800 254088 22812 49804 254089 22813 49805 254090 22813 49805 254091 22812 49804 254092 22814 49806 254093 22813 49805 254094 22814 49806 254095 22821 49807 254096 22821 49807 254097 22814 49806 254098 22815 49808 254099 22815 49808 254100 22814 49806 254101 22816 49809 254102 22816 49809 254103 22814 49806 254104 22817 49810 254105 22816 49809 254106 22817 49810 254107 23099 49811 254108 23099 49811 254109 22817 49810 254110 22818 49812 254111 23099 49811 254112 22818 49812 254113 22819 49813 254114 22819 49813 254115 22818 49812 254116 22813 49805 254117 22819 49813 254118 22813 49805 254119 22820 49814 254120 22820 49814 254121 22813 49805 254122 22821 49807 254123 22739 49713 254124 22749 49727 254125 22810 49800 254126 22810 49800 254127 22749 49727 254128 22812 49804 254129 22822 49815 254130 22823 49816 254131 22812 49804 254132 23049 49802 254133 22817 49810 254134 22822 49815 254135 22822 49815 254136 22817 49810 254137 22824 49817 254138 22822 49815 254139 22824 49817 254140 22825 49818 254141 22825 49818 254142 22824 49817 254143 22826 49819 254144 22825 49818 254145 22826 49819 254146 22827 49820 254147 22827 49820 254148 22826 49819 254149 22828 49821 254150 22827 49820 254151 22828 49821 254152 22823 49816 254153 22823 49816 254154 22828 49821 254155 22812 49804 254156 22812 49804 254157 22828 49821 254158 22814 49806 254159 22818 49812 254160 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49925 254582 22914 49950 254583 22912 49949 254584 22935 49982 254585 22936 49983 254586 22927 49977 254587 22935 49982 254588 22927 49977 254589 22936 49983 254590 22926 49975 254591 22936 49983 254592 22989 49984 254593 22926 49975 254594 22933 49976 254595 22931 49979 254596 22929 49978 254597 22901 49924 254598 22934 49925 254599 22924 49985 254600 22924 49985 254601 22934 49925 254602 22925 49981 254603 22926 49975 254604 22924 49985 254605 22925 49981 254606 22933 49976 254607 22926 49975 254608 22925 49981 254609 22927 49977 254610 22933 49976 254611 22929 49978 254612 22935 49982 254613 22927 49977 254614 22929 49978 254615 22935 49982 254616 22929 49978 254617 22928 49953 254618 22914 49950 254619 22935 49982 254620 22928 49953 254621 22940 49930 254622 22941 49986 254623 22942 49987 254624 22942 49987 254625 22941 49986 254626 22943 49988 254627 22942 49987 254628 22943 49988 254629 22944 49989 254630 22944 49989 254631 22943 49988 254632 22945 49990 254633 22944 49989 254634 22945 49990 254635 22946 49991 254636 22946 49991 254637 22945 49990 254638 22948 49952 254639 22946 49991 254640 22948 49952 254641 22947 49954 254642 22915 49951 254643 22948 49952 254644 22937 49992 254645 22938 49993 254646 22939 49994 254647 22949 49995 254648 22938 49993 254649 22949 49995 254650 22937 49992 254651 22937 49992 254652 22949 49995 254653 22950 49996 254654 22950 49996 254655 22913 49948 254656 22937 49992 254657 22937 49992 254658 22913 49948 254659 22915 49951 254660 22948 49952 254661 22945 49990 254662 22937 49992 254663 22939 49994 254664 22941 49986 254665 22940 49930 254666 22939 49994 254667 22940 49930 254668 22902 49927 254669 22938 49993 254670 22937 49992 254671 22945 49990 254672 22938 49993 254673 22945 49990 254674 22943 49988 254675 22938 49993 254676 22943 49988 254677 22941 49986 254678 22939 49994 254679 22938 49993 254680 22941 49986 254681 22958 49997 254682 23001 49998 254683 22951 49999 254684 22951 49999 254685 23001 49998 254686 22952 50000 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47.93712 0.1125 28.88633 0 29.06688 0 28.61323 0 39.57756 0.1125 39.38948 0.1125 39.86611 0 7.112876 0.1125 6.990158 0.1125 7.350255 0 30.88158 0.1125 30.93105 0.1125 31.15333 -0.1119248 17.34921 -3.94e-4 17.24177 -6.36926e-4 17.59213 -2.5 1.402909 -2.045431 1.451968 -2.5 1.574851 0 13.07307 -0.112006 13.20237 -0.112006 12.84906 0.1125 13.46234 0 13.52619 0 13.18926 -0.1121565 13.46415 -3.94e-4 13.31178 -3.94e-4 13.66487 0 40.63064 0.1125 40.45763 0.1125 40.6799 0 16.96879 -0.112006 17.00342 -0.112006 16.73806 -0.112061 13.39676 -3.94e-4 13.25824 -3.94e-4 13.57743 0 5.64989 -0.112006 5.680943 -0.110527 5.410534 0.1125 29.79226 0 29.97487 0 29.52121 0 12.01177 -0.112006 12.14161 -0.112006 11.78745 -0.1120569 7.788392 -3.94e-4 7.70379 -3.94e-4 7.969834 -0.1120253 5.992941 -3.94e-4 5.893644 -3.94e-4 6.24481 -0.1120244 10.94105 -3.94e-4 10.92945 -3.94e-4 11.191 -0.112087 14.84752 -3.94e-4 14.72464 -3.94e-4 14.99087 0 35.18748 0.1125 35.01387 0.1125 35.23746 0 34.81301 0.1125 34.62593 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18.81704 0 19.10516 0 28.61886 0.1125 28.44721 0.1125 28.90733 -0.1120858 7.781486 -3.94e-4 7.646892 -3.94e-4 8.014496 -0.1120874 5.660624 -3.94e-4 5.538152 -3.94e-4 5.893644 -0.112006 11.9643 -0.112006 11.61019 0 11.68699 -0.1120722 8.187979 -3.94e-4 8.013039 -3.94e-4 8.364068 -0.112174 4.273053 -3.94e-4 4.113917 -3.94e-4 4.481101 0 19.30974 0.1125 19.13624 0.1125 19.41668 -0.1120232 14.47464 -3.94e-4 14.3744 -3.94e-4 14.73429 -0.1121686 9.574667 -3.94e-4 9.428009 -3.94e-4 9.788834 -0.1120852 13.01264 -3.94e-4 12.95896 -3.94e-4 13.31185 -0.112006 16.91493 -0.112006 16.56151 0 16.71686 -0.1120864 10.60781 -3.94e-4 10.47358 -3.94e-4 10.84118 0 29.09531 0.1125 28.90733 0.1125 29.38271 -0.1121565 14.87749 -3.94e-4 14.72512 -3.94e-4 14.9909 -0.1119869 17.32699 -3.94e-4 17.24177 -3.94e-4 17.54251 -0.1120865 11.31441 -3.94e-4 11.23302 -3.94e-4 11.54779 -0.1120233 11.64807 -3.94e-4 11.63609 -3.94e-4 11.89795 -0.1120244 8.820984 -3.94e-4 8.718946 -3.94e-4 9.070992 -0.1120864 16.26118 -3.94e-4 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17.18134 -0.112006 16.91496 -0.1120657 4.704161 -0.1119438 4.395192 -3.94e-4 4.526244 0 15.41042 0 15.62709 -0.112006 15.44174 0 16.96896 -0.112006 17.22315 -0.112006 16.86762 0.1125 25.2556 0.1125 25.48804 0 25.20666 0 8.597646 0 8.894966 -0.112006 8.73394 -0.1121685 5.687977 -0.1119427 5.455734 -3.94e-4 5.494254 0 12.39462 0 12.724 -0.112006 12.67015 0 8.858038 0 9.18682 -0.112006 9.074751 0 18.5478 0 18.72424 -0.112006 18.50869 -0.112006 15.2325 -0.112006 14.92496 0 15.00911 -0.112006 10.90161 -0.112006 10.6365 0 10.75899 0 7.669439 0 7.929132 -0.112006 7.71863 0 37.00146 0 36.54781 0.1125 36.82845 -0.112006 14.39427 -0.112006 14.04736 0 14.25709 -0.112006 5.80262 0 5.518418 0 5.767335 0 11.87327 0 12.23438 -0.112006 11.92496 0 11.0166 0 11.30907 -0.112006 11.07834 0 14.32034 0 13.8661 0.1125 14.14688 -0.112006 9.041216 -0.112006 8.778357 0 8.858639 0 16.63942 0 16.96879 -0.112006 16.91479 0 13.84722 0 14.13908 -0.112006 14.03728 -0.112006 18.06699 0 17.9307 0 18.20656 -0.112006 11.52153 -0.112006 11.25487 0 11.37084 0 36.09473 0 35.64052 0.1125 35.9219 0.0118286 0.7353084 0.1140899 0.5975529 0.09705728 0.8319957 0 13.57882 0 13.887 -0.112006 13.73165 -0.0493564 48.34431 0 48.00597 0 48.26348 0.01990425 2.047426 0.08909457 1.804027 0.141421 2.305302 -0.141421 -3.204328 -0.1292751 -3.298604 -0.03833144 -3.170298 -0.06973254 -2.794294 -0.1322461 -2.621867 -0.1245033 -2.759405 -0.01699054 12.73069 -0.1125 13.10313 -0.1125 12.78333 0.02913135 -0.7045273 0.07071095 -0.234669 0 -0.3951715 0.1125 25.99752 0.1125 26.33506 0 26.00126 0 24.29997 0 23.84691 0.1125 24.12502 0.1125 9.833187 0.1125 10.06407 0 10.01373 0.07071095 0.993531 0 1.115894 0 0.916291 0 12.18351 0 11.94301 0.1125 11.99645 0.1125 23.44267 0.1125 23.67346 0 23.39268 0.1125 16.18422 0.1125 16.41303 0 16.13493 0.1125 11.63915 0.1125 11.98132 0 11.70524 -0.112006 11.21776 -0.112006 10.85597 0 10.98047 0.1125 39.77264 0.1125 40.00471 0 39.95513 0.1125 8.187477 0.1125 8.663925 0 8.370074 0 17.42424 0 17.184 0.1125 17.47139 0 12.18169 0 11.94329 0.1125 11.98132 -0.01697111 12.73101 -0.1125 13.10221 -0.1125 12.78268 0.1125 23.89622 0.1125 24.12502 0 23.84691 0.1125 28.88633 0.1125 29.11722 0 29.06688 0 40.63064 0 40.29128 0.1125 40.45763 0.1125 27.30263 0.1125 27.52402 0 27.47545 0 23.20133 0 22.90145 0.1125 23.189 0 33.2586 0 32.91735 0.1125 33.25529 0 38.59467 0.1125 38.86653 0 38.85789 0 22.18902 0 21.94853 0.1125 22.23699 0 33.26337 0 32.91925 0.1125 33.20003 0.1125 27.30262 0.1125 27.52538 0 27.47608 0 7.064511 -0.112006 7.318644 -0.112006 6.971554 0.1125 18.66865 0.1125 19.14585 0 18.85202 -3.94e-4 16.5759 -0.1120455 16.80206 -0.1121181 16.51747 0.1125 42.88557 0.1123175 43.18413 0 42.89841 0 11.02995 0 10.80428 0.1125 11.02661 0 15.227 0 14.77279 0.1125 15.05417 0.1125 32.51549 0.1125 32.74563 0 32.57934 0.1125 27.52538 0.1125 27.75419 0 27.47608 0.1125 30.7009 0.1125 30.9318 0 30.88146 0.1024817 -1.196168 0.109525 -1.343552 0.159099 -1.143286 0.1125 23.89499 0.1125 24.12502 0 23.84572 0.1125 40.22612 0.1125 40.45763 0 40.29128 0.1125 8.018342 0.1125 8.249469 0 7.968703 0.1125 29.33997 0.1125 29.57085 0 29.52053 -0.07071095 -0.863938 0 -0.7496197 -0.07071095 -0.6436662 0 9.559421 0 9.104698 0.1125 9.381196 0 15.68009 0 15.227 0.1125 15.50574 0 16.9321 0 16.58798 0.1125 16.86876 0 15.68068 0 15.22691 0.1125 15.50574 0 27.92854 0 27.47545 0.1125 27.75419 0 15.04223 0 14.80172 0.1125 15.0902 0 16.30039 0 16.67633 -0.112006 16.39553 0 11.22879 0 10.99038 0.1125 11.04615 -3.94e-4 8.353251 -0.1120642 8.68104 -0.1120455 8.322006 0 25.20726 0 24.7542 0.1125 25.03231 -0.112006 11.87108 -0.112006 11.52013 0 11.68863 0 14.08932 0 13.84884 0.1125 13.90226 0 14.77327 0 14.32034 0.1125 14.59845 0.1125 42.01557 0.1125 42.37092 0 42.198 0.1125 32.01011 0.1125 32.48576 0 32.1925 0.1125 12.10116 0.1125 12.3323 0 12.05151 -0.1293337 0.7603622 -0.02805876 0.5999841 -0.01006084 1.061447 0 16.94622 0 16.70781 0.1125 16.88014 0 24.093 0 23.8546 0.1125 23.91037 0 42.198 0 41.9598 0.1125 42.01557 0 30.28845 0 30.04822 0.1125 30.10165 0 44.5824 0 44.28577 0.1125 44.39572 0 18.79537 0 18.43645 0.1125 18.66728 0 45.05691 0 44.81851 0.1125 45.10716 0.1125 34.32873 0.1125 34.56096 0 34.51133 0 43.62756 0 43.33301 0.1125 43.56153 0 18.37537 0 18.13717 0.1125 18.19298 0.1125 48.18686 0.1109505 48.40643 0.03219997 48.22988 0 16.82551 0 17.18647 -0.112006 16.87722 0.09409946 0.5122582 0 0.427248 0.02527451 0.3197229 0 7.291745 0.1125 6.943794 0.1125 7.282877 -0.02599227 3.125675 -0.009694516 3.446889 -0.05999994 3.338141 0.1125 16.18287 0.1125 16.41511 0 16.36548 0.1125 10.2856 0.1125 10.51771 0 10.46811 0 48.4965 -0.05342739 48.23963 0 48.17975 0.1125 9.83183 0.1125 10.06331 0 9.783245 0.1125 13.91445 0.1125 14.14688 0 13.8655 0.1125 13.23958 0.1125 13.46234 0 13.18926 0.1125 30.24726 0.1125 30.47815 0 30.42782 0 35.18688 0 34.84753 0.1125 35.01387 0.1125 12.5537 0.1125 12.78386 0 12.50512 0.1125 21.91513 0.1125 22.25374 0 22.03101 0.1125 33.25529 0.1125 33.5934 0 33.2586 0.1125 30.2459 0.1125 30.47815 0 30.4285 0.1125 34.33009 0.1125 34.56097 0 34.51063 0.1125 11.02661 0.1125 11.36456 0 11.02995 0.1125 38.585 0.1125 38.86518 0 38.81589 -0.01699024 12.73069 -0.1125 13.1022 -0.1125 12.78268 0.1125 36.1433 0.1125 36.37347 0 36.09473 0 36.09536 0 35.64113 0.1125 35.9219 0.03219997 48.22988 0.1125 47.97038 0.1125 48.18686 0.1125 17.24007 0.1125 17.71702 0 17.42248 -0.06555557 47.93712 0 47.62481 0 48.00608 0.1125 37.05075 0.1125 37.28076 0 37.00146 0.1125 9.38019 0.1125 9.610415 0 9.441614 0 21.57749 0 21.12441 0.1125 21.40448 0.1125 27.97878 0.1125 28.20992 0 27.92914 0.1125 13.0087 0.1125 13.23958 0 13.18926 0.1125 8.017233 0.1125 8.249474 0 8.199844 0 37.45512 0 37.00146 0.1125 37.28076 0.1125 27.07019 0.1125 27.30263 0 27.02125 0.1125 25.2569 0.1125 25.4873 0 25.20726 -0.7089588 -0.01242542 -0.06395 -0.04999995 -0.1 0 -3.94e-4 10.92947 -0.1120455 11.14869 -0.1121181 10.8641 -0.141421 -3.204425 -0.1294016 -3.29874 -0.1087763 -3.121952 0.1125 42.87164 0.1125 43.18328 0 42.89901 0 31.71807 0 31.47758 0.1125 31.531 0 27.90645 0 27.66596 0.1125 27.83779 -3.94e-4 9.788834 -0.1118789 10.00349 -0.1121 9.799638 0.1125 42.04071 0.1125 42.2722 0 42.10586 0.1125 15.27558 0.1125 15.50574 0 15.227 0 8.848448 0 8.607872 0.1125 8.779684 -3.94e-4 7.30769 -0.1120451 7.615083 -0.1121168 7.330433 0 28.85935 0 28.61886 0.1125 28.90733 0 9.324796 0 9.084301 0.1125 9.13774 0 36.95904 0 36.71856 0.1125 37.00612 0.1125 38.86518 0.1125 39.15327 0 38.81589 0 16.46956 0 16.23137 0.1125 16.51976 0 27.90477 0 27.66624 0.1125 27.70453 0 36.95723 0 36.71882 0.1125 37.0074 0 19.80494 0 19.56653 0.1125 19.85511 0 13.61287 0 13.37239 0.1125 13.42581 0 25.04591 0 24.8075 0.1125 25.09608 0 37.4356 0 37.19503 0.1125 37.48258 0 26.95172 0 26.71331 0.1125 27.00279 0 31.24136 0 31.00114 0.1125 31.05456 0 42.6748 0 42.43627 0.1125 42.72483 -0.1120688 4.442974 -0.1120933 4.086456 -3.94e-4 4.215567 0 39.81609 0 39.57756 0.1125 39.86611 0 34.09851 0 33.86011 0.1125 33.91588 -0.01476192 -0.1630721 -0.141421 -0.2136267 -0.12931 -0.3077552 0.141421 0.3957767 0.0175693 0.5925142 0.02457964 0.4529926 0 17.33897 0 17.65186 -0.112006 17.62241 0 28.38264 0 28.14242 0.1125 28.44721 0.1125 18.4511 0.1125 18.6826 0 18.51626 0 18.14951 0 18.37047 -0.112006 18.15463 -0.1120381 4.430092 -0.1120979 4.088013 -3.94e-4 4.216662 0.1125 17.94314 0.1125 18.2297 0 18.17936 0.1125 18.19298 0.1125 18.66865 0 18.37537 0.1125 28.88498 0.1125 29.11721 0 29.06757 0 11.42722 0 11.72491 -0.112006 11.56441 0 10.12783 0 9.783245 0.1125 10.06331 0.1125 34.78236 0.1125 35.01387 0 34.84753 -3.94e-4 14.71329 -0.1118784 14.9503 -0.1120455 14.68205 0.1125 22.98756 0.1125 23.21906 0 23.05271 0.1125 32.06063 0.1125 32.29274 0 32.24313 0 41.72188 0 41.48337 0.1125 41.65571 -0.112006 18.7734 0 19.13883 -0.112006 19.11084 0 9.565732 0 9.894138 -0.112006 9.84031 0 47.32252 0 47.0238 0.1125 47.34616 0 16.71748 0 16.9688 -0.112006 16.91496 0.01183199 0.7353058 0.1140834 0.597543 0.08799225 0.8259033 -0.112006 15.10174 -0.112006 14.75482 0 14.96455 0 18.14951 0 18.37047 -0.112006 18.15463 0 17.08722 0 17.38711 -0.112006 17.22352 -0.1294431 -3.298689 -0.03729718 -3.07786 -0.1299086 -3.192365 -0.1294296 -2.682916 -0.1293038 -2.871289 -0.01792776 -2.924338 0 27.43009 0 27.18953 0.1125 27.4769 -0.112006 7.364763 0 7.060026 0 7.414103 -0.05484104 -0.8266265 -0.03969782 -0.5972777 -0.1238639 -0.6993599 0 8.894062 0 9.186659 -0.112006 8.955946 0 16.6402 0 16.96902 -0.112006 16.87747 -3.94e-4 10.13438 -0.1120451 10.44177 -0.1121168 10.15712 0 26.00074 0 25.76016 0.1125 26.04862 0.1125 12.09986 0.1125 12.33229 0 12.05091 0 16.67708 0 16.96894 -0.112006 16.86714 -0.1120635 16.10116 -0.1121013 15.8066 -3.94e-4 15.96312 -0.1120623 6.5599 -0.1120457 6.202286 -3.94e-4 6.379519 0.1125 43.56153 0.1125 43.92138 0 43.62756 -0.112006 10.18475 -0.112006 9.929075 0 9.934877 0.1125 31.53364 0.1125 32.01011 0 31.71626 0 14.13893 -0.112006 14.35149 -0.112006 14.0851 0 13.61119 0 13.37267 0.1125 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3036 4493 42151 3037 4494 42100 3038 4495 42099 2293 4496 362 2261 4497 313 2262 4498 312 2097 4499 2181 3039 4500 1984 3040 4501 1985 2668 4502 28168 2633 4503 28117 2501 4504 28116 2872 4505 2469 1835 4506 2536 2836 4507 2535 3041 4508 26327 3042 4509 26297 1294 4510 26328 2493 4511 41779 2228 4512 41728 2800 4513 41727 3043 4514 27587 3044 4515 27540 3045 4516 27539 3046 4517 28338 3047 4518 28302 2997 4519 28303 2858 4520 2577 2828 4521 2451 3048 4522 2452 2328 4523 2001 3049 4524 2144 2220 4525 2143 3050 4526 41219 3051 4527 41174 3052 4528 41173 2306 4529 38368 3053 4530 38319 3054 4531 38318 2378 4532 28352 2917 4533 28309 3055 4534 28308 3056 4535 41504 3057 4536 41528 3058 4537 41529 3059 4538 3778 2101 4539 3730 1955 4540 3729 2876 4541 3588 2993 4542 3536 2755 4543 3535 2686 4544 41572 3060 4545 41529 3059 4546 41530 2678 4547 41213 3061 4548 41167 2456 4549 41166 3062 4550 2177 3063 4551 1986 2669 4552 1987 1934 4553 28353 3064 4554 28310 1831 4555 28309 3055 4556 2640 3065 4557 2407 3066 4558 2406 1906 4559 38335 3067 4560 38284 2595 4561 38283 2694 4562 2215 3068 4563 1957 9 4564 1921 7 4565 41232 3069 4566 41187 3070 4567 41186 3071 4568 2434 2792 4569 2595 1936 4570 2594 3072 4571 2159 3073 4572 1998 2859 4573 1999 3074 4574 157 1750 4575 107 1751 4576 106 2330 4577 41787 3075 4578 41736 2227 4579 41735 2614 4580 27387 153 4581 27394 155 4582 27372 137 4583 3770 3076 4584 3721 2385 4585 3720 2110 4586 27989 3077 4587 27940 3078 4588 27939 3079 4589 41222 3080 4590 41177 2592 4591 41176 3081 4592 3788 1796 4593 3741 1944 4594 3740 2547 4595 3775 3013 4596 3727 3014 4597 3726 3082 4598 3914 2961 4599 3957 3083 4600 3956 2960 4601 28350 3084 4602 28307 3085 4603 28306 3086 4604 2627 3087 4605 2421 2511 4606 2422 2094 4607 2624 3088 4608 2423 2095 4609 2424 3089 4610 2533 2014 4611 2471 2388 4612 2470 2984 4613 2431 3090 4614 2599 3091 4615 2598 3092 4616 2512 2570 4617 2489 2462 4618 2490 2553 4619 2155 3093 4620 2000 3094 4621 2001 3049 4622 39341 1011 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38308 2475 4688 27769 3123 4689 27722 3124 4690 27721 1718 4691 2189 3125 4692 1980 2963 4693 1981 2280 4694 26326 3126 4695 26296 3127 4696 26327 3042 4697 2060 3128 4698 2050 3017 4699 2049 3129 4700 3972 3130 4701 3921 3131 4702 3920 2262 4703 38348 2609 4704 38306 2608 4705 38307 2476 4706 2596 3132 4707 2433 3133 4708 2432 3134 4709 41209 3135 4710 41163 3136 4711 41162 2483 4712 2103 3137 4713 2023 2478 4714 2022 2465 4715 2182 3138 4716 1978 2839 4717 1977 2538 4718 2603 3139 4719 2429 3140 4720 2428 3141 4721 2606 3142 4722 2433 3133 4723 2434 2792 4724 2600 3143 4725 2431 3090 4726 2430 3144 4727 27797 3145 4728 27748 3146 4729 27747 3101 4730 3500 2629 4731 3604 3147 4732 3603 2429 4733 3982 3148 4734 3931 3149 4735 3930 2009 4736 151 3150 4737 100 1843 4738 99 1659 4739 2333 3151 4740 2309 3152 4741 2310 3153 4742 3604 3147 4743 3500 2629 4744 3564 3154 4745 41021 473 4746 41008 472 4747 41007 464 4748 2151 3155 4749 1997 3156 4750 1996 2944 4751 2589 3157 4752 2438 3158 4753 2437 3026 4754 28165 3159 4755 28114 3160 4756 28113 3161 4757 28166 3162 4758 28115 2873 4759 28114 3160 4760 3793 3163 4761 3747 3164 4762 3746 3165 4763 27609 3166 4764 27563 1814 4765 27562 3167 4766 28177 3168 4767 28126 2634 4768 28125 1949 4769 2400 3169 4770 2649 3170 4771 2648 3171 4772 28349 3172 4773 28306 3086 4774 28305 2527 4775 2422 2094 4776 2626 1992 4777 2627 3087 4778 42159 2311 4779 42110 3173 4780 42109 2401 4781 28183 2630 4782 28132 2560 4783 28131 1748 4784 38342 3174 4785 38291 3175 4786 38290 3176 4787 27593 2507 4788 27545 1746 4789 27544 3177 4790 41398 3178 4791 41350 2409 4792 41349 2964 4793 2569 3179 4794 2456 2013 4795 2457 1849 4796 3784 3180 4797 3737 3181 4798 3736 2072 4799 2439 1858 4800 2588 2436 4801 2587 3182 4802 2538 3183 4803 2474 3184 4804 2475 1968 4805 3774 3185 4806 3726 3082 4807 3725 2089 4808 2477 2015 4809 2533 2014 4810 2534 2826 4811 28557 2575 4812 28543 3186 4813 28558 2884 4814 27585 3187 4815 27538 3188 4816 27537 2513 4817 41233 3189 4818 41188 3190 4819 41187 3070 4820 2109 3191 4821 2020 1947 4822 2019 3021 4823 3586 3192 4824 3534 2687 4825 3533 1924 4826 27960 3193 4827 27912 2124 4828 27911 3194 4829 2435 2793 4830 2593 3195 4831 2592 2931 4832 27783 3196 4833 27736 3033 4834 27735 2506 4835 41221 3197 4836 41176 3081 4837 41175 3198 4838 27612 3199 4839 27566 2153 4840 27565 3200 4841 2501 2555 4842 2491 2093 4843 2490 2553 4844 27803 2578 4845 27753 3201 4846 27752 3202 4847 2503 3203 4848 2495 2936 4849 2496 3204 4850 27592 3205 4851 27544 3177 4852 27543 3206 4853 2628 3207 4854 2414 2995 4855 2413 2063 4856 42130 1984 4857 42131 3029 4858 42171 2342 4859 3934 2747 4860 3977 1183 4861 3976 2745 4862 28325 2764 4863 28365 2515 4864 28358 2762 4865 28337 2996 4866 28292 3208 4867 28291 3209 4868 38343 3210 4869 38301 2979 4870 38302 3211 4871 28364 3212 4872 28322 3213 4873 28321 3214 4874 2593 3195 4875 2441 1937 4876 2442 3215 4877 27790 2850 4878 27742 3216 4879 27741 3217 4880 2163 3218 4881 1989 2059 4882 1988 1935 4883 42155 2449 4884 42105 3219 4885 42104 3220 4886 27778 3221 4887 27731 2381 4888 27730 2865 4889 41618 3222 4890 41549 2212 4891 41548 2211 4892 27978 3223 4893 27927 3224 4894 27926 3225 4895 27048 3226 4896 27313 3227 4897 27049 1116 4898 41801 3228 4899 41749 2721 4900 41748 2930 4901 39609 3229 4902 39603 3230 4903 39327 3231 4904 175 3232 4905 127 3105 4906 126 1789 4907 28351 3233 4908 28308 3056 4909 28307 3085 4910 41226 3234 4911 41181 3235 4912 41180 2086 4913 3782 3232 4914 3735 2073 4915 3734 2796 4916 27781 3236 4917 27734 1836 4918 27733 2051 4919 2185 3237 4920 1982 2281 4921 1983 3238 4922 2093 3239 4923 2029 3240 4924 2028 3241 4925 2039 1979 4926 2075 2937 4927 2074 3242 4928 41224 3243 4929 41179 2087 4930 41178 2591 4931 41230 3244 4932 41185 3245 4933 41184 3246 4934 27968 3247 4935 27919 2417 4936 27918 3248 4937 28335 3249 4938 28290 3250 4939 28289 3251 4940 41210 2304 4941 41164 2895 4942 41163 3136 4943 27768 3252 4944 27721 1718 4945 27720 1717 4946 2618 3253 4947 2426 2672 4948 2427 3254 4949 2072 2175 4950 2048 1908 4951 2049 3129 4952 41995 3255 4953 41944 1780 4954 41943 3256 4955 2115 3257 4956 2017 2950 4957 2016 2906 4958 3952 3258 4959 3901 2925 4960 3900 2037 4961 38349 3259 4962 38298 2520 4963 38297 3260 4964 158 3261 4965 108 3262 4966 107 1751 4967 41588 3263 4968 41535 3264 4969 41534 3265 4970 2635 3266 4971 2417 2419 4972 2418 2452 4973 2579 3267 4974 2450 3268 4975 2451 3048 4976 41421 3269 4977 41369 2049 4978 41368 2353 4979 27792 3270 4980 27744 2423 4981 27743 3271 4982 2106 3272 4983 2027 2522 4984 2028 3241 4985 2545 3273 4986 2464 1977 4987 2463 2862 4988 41212 3274 4989 41166 3062 4990 41165 2894 4991 42109 2401 4992 42110 3173 4993 42151 3037 4994 2605 3275 4995 2428 3141 4996 2427 3254 4997 41231 3276 4998 41186 3071 4999 41185 3245 5000 39479 2923 5001 39449 3277 5002 39480 2750 5003 2403 1884 5004 2646 3278 5005 2645 1882 5006 39066 3279 5007 38995 3280 5008 39067 3281 5009 41139 3282 5010 41194 3283 5011 41193 3284 5012 1876 3285 5013 1887 552 5014 1888 3286 5015 28447 349 5016 28446 532 5017 28709 350 5018 41315 2989 5019 41340 3287 5020 41341 2351 5021 28442 902 5022 28719 839 5023 28441 3288 5024 28331 2814 5025 28284 818 5026 28283 1682 5027 27804 2577 5028 27754 3289 5029 27753 3201 5030 41778 3290 5031 41727 3043 5032 41726 3291 5033 2528 3292 5034 2474 3184 5035 2473 1996 5036 41775 3293 5037 41723 2646 5038 41722 3294 5039 373 3295 5040 324 3296 5041 323 2009 5042 41229 3297 5043 41184 3246 5044 41183 2524 5045 2584 2898 5046 2447 2636 5047 2448 2896 5048 2003 2277 5049 2140 2386 5050 2139 3298 5051 2509 2045 5052 2492 2092 5053 2493 2987 5054 41217 3299 5055 41171 3300 5056 41170 2652 5057 41020 1871 5058 41007 464 5059 41006 467 5060 40393 3301 5061 40243 1204 5062 40242 3302 5063 2581 2196 5064 2449 2434 5065 2450 3268 5066 2034 2019 5067 2085 1978 5068 2084 3303 5069 370 3304 5070 321 2904 5071 320 2137 5072 2090 3305 5073 2031 2833 5074 2030 3306 5075 2578 3307 5076 2445 2437 5077 2444 2912 5078 27801 3308 5079 27752 3202 5080 27751 2367 5081 2098 3309 5082 2032 2832 5083 2033 2018 5084 2553 3310 5085 2460 1887 5086 2459 1974 5087 2598 3092 5088 2432 3134 5089 2431 3090 5090 2647 3311 5091 2402 3312 5092 2401 3313 5093 265 3314 5094 370 3304 5095 369 3315 5096 27971 3316 5097 27922 2269 5098 27921 2643 5099 37945 2947 5100 37922 3317 5101 37946 2786 5102 38849 3318 5103 38896 3319 5104 38897 3320 5105 40150 1695 5106 40049 3321 5107 40050 1693 5108 2508 2046 5109 2486 1890 5110 2485 2044 5111 27221 2492 5112 27147 3322 5113 27222 3323 5114 40494 3324 5115 40236 1633 5116 40234 3325 5117 3399 509 5118 3159 561 5119 3160 563 5120 38824 515 5121 38708 514 5122 38705 3326 5123 359 2985 5124 318 2143 5125 319 2136 5126 27991 2616 5127 27941 3327 5128 27940 3078 5129 27603 3328 5130 27557 2341 5131 27556 1990 5132 182 2453 5133 143 2704 5134 82 3329 5135 26744 1959 5136 26725 3330 5137 26745 234 5138 27789 3331 5139 27741 3217 5140 27740 2042 5141 28367 3332 5142 28292 3208 5143 28293 2815 5144 2027 2522 5145 2096 2017 5146 2095 3333 5147 42157 3334 5148 42116 3335 5149 42117 3336 5150 41768 3337 5151 41725 3338 5152 41726 3291 5153 3605 3339 5154 3558 1786 5155 3557 1785 5156 41777 3340 5157 41734 2615 5158 41735 2614 5159 369 3315 5160 266 3005 5161 265 3314 5162 28333 2682 5163 28295 2309 5164 28296 2481 5165 183 3341 5166 82 3329 5167 81 3342 5168 27742 3216 5169 27782 2505 5170 27781 3236 5171 41776 2644 5172 41733 2852 5173 41734 2615 5174 27049 1116 5175 27312 1306 5176 27050 1305 5177 41591 2225 5178 41538 2803 5179 41537 2939 5180 39926 3343 5181 39886 3344 5182 39927 3345 5183 28083 3346 5184 28139 3347 5185 28138 3348 5186 41204 3349 5187 41157 1681 5188 41156 1680 5189 41417 3350 5190 41366 2568 5191 41365 2484 5192 41220 3351 5193 41175 3198 5194 41174 3052 5195 2602 3352 5196 2430 3144 5197 2429 3140 5198 27974 3353 5199 27924 3354 5200 27923 2268 5201 41227 3355 5202 41182 2525 5203 41181 3235 5204 329 3356 5205 288 3357 5206 289 2663 5207 41717 3358 5208 41686 3359 5209 41716 3360 5210 27700 3361 5211 27723 3362 5212 27724 3363 5213 41759 3364 5214 41760 2719 5215 41802 2718 5216 40788 3365 5217 40774 3366 5218 40789 2406 5219 3602 1791 5220 3563 1790 5221 3501 2628 5222 27599 3367 5223 27560 3368 5224 27561 3369 5225 41960 3370 5226 41921 3371 5227 41922 2970 5228 3572 2569 5229 3527 2219 5230 3528 2218 5231 328 3372 5232 287 3373 5233 288 3357 5234 41467 3374 5235 41493 3375 5236 41519 3376 5237 41419 3377 5238 41376 3378 5239 41420 2352 5240 41651 3379 5241 41679 3380 5242 41652 3381 5243 181 2705 5244 133 1944 5245 132 3382 5246 27600 3383 5247 27553 3384 5248 27552 3385 5249 41202 3386 5250 41155 3387 5251 41154 3388 5252 42154 3389 5253 42104 3220 5254 42103 2428 5255 42160 3390 5256 42111 1775 5257 42110 3173 5258 3795 1852 5259 3746 3165 5260 3745 2890 5261 27791 2849 5262 27743 3271 5263 27742 3216 5264 42179 1841 5265 42139 2770 5266 42140 1839 5267 41579 3391 5268 41527 3392 5269 41526 3393 5270 28336 2656 5271 28291 3209 5272 28290 3250 5273 41987 3394 5274 41937 3395 5275 41936 3396 5276 2638 3397 5277 2408 1966 5278 2407 3066 5279 147 3398 5280 104 2186 5281 105 2315 5282 41133 3399 5283 41158 3400 5284 41159 2681 5285 42147 53 5286 42104 3220 5287 42105 3219 5288 332 3023 5289 291 2706 5290 292 3401 5291 41731 2757 5292 41732 2853 5293 41775 3293 5294 3565 3402 5295 3519 3403 5296 3520 2749 5297 27598 3404 5298 27561 3369 5299 27562 3167 5300 42137 3405 5301 42177 2897 5302 42136 3406 5303 3790 3407 5304 3690 1800 5305 3689 3408 5306 38327 3409 5307 38370 999 5308 38369 3410 5309 41959 3411 5310 41920 3412 5311 41921 3371 5312 41548 2211 5313 41592 2210 5314 41591 2225 5315 29454 3413 5316 29455 3414 5317 29034 673 5318 181 2705 5319 142 3415 5320 143 2704 5321 151 3150 5322 109 3416 5323 110 2224 5324 27798 3417 5325 27749 2066 5326 27748 3146 5327 42179 1841 5328 42131 3029 5329 42130 1984 5330 339 2322 5331 298 2321 5332 299 2819 5333 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20991 2476 2827 20992 2523 2447 20993 41880 6822 20994 41885 8829 20995 41884 8830 20996 41780 2798 20997 41779 2228 20998 41737 2108 20999 27221 2492 21000 27145 2491 21001 27146 8831 21002 25969 8832 21003 26060 5721 21004 26059 8475 21005 26571 1147 21006 26572 1149 21007 26570 810 21008 27467 3812 21009 27465 8833 21010 27466 8834 21011 27226 8062 21012 27305 1290 21013 27306 1292 21014 29321 6317 21015 29320 7385 21016 29331 4780 21017 2565 8835 21018 2564 2327 21019 2452 2328 21020 2006 2221 21021 2005 2317 21022 2134 2285 21023 2194 2005 21024 2193 8836 21025 1971 2006 21026 38130 1025 21027 38133 1380 21028 38134 185 21029 2198 2469 21030 2199 8837 21031 1974 1892 21032 2137 1929 21033 2136 2891 21034 2004 1927 21035 2167 8838 21036 2166 2728 21037 1986 2669 21038 2415 1994 21039 2416 1993 21040 2638 3397 21041 27745 2040 21042 27746 2039 21043 27786 2355 21044 2508 2046 21045 2507 2986 21046 2486 1890 21047 2406 1906 21048 2407 3066 21049 2650 8839 21050 2176 4388 21051 2177 3063 21052 1987 1934 21053 2636 1964 21054 2637 8840 21055 2416 1993 21056 28565 8144 21057 28705 8021 21058 28706 8143 21059 2135 4092 21060 2134 2285 21061 2005 2317 21062 2113 2948 21063 2112 8841 21064 2018 2949 21065 2488 2461 21066 2487 1889 21067 2505 2934 21068 2560 8842 21069 2559 8843 21070 2456 2013 21071 2154 3109 21072 2155 3093 21073 2001 3049 21074 2470 2984 21075 2469 1835 21076 2534 2826 21077 2041 2176 21078 2071 8042 21079 2042 1999 21080 2158 1911 21081 2159 3073 21082 1999 3074 21083 2028 3241 21084 2027 2522 21085 2094 2812 21086 2120 8844 21087 2119 5077 21088 2014 3099 21089 28178 8845 21090 28135 3108 21091 28136 3107 21092 2431 3090 21093 2432 3134 21094 2609 8846 21095 41339 4785 21096 41385 8789 21097 41386 3004 21098 2393 4942 21099 2386 8847 21100 2494 2935 21101 2415 1994 21102 2414 2995 21103 2627 3087 21104 2425 2671 21105 2424 3089 21106 2610 8848 21107 2097 2503 21108 2096 2017 21109 2026 2504 21110 2119 5077 21111 2118 8048 21112 2014 3099 21113 2105 2464 21114 2104 8790 21115 2022 2465 21116 40336 8849 21117 40337 1205 21118 40243 1204 21119 2574 2638 21120 2573 2835 21121 2447 2636 21122 2506 1888 21123 2505 2934 21124 2487 1889 21125 2202 3859 21126 2201 8850 21127 1966 1939 21128 2111 651 21129 2110 8851 21130 2019 3021 21131 39232 303 21132 39238 6970 21133 39226 300 21134 1970 2007 21135 1969 2470 21136 2196 8852 21137 2426 2672 21138 2425 2671 21139 2608 3925 21140 1988 1935 21141 1987 1934 21142 2164 2288 21143 1985 2668 21144 1984 3040 21145 2170 7846 21146 2457 1849 21147 2456 2013 21148 2558 7801 21149 2186 2689 21150 2187 2279 21151 1982 2281 21152 28332 2307 21153 28331 2814 21154 28294 2308 21155 2640 3065 21156 2641 8853 21157 2413 2063 21158 41364 8854 21159 41414 3474 21160 41415 2274 21161 2008 2387 21162 2007 2222 21163 2130 3117 21164 38308 2475 21165 38309 1743 21166 38350 2519 21167 2190 1897 21168 2191 8855 21169 1979 2838 21170 1983 3238 21171 1982 2281 21172 2173 5424 21173 2486 1890 21174 2487 1889 21175 2516 4473 21176 2463 2862 21177 2464 1977 21178 2557 7802 21179 2184 5821 21180 2183 3423 21181 1976 1932 21182 1881 7147 21183 1878 7146 21184 1861 8856 21185 2617 8857 21186 2618 3253 21187 2427 3254 21188 2589 3157 21189 2590 8858 21190 2444 2912 21191 2516 4473 21192 2517 4472 21193 2486 1890 21194 2125 5343 21195 2126 5342 21196 2017 2950 21197 2068 1904 21198 2069 1903 21199 2051 3016 21200 2171 1388 21201 2172 5425 21202 1990 1389 21203 2506 1888 21204 2507 2986 21205 2494 2935 21206 2530 1995 21207 2529 2030 21208 2473 1996 21209 2511 8859 21210 2512 2570 21211 2490 2553 21212 2611 7649 21213 2612 7648 21214 2430 3144 21215 1938 8455 21216 1940 4946 21217 1946 4945 21218 41385 8789 21219 41384 8446 21220 41347 8860 21221 28073 3800 21222 28065 3799 21223 28064 7524 21224 2405 1907 21225 2644 2000 21226 2643 1920 21227 26123 56 21228 26122 850 21229 26091 1509 21230 2605 3275 21231 2604 2791 21232 2428 3141 21233 2630 1896 21234 2629 2510 21235 2413 2063 21236 29146 6176 21237 29160 8861 21238 29145 6425 21239 2632 8862 21240 2631 1895 21241 2411 1921 21242 2615 7800 21243 2614 8863 21244 2422 2094 21245 2179 2667 21246 2178 2962 21247 1979 2838 21248 2107 1945 21249 2106 3272 21250 2021 1946 21251 2475 1968 21252 2474 3184 21253 2527 1969 21254 2621 8864 21255 2620 2670 21256 2419 2445 21257 2582 2435 21258 2581 2196 21259 2442 3215 21260 2534 2826 21261 2533 2014 21262 2470 2984 21263 2547 2861 21264 2546 2983 21265 2463 2862 21266 2090 3305 21267 2089 2025 21268 2031 2833 21269 2627 3087 21270 2626 1992 21271 2415 1994 21272 2512 2570 21273 2511 8859 21274 2483 2448 21275 40795 6562 21276 40937 7453 21277 40938 8364 21278 2522 8865 21279 2521 2847 21280 2477 2015 21281 2035 2813 21282 2034 2019 21283 2083 2830 21284 1946 4945 21285 1939 1130 21286 1938 8455 21287 2428 3141 21288 2429 3140 21289 2615 7800 21290 38550 2867 21291 38532 3028 21292 38533 2868 21293 2518 2433 21294 2517 4472 21295 2479 2031 21296 2634 8866 21297 2633 2451 21298 2410 2001 21299 2441 1937 21300 2440 1859 21301 2584 2898 21302 2117 7931 21303 2116 8801 21304 2015 2905 21305 2180 2837 21306 2179 2667 21307 1979 2838 21308 2640 3065 21309 2639 2994 21310 2407 3066 21311 2480 2032 21312 2479 2031 21313 2517 4472 21314 2561 5427 21315 2560 8842 21316 2455 2012 21317 2129 8265 21318 2128 1900 21319 2008 2387 21320 219 7729 21321 257 3506 21322 246 3505 21323 41356 3483 21324 41406 8867 21325 41405 2486 21326 39738 8868 21327 39739 8869 21328 39737 8740 21329 1952 6972 21330 1946 4945 21331 2053 2459 21332 2119 5077 21333 2120 8844 21334 2020 1947 21335 2135 4092 21336 2136 2891 21337 2011 2892 21338 41934 3113 21339 41983 8870 21340 41984 8871 21341 2499 2091 21342 2498 2282 21343 2492 2092 21344 2609 8846 21345 2608 3925 21346 2425 2671 21347 2211 4238 21348 2212 1938 21349 1967 1940 21350 27935 2842 21351 27984 8872 21352 27985 8616 21353 2131 8873 21354 2132 3098 21355 2014 3099 21356 2209 6102 21357 2210 8874 21358 1968 2021 21359 2097 2503 21360 2098 3309 21361 2033 2018 21362 2511 8859 21363 2510 8875 21364 2483 2448 21365 2619 7677 21366 2620 2670 21367 2426 2672 21368 2574 2638 21369 2575 2637 21370 2453 1915 21371 2537 2926 21372 2538 3183 21373 2475 1968 21374 2605 3275 21375 2606 3142 21376 2434 2792 21377 2192 2067 21378 2193 8836 21379 1978 2839 21380 2585 8876 21381 2586 2788 21382 2447 2636 21383 2095 3333 21384 2096 2017 21385 2034 2019 21386 2578 3307 21387 2579 3267 21388 2451 3048 21389 2121 8215 21390 2122 8877 21391 2019 3021 21392 2514 2602 21393 2515 2601 21394 2488 2461 21395 3504 6699 21396 3503 8368 21397 3561 2768 21398 2526 1970 21399 2527 1969 21400 2481 2440 21401 2549 2974 21402 2550 8878 21403 2467 1917 21404 3012 8879 21405 2742 8880 21406 2743 8881 21407 3362 8737 21408 3206 8882 21409 3208 8738 21410 3570 6860 21411 3569 2161 21412 3524 2572 21413 2133 4889 21414 2134 2285 21415 2013 2287 21416 2596 3132 21417 2595 1936 21418 2433 3133 21419 3940 8883 21420 3939 3441 21421 3897 2664 21422 42086 5652 21423 42085 3565 21424 42138 2769 21425 2160 1818 21426 2159 3073 21427 1991 1390 21428 2430 3144 21429 2431 3090 21430 2611 7649 21431 2553 3310 21432 2552 8884 21433 2460 1887 21434 41404 8885 21435 41403 1854 21436 41363 3475 21437 2412 1894 21438 2411 1921 21439 2631 1895 21440 2528 3292 21441 2527 1969 21442 2474 3184 21443 28104 8886 21444 28153 8799 21445 28155 8887 21446 2578 3307 21447 2577 2828 21448 2445 2437 21449 2539 1916 21450 2538 3183 21451 2467 1917 21452 2518 2433 21453 2519 2432 21454 2485 2044 21455 28100 1863 21456 28141 8888 21457 28099 5653 21458 3779 1953 21459 3778 2101 21460 3740 2547 21461 2057 7430 21462 2058 3015 21463 1948 3994 21464 3944 2454 21465 3943 8817 21466 3901 2925 21467 27876 5286 21468 27880 8889 21469 27879 8890 21470 28111 2991 21471 28112 8891 21472 28153 8799 21473 331 8798 21474 330 2662 21475 290 2664 21476 41958 8626 21477 41957 1806 21478 41919 2233 21479 2237 5141 21480 2234 2053 21481 2236 2055 21482 28973 8892 21483 28976 6616 21484 28974 8893 21485 2137 1929 21486 2138 1928 21487 2010 2002 21488 3931 3149 21489 3975 3745 21490 3974 8451 21491 27707 8894 21492 27715 8895 21493 27674 6068 21494 41795 2187 21495 41794 2759 21496 41752 2584 21497 28148 2182 21498 28147 8896 21499 28106 2374 21500 27926 3225 21501 27976 8897 21502 27977 8898 21503 2143 3050 21504 2144 2220 21505 2007 2222 21506 2623 7429 21507 2622 3438 21508 2418 2452 21509 27955 8899 21510 27954 8900 21511 27915 2193 21512 41581 3767 21513 41582 8297 21514 41529 3059 21515 41610 8353 21516 41611 6926 21517 41559 5451 21518 2490 2553 21519 2491 2093 21520 2511 8859 21521 3550 2552 21522 3551 2335 21523 3592 2334 21524 2462 2863 21525 2463 2862 21526 2559 8843 21527 3952 3258 21528 3909 1817 21529 3910 1816 21530 2630 1896 21531 2631 1895 21532 2420 2446 21533 2497 3992 21534 2391 3012 21535 2501 2555 21536 3727 3014 21537 3767 5434 21538 3766 8349 21539 2043 1952 21540 2042 1999 21541 2070 8901 21542 1966 1939 21543 1965 2846 21544 2203 3858 21545 2440 1859 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2190 23005 3724 2090 23006 42175 1866 23007 42174 2916 23008 42134 1867 23009 2443 2195 23010 2592 2931 23011 2442 3215 23012 38343 3210 23013 38342 3174 23014 38300 2393 23015 354 1821 23016 355 3753 23017 305 1822 23018 28338 3047 23019 28337 2996 23020 28302 2997 23021 2064 6660 23022 2063 1909 23023 2047 2817 23024 2514 2602 23025 2513 2460 23026 2481 2440 23027 28217 9064 23028 28219 7777 23029 28215 9065 23030 40399 5989 23031 40489 6090 23032 40490 6650 23033 25957 7737 23034 26071 8786 23035 25955 7863 23036 41301 5375 23037 41300 6908 23038 41309 6080 23039 27755 8923 23040 27806 4517 23041 27805 4516 23042 2726 1254 23043 2725 5105 23044 3146 5135 23045 41395 9046 23046 41356 3483 23047 41396 2303 23048 41509 3626 23049 41508 6797 23050 41565 2697 23051 27737 2357 23052 27738 2356 23053 27777 2864 23054 41341 2351 23055 41342 2350 23056 41380 2988 23057 41930 3448 23058 41979 9040 23059 41980 6470 23060 41993 9000 23061 41992 8999 23062 41950 9066 23063 27782 2505 23064 27783 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42113 1805 23246 38341 3430 23247 38340 2253 23248 38298 2520 23249 3744 1795 23250 3745 2890 23251 3782 3232 23252 27789 3331 23253 27788 2041 23254 27748 3146 23255 27957 8417 23256 27956 9078 23257 27917 9079 23258 42171 2342 23259 42170 2138 23260 42130 1984 23261 1962 2952 23262 1961 3428 23263 2208 9080 23264 2435 2793 23265 2434 2792 23266 2593 3195 23267 41424 7178 23268 41423 5548 23269 41316 9081 23270 41576 4935 23271 41534 3265 23272 41577 6867 23273 2033 2018 23274 2032 2832 23275 2087 2825 23276 3365 9082 23277 3228 9083 23278 3231 9084 23279 27733 2051 23280 27734 1836 23281 27772 1838 23282 27731 2381 23283 27732 2052 23284 27770 5558 23285 2434 2792 23286 2433 3133 23287 2595 1936 23288 41351 2204 23289 41352 1926 23290 41390 3418 23291 3755 2314 23292 3754 2761 23293 3713 2315 23294 27777 2864 23295 27776 2074 23296 27737 2357 23297 27790 2850 23298 27789 3331 23299 27749 2066 23300 2613 9016 23301 2612 7648 23302 2423 2095 23303 41805 9007 23304 41804 2148 23305 41697 2150 23306 2175 1933 23307 2174 8023 23308 1982 2281 23309 2470 2984 23310 2471 2388 23311 2545 3273 23312 2537 2926 23313 2536 2836 23314 2468 1834 23315 28329 6727 23316 28289 3251 23317 28290 3250 23318 3763 2190 23319 3762 2278 23320 3723 2191 23321 28150 5103 23322 28149 8936 23323 28108 2580 23324 2070 8901 23325 2069 1903 23326 2043 1952 23327 2453 1915 23328 2454 1914 23329 2574 2638 23330 1961 3428 23331 1960 5413 23332 2210 8874 23333 41794 2759 23334 41750 2468 23335 41751 2467 23336 28121 8827 23337 28171 9062 23338 28172 9075 23339 2520 7681 23340 2519 2432 23341 2478 2016 23342 27409 7761 23343 27408 7556 23344 27059 315 23345 2200 2020 23346 2201 8850 23347 1973 1893 23348 2182 3138 23349 2183 3423 23350 1984 3040 23351 40393 3301 23352 40336 8849 23353 40243 1204 23354 41939 2738 23355 41989 9085 23356 41990 9086 23357 3571 2967 23358 3525 2473 23359 3526 2472 23360 2005 2317 23361 2004 1927 23362 2136 2891 23363 2501 2555 23364 2502 2554 23365 2497 3992 23366 2594 3072 23367 2595 1936 23368 2441 1937 23369 2048 1908 23370 2047 2817 23371 2063 1909 23372 3378 9087 23373 3200 6574 23374 3199 6577 23375 28112 8891 23376 28162 2990 23377 28163 8826 23378 2535 3041 23379 2536 2836 23380 2476 2827 23381 38376 8413 23382 38377 9088 23383 38378 9089 23384 2583 2899 23385 2584 2898 23386 2448 2896 23387 2557 7802 23388 2556 8562 23389 2457 1849 23390 41768 3337 23391 41769 9090 23392 41717 3358 23393 2362 26 23394 2397 38 23395 2653 5894 23396 41411 2082 23397 41410 9091 23398 41368 2353 23399 26500 70 23400 26517 1085 23401 26516 6042 23402 2707 9092 23403 2708 9093 23404 2703 9094 23405 2684 4574 23406 2683 9095 23407 2682 1653 23408 2652 1962 23409 2653 5894 23410 2405 1907 23411 37779 9096 23412 37781 9097 23413 38186 9098 23414 26460 9099 23415 26459 9099 23416 26127 9099 23417 1901 9100 23418 1781 7855 23419 1779 9101 23420 3377 9102 23421 3265 9103 23422 3264 9104 23423 41943 3256 23424 41993 9000 23425 41994 9105 23426 2501 2555 23427 2500 3011 23428 2491 2093 23429 154 5659 23430 153 8793 23431 112 2415 23432 2628 3207 23433 2627 3087 23434 2414 2995 23435 41364 8854 23436 41416 2273 23437 41365 2484 23438 27581 8940 23439 27580 9106 23440 27541 6790 23441 2109 3191 23442 2108 2521 23443 2020 1947 23444 3879 3741 23445 3876 9107 23446 3932 3742 23447 41370 2048 23448 41413 9108 23449 41412 2358 23450 41992 8999 23451 41991 8452 23452 41949 2790 23453 2074 3242 23454 2075 2937 23455 2047 2817 23456 28344 3121 23457 28343 2927 23458 28308 3056 23459 2645 1882 23460 2646 3278 23461 2409 1965 23462 2047 2817 23463 2046 2938 23464 2065 2539 23465 37941 4905 23466 37834 940 23467 37926 8028 23468 3774 3185 23469 3773 2088 23470 3735 2073 23471 156 2743 23472 155 2166 23473 115 2168 23474 2039 1979 23475 2038 2027 23476 2075 2937 23477 2634 8866 23478 2635 3266 23479 2418 2452 23480 2484 2848 23481 2483 2448 23482 2510 8875 23483 2566 9109 23484 2565 8835 23485 2451 3048 23486 2015 2905 23487 2014 3099 23488 2118 8048 23489 2163 3218 23490 2164 2288 23491 1995 2290 23492 3783 2071 23493 3782 3232 23494 3745 2890 23495 27569 8700 23496 27615 6606 23497 27616 1476 23498 2004 1927 23499 2003 2277 23500 2138 1928 23501 2567 1848 23502 2566 9109 23503 2451 3048 23504 3064 5180 23505 3112 5197 23506 3111 5199 23507 2092 3951 23508 2091 2541 23509 2030 3306 23510 2493 2987 23511 2492 2092 23512 2498 2282 23513 2086 2982 23514 2085 1978 23515 2033 2018 23516 2549 2974 23517 2548 1833 23518 2462 2863 23519 41206 3869 23520 41205 9110 23521 41167 2456 23522 41950 9066 23523 41898 2789 23524 41897 9111 23525 2027 2522 23526 2026 2504 23527 2096 2017 23528 2561 5427 23529 2562 5426 23530 2461 1886 23531 2091 2541 23532 2090 3305 23533 2030 3306 23534 2217 1967 23535 1954 2951 23536 1963 2117 23537 41987 3394 23538 41986 3462 23539 41944 1780 23540 2062 1910 23541 2063 1909 23542 2055 4469 23543 2003 2277 23544 2002 2276 23545 2140 2386 23546 40389 9112 23547 40388 1213 23548 40331 7261 23549 41527 3392 23550 41528 3058 23551 41504 3057 23552 2141 8706 23553 2142 3456 23554 2008 2387 23555 41124 6627 23556 41123 4290 23557 41122 7763 23558 27934 9113 23559 27983 2752 23560 27984 8872 23561 2510 8875 23562 2492 2092 23563 2509 2045 23564 2520 7681 23565 2521 2847 23566 2484 2848 23567 28112 8891 23568 28164 8992 23569 28113 3161 23570 2001 3049 23571 2000 3094 23572 2144 2220 23573 2478 2016 23574 2477 2015 23575 2521 2847 23576 2201 8850 23577 2200 2020 23578 1967 1940 23579 41967 9072 23580 41968 2232 23581 41918 2234 23582 2113 2948 23583 2114 9114 23584 2023 2478 23585 41228 2523 23586 41227 3355 23587 41190 2404 23588 2086 2982 23589 2087 2825 23590 2039 1979 23591 1955 20 23592 1822 18 23593 1954 2951 23594 41600 2390 23595 41599 2295 23596 41556 2297 23597 28152 3602 23598 28151 9115 23599 28110 2882 23600 2570 9116 23601 2571 2011 23602 2456 2013 23603 87 1240 23604 84 9117 23605 141 6732 23606 3758 2696 23607 3757 1941 23608 3717 2206 23609 41545 1434 23610 41590 2729 23611 41589 5536 23612 3230 9118 23613 3381 9119 23614 3374 9120 23615 2052 2458 23616 2057 7430 23617 1953 7645 23618 2543 1975 23619 2542 8913 23620 2465 1976 23621 27932 2754 23622 27996 6670 23623 27982 6669 23624 38291 3175 23625 38292 3473 23626 38333 2693 23627 28361 3622 23628 28362 5435 23629 28320 3472 23630 3724 2090 23631 3725 2089 23632 3764 1750 23633 41383 9121 23634 41384 8446 23635 41336 8447 23636 29162 3995 23637 29163 7717 23638 29152 3996 23639 3787 2546 23640 3748 3470 23641 3749 3618 23642 27542 8941 23643 27589 8954 23644 27590 8953 23645 2422 2094 23646 2421 2511 23647 2616 7799 23648 28134 9051 23649 28186 8065 23650 28185 3843 23651 3694 3620 23652 3692 9122 23653 3749 3618 23654 2504 2966 23655 2503 3203 23656 2488 2461 23657 2551 1885 23658 2550 8878 23659 2461 1886 23660 3880 4515 23661 3979 2774 23662 3936 2711 23663 2151 3155 23664 2152 2275 23665 2003 2277 23666 2471 2388 23667 2472 1997 23668 2543 1975 23669 2074 3242 23670 2073 2816 23671 2039 1979 23672 25900 739 23673 25985 5760 23674 25896 3834 23675 2613 9016 23676 2614 8863 23677 2429 3140 23678 27601 8454 23679 27600 3383 23680 27563 1814 23681 26909 8153 23682 26581 9123 23683 26582 8729 23684 41654 9124 23685 41656 7590 23686 41657 1090 23687 27735 2506 23688 27736 3033 23689 27774 2565 23690 38337 2593 23691 38336 9125 23692 38295 2726 23693 2531 2450 23694 2530 1995 23695 2472 1997 23696 249 6885 23697 248 3545 23698 256 9126 23699 41596 9127 23700 41551 9128 23701 41552 3036 23702 3220 9129 23703 3371 7277 23704 3222 6643 23705 41938 9130 23706 41988 8821 23707 41989 9085 23708 38284 2595 23709 38285 2594 23710 38328 8388 23711 38288 2255 23712 38289 2254 23713 38331 6741 23714 28288 7610 23715 28368 8543 23716 28328 2 23717 41969 5550 23718 41970 3447 23719 41921 3371 23720 27798 3417 23721 27756 8924 23722 27757 5551 23723 3774 3185 23724 3775 3013 23725 3726 3082 23726 38285 2594 23727 38286 3478 23728 38329 222 23729 27607 8418 23730 27608 7934 23731 27561 3369 23732 42102 2427 23733 42144 9131 23734 42101 6664 23735 2618 3253 23736 2617 8857 23737 2421 2511 23738 3014 7088 23739 3011 3587 23740 3025 7087 23741 41979 9040 23742 41978 8942 23743 41938 9130 23744 41382 1643 23745 41381 1642 23746 41343 2518 23747 1874 4068 23748 1889 8590 23749 1890 8330 23750 41609 6729 23751 41610 8353 23752 41558 5450 23753 27792 3270 23754 27793 9045 23755 27744 2423 23756 27928 2347 23757 27968 3247 23758 27927 3224 23759 3409 751 23760 3408 753 23761 3169 784 23762 3008 7568 23763 3017 6620 23764 3018 7566 23765 41403 1854 23766 41402 1925 23767 41362 2359 23768 27781 3236 23769 27780 2050 23770 27741 3217 23771 41353 1856 23772 41354 1855 23773 41393 3442 23774 27779 2380 23775 27778 3221 23776 27739 2043 23777 28106 2374 23778 28107 2581 23779 28148 2182 23780 27930 2131 23781 27970 2642 23782 27929 2348 23783 41766 6663 23784 41723 2646 23785 41724 2645 23786 27769 3123 23787 27730 2865 23788 27731 2381 23789 27612 3199 23790 27611 3459 23791 27573 1729 23792 27597 8788 23793 27596 5656 23794 27559 8416 23795 3962 1819 23796 3961 1815 23797 3919 2263 23798 27966 9132 23799 27965 9061 23800 27925 8760 23801 27587 3044 23802 27586 2324 23803 27548 2326 23804 149 8828 23805 106 2330 23806 107 1751 23807 41610 8353 23808 41609 6729 23809 41567 7810 23810 37923 2787 23811 37946 2786 23812 37922 3317 23813 41232 3069 23814 41231 3276 23815 41194 3283 23816 27943 8617 23817 27993 3457 23818 27994 4373 23819 2167 8838 23820 2168 2369 23821 1993 2370 23822 2522 8865 23823 2523 2447 23824 2483 2448 23825 2010 2002 23826 2009 1899 23827 2126 5342 23828 41745 2068 23829 41796 8993 23830 41797 2627 23831 41390 3418 23832 41391 2517 23833 41351 2204 23834 28353 3064 23835 28318 2023 23836 28319 2911 23837 2060 3128 23838 2061 9001 23839 2056 6362 23840 28103 3603 23841 28104 8886 23842 28144 5598 23843 2460 1887 23844 2461 1886 23845 2563 1913 23846 41784 2777 23847 41783 2756 23848 41740 2775 23849 2132 3098 23850 2131 8873 23851 2007 2222 23852 38365 2165 23853 38366 2164 23854 38316 2701 23855 41553 3035 23856 41598 1433 23857 41597 3119 23858 2207 7679 23859 2208 9080 23860 1969 2470 23861 41363 3475 23862 41364 8854 23863 41404 8885 23864 2412 1894 23865 2413 2063 23866 2642 1905 23867 163 2414 23868 162 2109 23869 122 1955 23870 2451 3048 23871 2450 3268 23872 2567 1848 23873 1967 1940 23874 1966 1939 23875 2201 8850 23876 167 2690 23877 166 3034 23878 127 3105 23879 41536 2940 23880 41537 2939 23881 41580 9069 23882 41779 2228 23883 41778 3290 23884 41736 2227 23885 2610 8848 23886 2609 8846 23887 2425 2671 23888 3953 2924 23889 3952 3258 23890 3910 1816 23891 41201 8340 23892 41200 6720 23893 41162 2483 23894 2652 1962 23895 2651 9133 23896 2398 1963 23897 41552 3036 23898 41603 3425 23899 41604 3008 23900 26748 7516 23901 26880 4700 23902 26881 4702 23903 41584 8797 23904 41585 5469 23905 41531 2679 23906 27962 3110 23907 27961 2122 23908 27921 2643 23909 2455 2012 23910 2454 1914 23911 2562 5426 23912 1945 8393 23913 1939 1130 23914 1951 7851 23915 2111 651 23916 2112 8841 23917 2024 652 23918 2196 8852 23919 2195 2537 23920 1970 2007 23921 38294 2727 23922 38295 2726 23923 38336 9125 23924 170 2804 23925 169 4841 23926 130 1151 23927 40398 901 23928 40494 3324 23929 40234 3325 23930 27834 9134 23931 27832 9135 23932 27833 9136 23933 1949 3993 23934 2059 8988 23935 1950 7388 23936 28356 2495 23937 28355 2412 23938 28321 3214 23939 2465 1976 23940 2466 1918 23941 2553 3310 23942 2420 2446 23943 2419 2445 23944 2620 2670 23945 41770 3115 23946 41769 9090 23947 41727 3043 23948 2035 2813 23949 2092 3951 23950 2093 3239 23951 2190 1897 23952 2189 3125 23953 1973 1893 23954 2380 1735 23955 2375 1734 23956 2392 4943 23957 2587 3182 23958 2588 2436 23959 2446 2438 23960 1986 2669 23961 1985 2668 23962 2168 2369 23963 25951 7542 23964 25954 8591 23965 26071 8786 23966 2213 8944 23967 2214 2845 23968 1966 1939 23969 2450 3268 23970 2449 2434 23971 2569 3179 23972 2007 2222 23973 2006 2221 23974 2132 3098 23975 2458 1850 23976 2459 1974 23977 2566 9109 23978 2469 1835 23979 2468 1834 23980 2536 2836 23981 25879 8762 23982 25880 8978 23983 26117 5344 23984 41542 4119 23985 41596 9127 23986 41543 3120 23987 38868 9137 23988 38867 9138 23989 39169 9139 23990 2502 2554 23991 2496 3204 23992 2497 3992 23993 39247 6038 23994 39252 6358 23995 38911 1356 23996 38858 9140 23997 38859 9141 23998 39271 9142 23999 2446 2438 24000 2445 2437 24001 2577 2828 24002 41799 2256 24003 41798 2665 24004 41756 2666 24005 41212 3274 24006 41211 2893 24007 41174 3052 24008 2598 3092 24009 2599 3091 24010 2439 1858 24011 38296 8929 24012 38348 2609 24013 38297 3260 24014 27802 8630 24015 27702 3484 24016 27803 2578 24017 2571 2011 24018 2570 9116 24019 2449 2434 24020 3043 5222 24021 3098 5225 24022 3099 5223 24023 27953 2954 24024 27952 9077 24025 27913 2123 24026 1963 2117 24027 1962 2952 24028 2206 8758 24029 41781 9143 24030 41780 2798 24031 41738 2107 24032 2147 9144 24033 2146 2368 24034 1999 3074 24035 2543 1975 24036 2544 2953 24037 2471 2388 24038 3772 2760 24039 3771 2659 24040 3733 2660 24041 136 1795 24042 137 2890 24043 175 3232 24044 41216 2651 24045 41215 2247 24046 41178 2591 24047 41551 9128 24048 41602 5422 24049 41603 3425 24050 28564 904 24051 28710 2238 24052 28443 2240 24053 2182 3138 24054 2181 3039 24055 1978 2839 24056 2080 6687 24057 2081 1998 24058 2043 1952 24059 3607 1731 24060 3504 6699 24061 3560 1732 24062 41413 9108 24063 41414 3474 24064 41362 2359 24065 2607 3926 24066 2606 3142 24067 2426 2672 24068 2076 3975 24069 2077 3974 24070 2045 1919 24071 42167 2673 24072 42166 9145 24073 42126 2674 24074 38352 2886 24075 38351 2392 24076 38310 1742 24077 2115 3257 24078 2116 8801 24079 2022 2465 24080 2596 3132 24081 2597 1857 24082 2440 1859 24083 2452 2328 24084 2451 3048 24085 2565 8835 24086 2576 2829 24087 2575 2637 24088 2446 2438 24089 41728 2800 24090 41729 2799 24091 41771 2823 24092 2524 7013 24093 2523 2447 24094 2476 2827 24095 2563 1913 24096 2564 2327 24097 2460 1887 24098 2189 3125 24099 2188 1891 24100 1973 1893 24101 41601 9050 24102 41602 5422 24103 41549 2212 24104 2117 7931 24105 2118 8048 24106 2021 1946 24107 2642 1905 24108 2641 8853 24109 2406 1906 24110 2163 3218 24111 2162 9146 24112 1989 2059 24113 1993 2370 24114 1992 1912 24115 2157 2371 24116 2667 9147 24117 2670 9148 24118 2671 9149 24119 2107 1945 24120 2108 2521 24121 2027 2522 24122 2553 3310 24123 2554 9063 24124 2465 1976 24125 29160 8861 24126 29159 9150 24127 29145 6425 24128 39204 9151 24129 39206 7984 24130 39205 9152 24131 2129 8265 24132 2130 3117 24133 2015 2905 24134 2101 2477 24135 2102 8691 24136 2030 3306 24137 2852 1186 24138 2838 5248 24139 2839 8939 24140 2080 6687 24141 2079 1951 24142 2036 2542 24143 2448 2896 24144 2447 2636 24145 2573 2835 24146 26215 7937 24147 26214 6084 24148 26302 5109 24149 26629 957 24150 26628 1190 24151 26886 955 24152 42107 2270 24153 42148 8449 24154 42106 6731 24155 41681 9153 24156 41680 9154 24157 41689 9155 24158 39288 4329 24159 39289 9156 24160 39290 9157 24161 27552 3385 24162 27599 3367 24163 27598 3404 24164 2532 2389 24165 2531 2450 24166 2472 1997 24167 2504 2966 24168 2505 2934 24169 2495 2936 24170 41235 2549 24171 41234 3420 24172 41135 2820 24173 41746 2069 24174 41797 2627 24175 41798 2665 24176 2427 3254 24177 2428 3141 24178 2617 8857 24179 2526 1970 24180 2525 2439 24181 2475 1968 24182 2622 3438 24183 2621 8864 24184 2419 2445 24185 158 3261 24186 157 1750 24187 117 2692 24188 2078 2376 24189 2077 3974 24190 2037 2026 24191 2411 1921 24192 2410 2001 24193 2633 2451 24194 1953 7645 24195 1948 3994 24196 1951 7851 24197 1976 1932 24198 1975 1931 24199 2185 3237 24200 28168 2633 24201 28167 2871 24202 28125 1949 24203 1997 3156 24204 2160 1818 24205 2161 2058 24206 2456 2013 24207 2455 2012 24208 2560 8842 24209 2394 3419 24210 2498 2282 24211 2389 2284 24212 2419 2445 24213 2418 2452 24214 2622 3438 24215 2394 3419 24216 2389 2284 24217 2392 4943 24218 2396 37 24219 2261 35 24220 2395 1960 24221 2587 3182 24222 2586 2788 24223 2439 1858 24224 2444 2912 24225 2445 2437 24226 2589 3157 24227 2156 2372 24228 2157 2371 24229 2000 3094 24230 28120 8267 24231 28121 8827 24232 28162 2990 24233 2127 1901 24234 2126 5342 24235 2009 1899 24236 2602 3352 24237 2601 9158 24238 2430 3144 24239 2600 3143 24240 2601 9158 24241 2437 3026 24242 2400 3169 24243 2399 7086 24244 2649 3170 24245 27578 1759 24246 27577 8419 24247 27538 3188 24248 28351 3233 24249 28316 2516 24250 28317 2024 24251 157 1750 24252 156 2743 24253 116 2744 24254 3778 2101 24255 3739 2548 24256 3740 2547 24257 2555 1973 24258 2556 8562 24259 2464 1977 24260 344 2649 24261 343 2035 24262 303 2532 24263 2115 3257 24264 2114 9114 24265 2017 2950 24266 41790 9159 24267 41789 2106 24268 41747 2257 24269 42041 7533 24270 42069 9160 24271 42070 7534 24272 2405 1907 24273 2406 1906 24274 2652 1962 24275 2467 1917 24276 2468 1834 24277 2549 2974 24278 2161 2058 24279 2162 9146 24280 1996 2944 24281 3788 1796 24282 3787 2546 24283 3749 3618 24284 2192 2067 24285 2191 8855 24286 1972 1898 24287 41729 2799 24288 41730 2758 24289 41772 8367 24290 2127 1901 24291 2128 1900 24292 2016 2906 24293 2432 3134 24294 2433 3133 24295 2607 3926 24296 2489 2462 24297 2488 2461 24298 2503 3203 24299 37826 1604 24300 37825 1466 24301 38082 967 24302 41947 2426 24303 41998 2214 24304 41999 3740 24305 39923 989 24306 39892 382 24307 39800 384 24308 41582 8297 24309 41581 3767 24310 41538 2803 24311 3834 3492 24312 3863 8803 24313 3860 3490 24314 2078 2376 24315 2079 1951 24316 2044 1902 24317 2583 2899 24318 2582 2435 24319 2441 1937 24320 2174 8023 24321 2173 5424 24322 1982 2281 24323 41615 5475 24324 41616 3627 24325 41563 2599 24326 2473 1996 24327 2474 3184 24328 2539 1916 24329 28346 2213 24330 28345 1830 24331 28311 1829 24332 324 3296 24333 366 7909 24334 365 7065 24335 3765 3464 24336 3764 1750 24337 3725 2089 24338 2071 8042 24339 2070 8901 24340 2042 1999 24341 3756 9161 24342 3714 1752 24343 3715 1751 24344 27493 9162 24345 27463 9163 24346 27492 9164 24347 2580 2197 24348 2581 2196 24349 2450 3268 24350 2570 9116 24351 2569 3179 24352 2449 2434 24353 2516 4473 24354 2515 2601 24355 2480 2032 24356 2598 3092 24357 2597 1857 24358 2432 3134 24359 28157 2866 24360 28156 2373 24361 28114 3160 24362 2034 2019 24363 2033 2018 24364 2085 1978 24365 2145 8414 24366 2146 2368 24367 2006 2221 24368 2156 2372 24369 2155 3093 24370 1993 2370 24371 171 2101 24372 131 2805 24373 132 3382 24374 28335 3249 24375 28298 2597 24376 28299 2928 24377 38355 4586 24378 38356 6740 24379 38305 2765 24380 39792 698 24381 39791 628 24382 40039 536 24383 2011 2892 24384 2010 2002 24385 2124 9023 24386 2123 7456 24387 2124 9023 24388 2018 2949 24389 2198 2469 24390 2197 1930 24391 1969 2470 24392 2621 8864 24393 2622 3438 24394 2425 2671 24395 41539 2802 24396 41584 8797 24397 41583 9019 24398 2458 1850 24399 2457 1849 24400 2556 8562 24401 28180 5555 24402 28181 8300 24403 28129 8299 24404 41534 3265 24405 41586 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8354 24466 40198 9178 24467 137 2890 24468 184 8825 24469 185 3451 24470 2566 9109 24471 2567 1848 24472 2458 1850 24473 2568 8448 24474 2569 3179 24475 2457 1849 24476 3574 6923 24477 3573 8792 24478 3529 1826 24479 2176 4388 24480 2175 1933 24481 1981 2280 24482 2141 8706 24483 2140 2386 24484 2002 2276 24485 2014 3099 24486 2013 2287 24487 2120 8844 24488 38354 9179 24489 38355 4586 24490 38303 4588 24491 41202 3386 24492 41201 8340 24493 41163 3136 24494 28340 5663 24495 28339 8563 24496 28304 2528 24497 41562 2767 24498 41605 3007 24499 41561 3006 24500 2416 1993 24501 2417 2419 24502 2636 1964 24503 1998 2859 24504 1997 3156 24505 2150 2811 24506 2125 5343 24507 2124 9023 24508 2010 2002 24509 2615 7800 24510 2616 7799 24511 2428 3141 24512 2103 3137 24513 2102 8691 24514 2023 2478 24515 28136 3107 24516 28137 5556 24517 28179 8814 24518 38296 8929 24519 38346 2725 24520 38347 2610 24521 41594 8795 24522 41595 4118 24523 41541 4120 24524 27605 8415 24525 27604 2339 24526 27567 2152 24527 2572 7193 24528 2573 2835 24529 2455 2012 24530 3745 2890 24531 3791 9180 24532 3792 1853 24533 2399 7086 24534 2398 1963 24535 2651 9133 24536 3569 2161 24537 3523 2981 24538 3524 2572 24539 38378 9089 24540 38377 9088 24541 38379 9181 24542 41977 1809 24543 41976 2361 24544 41936 3396 24545 41554 6929 24546 41599 2295 24547 41598 1433 24548 2139 3298 24549 2140 2386 24550 2009 1899 24551 3780 1756 24552 3741 1944 24553 3742 1943 24554 41347 8860 24555 41396 2303 24556 41348 2965 24557 2403 1884 24558 2395 1960 24559 2363 1961 24560 2442 3215 24561 2441 1937 24562 2582 2435 24563 2564 2327 24564 2459 1974 24565 2460 1887 24566 2099 3465 24567 2098 3309 24568 2025 653 24569 2524 7013 24570 2525 2439 24571 2482 2441 24572 2052 2458 24573 1952 6972 24574 2053 2459 24575 313 2262 24576 314 3131 24577 354 1821 24578 2178 2962 24579 2177 3063 24580 1980 2963 24581 2435 2793 24582 2436 2932 24583 2603 3139 24584 42137 3405 24585 42184 6930 24586 42086 5652 24587 41946 9182 24588 41997 1778 24589 41998 2214 24590 3476 8751 24591 3423 9018 24592 3505 9183 24593 2464 1977 24594 2465 1976 24595 2555 1973 24596 2495 2936 24597 2494 2935 24598 2386 8847 24599 25975 9184 24600 26061 9185 24601 26060 9186 24602 38551 2869 24603 38533 2868 24604 38534 9187 24605 41193 3284 24606 41237 4523 24607 41142 6816 24608 3381 9188 24609 3225 7278 24610 3371 7277 24611 42001 9189 24612 41898 2789 24613 41948 2425 24614 2409 1965 24615 2410 2001 24616 2645 1882 24617 27801 3308 24618 27802 8630 24619 27752 3202 24620 40776 2155 24621 40790 2154 24622 40775 2407 24623 27147 3322 24624 27221 2492 24625 27146 8831 24626 27838 8605 24627 27839 842 24628 27840 841 24629 2212 1938 24630 1960 5413 24631 1959 607 24632 27788 2041 24633 27787 3116 24634 27747 3101 24635 2151 3155 24636 2150 2811 24637 1997 3156 24638 28108 2580 24639 28109 2883 24640 28150 5103 24641 2407 3066 24642 2408 1966 24643 2648 3171 24644 27917 9079 24645 27965 9061 24646 27966 9132 24647 3232 9190 24648 3230 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25070 1977 2538 25071 1976 1932 25072 2183 3423 25073 2594 3072 25074 2593 3195 25075 2434 2792 25076 3753 1762 25077 3681 8782 25078 3685 8955 25079 28358 2762 25080 28357 2556 25081 28323 5346 25082 41234 3420 25083 41233 3189 25084 41196 864 25085 2082 8937 25086 2081 1998 25087 2035 2813 25088 41346 3443 25089 41347 8860 25090 41384 8446 25091 41316 9081 25092 41379 8303 25093 41424 7178 25094 28320 3472 25095 28321 3214 25096 28355 2412 25097 41744 2188 25098 41745 2068 25099 41787 3075 25100 116 2744 25101 117 2692 25102 157 1750 25103 3870 9222 25104 3869 9223 25105 3850 9224 25106 41332 9208 25107 41324 8434 25108 41285 7561 25109 27668 9225 25110 27712 7728 25111 27667 5782 25112 41574 3754 25113 41531 2679 25114 41532 5470 25115 2508 2046 25116 2509 2045 25117 2493 2987 25118 27957 8417 25119 27958 5660 25120 27909 2772 25121 27892 7450 25122 27990 7378 25123 27989 3077 25124 38303 4588 25125 38304 4587 25126 38345 9024 25127 27743 3271 25128 27744 2423 25129 27783 3196 25130 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254775 32015 56801 254776 31934 56789 254777 31934 56789 254778 32015 56801 254779 32016 56800 254780 31935 56786 254781 32016 56800 254782 32017 56798 254783 31923 56809 254784 32011 56808 254785 32010 56810 254786 31923 56809 254787 32010 56810 254788 32009 56811 254789 31922 56812 254790 32009 56811 254791 32008 56813 254792 31921 56814 254793 32008 56813 254794 32007 56815 254795 31920 56816 254796 32007 56815 254797 32006 56817 254798 31920 56816 254799 32006 56817 254800 32005 56818 254801 31920 56816 254802 31921 56814 254803 32007 56815 254804 31921 56814 254805 31922 56812 254806 32008 56813 254807 31922 56812 254808 31923 56809 254809 32009 56811 254810 31923 56809 254811 31924 56806 254812 32011 56808 254813 31927 56799 254814 31926 56802 254815 32009 56811 254816 31926 56802 254817 31925 56804 254818 32008 56813 254819 31925 56804 254820 31924 56806 254821 32007 56815 254822 31923 56809 254823 32005 56818 254824 31924 56806 254825 31924 56806 254826 32005 56818 254827 32006 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31967 56873 255197 31902 56862 255198 31967 56873 255199 31968 56871 255200 31903 56860 255201 31968 56871 255202 31969 56870 255203 31903 56860 255204 31969 56870 255205 31970 56868 255206 31895 56879 255207 31964 56878 255208 31963 56880 255209 31894 56881 255210 31963 56880 255211 31962 56882 255212 31894 56881 255213 31962 56882 255214 31961 56883 255215 31893 56884 255216 31961 56883 255217 31960 56885 255218 31892 56886 255219 31960 56885 255220 31959 56887 255221 31892 56886 255222 31959 56887 255223 31958 56888 255224 31892 56886 255225 31893 56884 255226 31960 56885 255227 31893 56884 255228 31894 56881 255229 31961 56883 255230 31894 56881 255231 31895 56879 255232 31963 56880 255233 31899 56869 255234 31898 56872 255235 31962 56882 255236 31898 56872 255237 31897 56874 255238 31961 56883 255239 31897 56874 255240 31896 56876 255241 31960 56885 255242 31895 56879 255243 31958 56888 255244 31896 56876 255245 31896 56876 255246 31958 56888 255247 31959 56887 255248 31896 56876 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96957 470495 82018 96977 470496 82002 96959 470497 81806 96979 470498 81806 96979 470499 82002 96959 470500 81807 97177 470501 81807 97177 470502 82002 96959 470503 82185 96976 470504 81808 96975 470505 81807 97177 470506 82185 96976 470507 81905 96736 470508 81903 96872 470509 81902 96737 470510 82058 97027 470511 81978 96937 470512 81977 96936 470513 82058 97027 470514 81977 96936 470515 81997 96955 470516 82054 97024 470517 82058 97027 470518 82186 97043 470519 82186 97043 470520 82058 97027 470521 81997 96955 470522 82186 97043 470523 81997 96955 470524 82187 97178 470525 82187 97178 470526 81997 96955 470527 81996 96954 470528 82054 97024 470529 82186 97043 470530 82077 97042 470531 82076 97041 470532 82188 97179 470533 81999 97044 470534 81999 97044 470535 82188 97179 470536 82078 97045 470537 81998 97046 470538 82078 97045 470539 81816 96783 470540 82241 97039 470541 82076 97041 470542 82189 97180 470543 82189 97180 470544 82076 97041 470545 81999 97044 470546 82241 97039 470547 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10497 1760 2103 10498 1761 2104 10499 1761 2104 10500 1760 2103 10501 64 64 10502 1761 2104 10503 64 64 10504 62 62 10505 1761 2104 10506 62 62 10507 1762 2105 10508 1762 2105 10509 62 62 10510 59 59 10511 1762 2105 10512 59 59 10513 1763 2106 10514 1763 2106 10515 59 59 10516 1764 2107 10517 1763 2106 10518 1764 2107 10519 1765 2108 10520 1765 2108 10521 1764 2107 10522 1766 2109 10523 1765 2108 10524 1766 2109 10525 1767 2110 10526 1767 2110 10527 1766 2109 10528 1768 2111 10529 1767 2110 10530 1768 2111 10531 1064 1355 10532 1064 1355 10533 1768 2111 10534 1058 2112 10535 1064 1355 10536 1058 2112 10537 1055 1351 10538 59 59 10539 58 58 10540 1764 2107 10541 1764 2107 10542 58 58 10543 1769 2113 10544 1764 2107 10545 1769 2113 10546 1766 2109 10547 1766 2109 10548 1769 2113 10549 1739 2114 10550 1766 2109 10551 1739 2114 10552 1741 2115 10553 57 57 10554 1737 2116 10555 58 58 10556 58 58 10557 1737 2116 10558 1769 2113 10559 1737 2116 10560 1739 2114 10561 1769 2113 10562 1741 2115 10563 1743 2117 10564 1766 2109 10565 1766 2109 10566 1743 2117 10567 1768 2111 10568 1743 2117 10569 1744 2118 10570 1768 2111 10571 1768 2111 10572 1744 2118 10573 1060 2119 10574 1768 2111 10575 1060 2119 10576 1059 2120 10577 1059 2120 10578 1058 2112 10579 1768 2111 10580 1064 1355 10581 1066 1357 10582 1767 2110 10583 1767 2110 10584 1066 1357 10585 1770 2121 10586 1767 2110 10587 1770 2121 10588 1765 2108 10589 1765 2108 10590 1770 2121 10591 1771 2122 10592 1765 2108 10593 1771 2122 10594 1763 2106 10595 1763 2106 10596 1771 2122 10597 1762 2105 10598 1770 2121 10599 1066 1357 10600 1772 2123 10601 1772 2123 10602 1066 1357 10603 1068 1359 10604 1772 2123 10605 1068 1359 10606 1756 2099 10607 1771 2122 10608 1770 2121 10609 1772 2123 10610 1772 2123 10611 1756 2099 10612 1773 2124 10613 1773 2124 10614 1756 2099 10615 1758 2101 10616 1773 2124 10617 1758 2101 10618 1761 2104 10619 1762 2105 10620 1771 2122 10621 1773 2124 10622 1773 2124 10623 1771 2122 10624 1772 2123 10625 1762 2105 10626 1773 2124 10627 1761 2104 10628 1774 2125 10629 1040 1327 10630 1775 2126 10631 1775 2126 10632 1040 1327 10633 1588 1915 10634 1775 2126 10635 1588 1915 10636 1776 2127 10637 1776 2127 10638 1588 1915 10639 1777 2128 10640 1776 2127 10641 1777 2128 10642 1759 2102 10643 1759 2102 10644 1777 2128 10645 1760 2103 10646 1760 2103 10647 1777 2128 10648 1578 1905 10649 1760 2103 10650 1578 1905 10651 64 64 10652 1588 1915 10653 1578 1905 10654 1777 2128 10655 1759 2102 10656 1757 2100 10657 1776 2127 10658 1776 2127 10659 1757 2100 10660 1775 2126 10661 1070 1361 10662 1778 2129 10663 1757 2100 10664 1757 2100 10665 1778 2129 10666 1775 2126 10667 1778 2129 10668 1774 2125 10669 1775 2126 10670 1779 2130 10671 1780 2131 10672 1069 1360 10673 1069 1360 10674 1780 2131 10675 1778 2129 10676 1069 1360 10677 1778 2129 10678 1070 1361 10679 1779 2130 10680 1781 2132 10681 1780 2131 10682 1780 2131 10683 1781 2132 10684 1040 1327 10685 1780 2131 10686 1040 1327 10687 1774 2125 10688 1781 2132 10689 1039 1326 10690 1040 1327 10691 1774 2125 10692 1778 2129 10693 1780 2131 10694 1439 1755 10695 1039 1326 10696 1782 2133 10697 1782 2133 10698 1039 1326 10699 1781 2132 10700 1782 2133 10701 1781 2132 10702 1779 2130 10703 1779 2130 10704 1069 1360 10705 1782 2133 10706 1782 2133 10707 1069 1360 10708 1385 1700 10709 1782 2133 10710 1385 1700 10711 1783 2134 10712 1783 2134 10713 1385 1700 10714 1784 2135 10715 1783 2134 10716 1784 2135 10717 1437 1753 10718 1437 1753 10719 1784 2135 10720 1390 1705 10721 1437 1753 10722 1390 1705 10723 96 96 10724 1385 1700 10725 1390 1705 10726 1784 2135 10727 1437 1753 10728 1439 1755 10729 1783 2134 10730 1783 2134 10731 1439 1755 10732 1782 2133 10733

+ + + + + + + + 1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1 + + + + + + + + + + + + + + + + diff --git a/models/dave_worlds/worlds/dave_Santorini.world b/models/dave_worlds/worlds/dave_Santorini.world index f6704ceb..a6046aec 100644 --- a/models/dave_worlds/worlds/dave_Santorini.world +++ b/models/dave_worlds/worlds/dave_Santorini.world @@ -46,7 +46,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/dave_worlds/worlds/dave_bimanual_example.world index b6cc0cc2..7640c8a9 100644 --- a/models/dave_worlds/worlds/dave_bimanual_example.world +++ b/models/dave_worlds/worlds/dave_bimanual_example.world @@ -39,7 +39,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_electrical_mating.world b/models/dave_worlds/worlds/dave_electrical_mating.world index b724b5a2..61c0668e 100644 --- a/models/dave_worlds/worlds/dave_electrical_mating.world +++ b/models/dave_worlds/worlds/dave_electrical_mating.world @@ -37,7 +37,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_graded_seabed.world b/models/dave_worlds/worlds/dave_graded_seabed.world index 557573bb..0dac63a8 100644 --- a/models/dave_worlds/worlds/dave_graded_seabed.world +++ b/models/dave_worlds/worlds/dave_graded_seabed.world @@ -44,7 +44,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world index c4fccf98..aad9ac37 100644 --- a/models/dave_worlds/worlds/dave_integrated.world +++ b/models/dave_worlds/worlds/dave_integrated.world @@ -39,7 +39,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world index 724914e7..2225c55c 100644 --- a/models/dave_worlds/worlds/dave_ocean_models.world +++ b/models/dave_worlds/worlds/dave_ocean_models.world @@ -46,7 +46,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_ocean_waves.world b/models/dave_worlds/worlds/dave_ocean_waves.world index e1038384..fe8f8c86 100644 --- a/models/dave_worlds/worlds/dave_ocean_waves.world +++ b/models/dave_worlds/worlds/dave_ocean_waves.world @@ -46,7 +46,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world index 8bccf334..7b6e2b84 100644 --- a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world +++ b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world @@ -37,7 +37,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world index 215c309b..a3afef96 100644 --- a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world +++ b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world @@ -46,7 +46,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dave_plug_and_socket.world b/models/dave_worlds/worlds/dave_plug_and_socket.world index c380a757..6a6a8fd4 100644 --- a/models/dave_worlds/worlds/dave_plug_and_socket.world +++ b/models/dave_worlds/worlds/dave_plug_and_socket.world @@ -37,7 +37,8 @@ - + ogre2 + diff --git a/models/dave_worlds/worlds/dvl_world.world b/models/dave_worlds/worlds/dvl_world.world index 4a0b7937..bf36b12c 100644 --- a/models/dave_worlds/worlds/dvl_world.world +++ b/models/dave_worlds/worlds/dvl_world.world @@ -45,7 +45,8 @@ - + ogre2 +