diff --git a/ingenuity_mars_helicopter/Dockerfile b/ingenuity_mars_helicopter/Dockerfile new file mode 100644 index 00000000..ff8d2ef9 --- /dev/null +++ b/ingenuity_mars_helicopter/Dockerfile @@ -0,0 +1,13 @@ +FROM openrobotics/space_robots_demo + +COPY ingenuity_mars_helicopter /home/spaceros-user/demos_ws/src/ingenuity_mars_helicopter +COPY helicopter_flight_control /home/spaceros-user/demos_ws/src/helicopter_flight_control +COPY helicopter_flight_simulation /home/spaceros-user/demos_ws/src/helicopter_flight_simulation +COPY ingenuity_bringup /home/spaceros-user/demos_ws/src/ingenuity_bringup +COPY ingenuity_description /home/spaceros-user/demos_ws/src/ingenuity_description +COPY ./entrypoint.sh /home/spaceros-user/entrypoint.sh + + +RUN sudo chmod +x /home/spaceros-user/entrypoint.sh + +ENTRYPOINT ["/home/spaceros-user/entrypoint.sh"] \ No newline at end of file diff --git a/ingenuity_mars_helicopter/README.md b/ingenuity_mars_helicopter/README.md new file mode 100644 index 00000000..9e970e9e --- /dev/null +++ b/ingenuity_mars_helicopter/README.md @@ -0,0 +1,139 @@ +# NASA Space ROS Sim Summer Sprint Challenge + Team lead freelance username: Barisyaz + Submission title: Ingenuity Flight Simulator + +# Ingenuity Flight Simulator + +This project simulates the Ingenuity Mars Helicopter using Gazebo and ROS 2 in Space-ROS. + +Aim of this project is to develop tools to mimic the Martian environment as close as possible. This enables space robots to easily iterate over the development cycles. This is important especially for the aerial vehicles. Because the air is much thinner and the nature events are different. Having this in mind, I develop the Ingenuity Flight Simulator, calculating the lift and drag forces as close to the Martian atmosphere and gravity as possible. This could enable Nasa engineers to develop controllers that can react to the nature events or test flight controllers with sensor noise such as IMU, altimeter or Camera. + +## Structure + +Each folder is a ROS 2 package. Each package has their own README.md file explaining the APIs and usage examples. + +## Prerequisites + +- Docker +- NVIDIA GPU (optional, but recommended for better performance) + +## Setup + +This project builds on `openrobotics/space_robots_demo` docker image. To build that docker image follow the instructions at this [README](https://github.com/space-ros/docker/blob/main/moveit2/README.md). To build that image, you also need to build the spaceros base image. You can access that [here](https://github.com/space-ros/space-ros). + +After ensuring you have the `openrobotics/space_robots_demo` docker image. Go ahead and clone this repo. + +1. Clone this repository: + ```bash + git clone git@github.com:BarisYazici/demos.git + git checkout feat/ingenuity-helicopter-simulation + + ``` + +2. Build the Ingenuity Flight Simulator image: + ```bash + cd ingenuity_flight_simulator + ./build.sh + ``` + +## Running the Simulation + +First run the following to allow GUI passthrough: +```bash +xhost +local:docker +``` + +To start the simulation, run: +```bash +./run.sh +``` + +while the simulation is running in another terminal: + +```bash +docker exec -it ingenuity_flight_simulator bash +``` + +to view all the topics coming from the simulator do: + +```bash +ign topic -l +``` + +As an example you can subscribe to the /imu topic published from the ingenuity's body. + +```bash +ign topic -et /imu +``` + + +This will launch the Gazebo simulation with the Ingenuity model. Gazebo simulation GUI and RViz will pop up in new windows. By default, the Ingenuity's flight controller is activated and hovers the Martian helicopter to 10 meters of altitude. + + +## Contribution to Simulation and Control of Ingenuity + +To control the ingenuity helicopter we need to change the angle of attack of the blade. There are two ways to change the angle of attack of the blades. First one is collective, this changes the angle of attack of the blades uniformly over the rotation of the blade. Collective control changes the altitude of the helicopter. Second way of control is cyclic control. This way we change the angle of attack interchangeably such that it creates different lift in different parts of the rotation. Cyclic control allows us to translate in x and y directions. + +Ingenuity flight controller plugin implements a PID controller to change the collective to reach the desired altitude published as a gazebo ignition topic. This controller doesn't yet control the attitude of the helicopter. + + +## Demonstration + +Here are some GIFs demonstrating the Ingenuity in action: + +![Mars dust storm](assets/mars_dust_storm.gif) +*Demonstrate mars dust storm* + +![Take-off](assets/altitude_control.gif) +*Take-off * + +![Landing](assets/landing.gif) +*Landing* + +![martian helicopter](assets/martian_helicopter.png) +*Close up view of Ingenuity* + +![rviz visualization](assets/rviz.png) +*RViz visualization integration* + +## Architecture + + +Here's a diagram illustrating the architecture: + +```mermaid +graph TD + A[User Input] -->|/alpha_c, /alpha_s| D[Flight Simulation Plugin] + A -->|/desired_altitude| C[Flight Control Plugin] + C -->|/angle_of_attack| D + D -->|Forces & Torques| E[Gazebo Physics Engine] + E -->|Physics Update| F[Ingenuity Model] + F -->|State Feedback| E + E -->|Model State| D + D -->|Telemetry| G[Visualization] + + subgraph Gazebo Simulation + E + F + end + + subgraph Space ROS Environment + C + D + end + + classDef userInput fill:#f9f,stroke:#333,stroke-width:2px; + classDef gazebo fill:#cfc,stroke:#333,stroke-width:2px; + classDef spaceROS fill:#fcf,stroke:#333,stroke-width:2px; + classDef visualization fill:#ccf,stroke:#333,stroke-width:2px; + + class A userInput; + class E,F gazebo; + class C,D spaceROS; + class G visualization; +``` + + +## License + +Apache License 2.0 \ No newline at end of file diff --git a/ingenuity_mars_helicopter/assets/altitude_control.gif b/ingenuity_mars_helicopter/assets/altitude_control.gif new file mode 100644 index 00000000..cbff1439 Binary files /dev/null and b/ingenuity_mars_helicopter/assets/altitude_control.gif differ diff --git a/ingenuity_mars_helicopter/assets/landing.gif b/ingenuity_mars_helicopter/assets/landing.gif new file mode 100644 index 00000000..a77a1db5 Binary files /dev/null and b/ingenuity_mars_helicopter/assets/landing.gif differ diff --git a/ingenuity_mars_helicopter/assets/map.png b/ingenuity_mars_helicopter/assets/map.png new file mode 100644 index 00000000..86d655ac Binary files /dev/null and b/ingenuity_mars_helicopter/assets/map.png differ diff --git a/ingenuity_mars_helicopter/assets/mars_dust_storm.gif b/ingenuity_mars_helicopter/assets/mars_dust_storm.gif new file mode 100644 index 00000000..7249d74b Binary files /dev/null and b/ingenuity_mars_helicopter/assets/mars_dust_storm.gif differ diff --git a/ingenuity_mars_helicopter/assets/martian_helicopter.png b/ingenuity_mars_helicopter/assets/martian_helicopter.png new file mode 100644 index 00000000..61fd37b9 Binary files /dev/null and b/ingenuity_mars_helicopter/assets/martian_helicopter.png differ diff --git a/ingenuity_mars_helicopter/assets/rocks_mars.png b/ingenuity_mars_helicopter/assets/rocks_mars.png new file mode 100644 index 00000000..bc829cc5 Binary files /dev/null and b/ingenuity_mars_helicopter/assets/rocks_mars.png differ diff --git a/ingenuity_mars_helicopter/assets/rviz.png b/ingenuity_mars_helicopter/assets/rviz.png new file mode 100644 index 00000000..c44dc18b Binary files /dev/null and b/ingenuity_mars_helicopter/assets/rviz.png differ diff --git a/ingenuity_mars_helicopter/build.sh b/ingenuity_mars_helicopter/build.sh new file mode 100755 index 00000000..1a2a4e4a --- /dev/null +++ b/ingenuity_mars_helicopter/build.sh @@ -0,0 +1 @@ +docker build -t ingenuity_flight_simulator . \ No newline at end of file diff --git a/ingenuity_mars_helicopter/entrypoint.sh b/ingenuity_mars_helicopter/entrypoint.sh new file mode 100755 index 00000000..2b7b41b6 --- /dev/null +++ b/ingenuity_mars_helicopter/entrypoint.sh @@ -0,0 +1,6 @@ +#!/bin/bash +source /opt/ros/humble/setup.sh +cd /home/spaceros-user/demos_ws +colcon build --packages-select helicopter_flight_control helicopter_flight_simulation ingenuity_description ingenuity_bringup +source /home/spaceros-user/demos_ws/install/setup.sh +ros2 launch ingenuity_bringup ingenuity_demo.launch.py \ No newline at end of file diff --git a/ingenuity_mars_helicopter/helicopter_flight_control/CMakeLists.txt b/ingenuity_mars_helicopter/helicopter_flight_control/CMakeLists.txt new file mode 100644 index 00000000..469f707d --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_control/CMakeLists.txt @@ -0,0 +1,85 @@ +cmake_minimum_required(VERSION 3.5) +project(helicopter_flight_control) + +# Default to C11 for C and C++17 for C++ +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 11) +endif() +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +# Compiler options +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find packages +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(ignition-gazebo6 REQUIRED) # Assuming using Ignition Fortress +find_package(pluginlib REQUIRED) + +if("$ENV{IGNITION_VERSION}" STREQUAL "citadel") + find_package(ignition-gazebo3 REQUIRED) + set(IGN_GAZEBO_VER ${ignition-gazebo3_VERSION_MAJOR}) + message(STATUS "Compiling against Ignition Citadel") + +elseif("$ENV{IGNITION_VERSION}" STREQUAL "edifice") + find_package(ignition-gazebo5 REQUIRED) + set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR}) + message(STATUS "Compiling against Ignition Edifice") + +elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") + find_package(ignition-gazebo6 REQUIRED) + set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR}) + message(STATUS "Compiling against Ignition Fortress") + +else() + find_package(ignition-gazebo6 REQUIRED) + set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR}) + message(STATUS "Compiling against Ignition Fortress") +endif() + +find_package(ignition-plugin1 REQUIRED) +set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR}) + +# Include directories +include_directories(include) + +# Declare a C++ library +add_library(${PROJECT_NAME} SHARED + src/helicopter_flight_control.cc +) + + +target_link_libraries(${PROJECT_NAME} + ignition-gazebo${IGN_GAZEBO_VER}::core + ignition-plugin${IGN_PLUGIN_VER}::register +) + +# Ament target dependencies +ament_target_dependencies(${PROJECT_NAME} + rclcpp + geometry_msgs +) + +# Install the library +install(TARGETS ${PROJECT_NAME} + DESTINATION lib +) + +# Install header files +install(DIRECTORY include/ + DESTINATION include +) + +pluginlib_export_plugin_description_file(helicopter_flight_control ign_hardware_plugins.xml) + + +# Install launch files and other directories if necessary +# e.g., install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/) + +# Setup the project +ament_package() diff --git a/ingenuity_mars_helicopter/helicopter_flight_control/LICENSE b/ingenuity_mars_helicopter/helicopter_flight_control/LICENSE new file mode 100644 index 00000000..6d8d58fb --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_control/LICENSE @@ -0,0 +1,191 @@ + + Apache License + Version 2.0, January 2004 + https://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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It implements a PID (Proportional-Integral-Derivative) controller to maintain a desired altitude by adjusting the collective pitch of the rotor blades. + +## Key Components + +1. **PID Controller**: + - Manages altitude control + - Parameters: `Kp_alt`, `Ki_alt`, `Kd_alt` (proportional, integral, and derivative gains) + +2. **Altitude Management**: + - `desired_altitude`: Target altitude for the helicopter + - `current_altitude`: Current altitude of the helicopter + - `current_velocity_alt`: Current vertical velocity + +3. **Control Output**: + - Publishes the collective angle of attack for the rotor blades + +## Inputs + +1. **Configuration Parameters** (set in the SDF file): + - `kp_alt`, `ki_alt`, `kd_alt`: PID controller gains + - `desired_altitude`: Initial desired altitude + - `link_name`: Name of the link to which forces and torques are applied + +2. **Runtime Inputs**: + - `/desired_altitude` topic: Allows dynamic changes to the target altitude + +## Outputs + +1. `/angle_of_attack` topic: + - Publishes the computed angle of attack for the rotor blades + - Range: 2 to 8 degrees (0.0349066 to 0.139626 radians) + +## Usage + +```bash +ign topic -t /desired_altitude -m ignition.msgs.Double -p "data: 25.0" +``` + +```xml + + + + + + 0.027 + 0.0005 + 0.1 + 10.0 + body + + + + + +``` \ No newline at end of file diff --git a/ingenuity_mars_helicopter/helicopter_flight_control/ign_hardware_plugins.xml b/ingenuity_mars_helicopter/helicopter_flight_control/ign_hardware_plugins.xml new file mode 100644 index 00000000..a2fe6441 --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_control/ign_hardware_plugins.xml @@ -0,0 +1,11 @@ + + + + Helicopter control system plugin for Ignition Gazebo. + + + + diff --git a/ingenuity_mars_helicopter/helicopter_flight_control/include/helicopter_flight_control.hh b/ingenuity_mars_helicopter/helicopter_flight_control/include/helicopter_flight_control.hh new file mode 100644 index 00000000..078684fe --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_control/include/helicopter_flight_control.hh @@ -0,0 +1,74 @@ +/* + * Copyright (C) 2024 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef GZ_GAZEBO_SYSTEMS_HELICOPTERCONTROL_HH_ +#define GZ_GAZEBO_SYSTEMS_HELICOPTERCONTROL_HH_ + +#include +#include + +#include + +namespace ignition::gazebo::systems +{ + // Forward declaration of private data class + class HelicopterControlPrivate; + + /// \brief Helicopter control system plugin for Ignition Gazebo + /// + /// This system controls the helicopter's altitude using a PID controller + /// and by changing the angle of attack of the ingenuity helicopter blades. + /// + /// ## System Parameters + /// ``, ``, `` PID gains for altitude control. + /// + /// `` Desired altitude for the helicopter to maintain. + /// + /// `` The name of the link to which the forces and torques are applied. + /// + class HelicopterControl : public ignition::gazebo::System, + public ignition::gazebo::ISystemConfigure, + public ignition::gazebo::ISystemPreUpdate + { + /// \brief Constructor + public: + HelicopterControl(); + + /// \brief Destructor + public: + ~HelicopterControl() override = default; + + // Documentation inherited + public: + void Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) override; + + // Documentation inherited + public: + void PreUpdate( + const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) override; + + /// \brief Private data pointer for PIMPL pattern + private: + std::unique_ptr dataPtr; + }; +} // namespace ignition::gazebo::systems + +#endif // GZ_GAZEBO_SYSTEMS_HELICOPTERCONTROL_HH_ diff --git a/ingenuity_mars_helicopter/helicopter_flight_control/package.xml b/ingenuity_mars_helicopter/helicopter_flight_control/package.xml new file mode 100644 index 00000000..5f0afb7a --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_control/package.xml @@ -0,0 +1,32 @@ + + + helicopter_flight_control + 0.7.9 + Ignition ros2_control package allows to control simulated robots using ros2_control framework. + Alejandro Hernández + Alejandro Hernández + Apache 2 + + ament_cmake + + ament_index_cpp + + ignition-gazebo6 + ignition-gazebo3 + ignition-gazebo5 + ignition-gazebo6 + ignition-plugin + pluginlib + rclcpp + yaml_cpp_vendor + rclcpp_lifecycle + hardware_interface + controller_manager + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ingenuity_mars_helicopter/helicopter_flight_control/src/helicopter_flight_control.cc b/ingenuity_mars_helicopter/helicopter_flight_control/src/helicopter_flight_control.cc new file mode 100644 index 00000000..85f670ec --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_control/src/helicopter_flight_control.cc @@ -0,0 +1,280 @@ +/* + * Copyright (C) 2024 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "helicopter_flight_control.hh" + +#include +#include +#include + +#include +#include +#include + +#include + +#include "gz/sim/Link.hh" +#include "gz/sim/Model.hh" +#include "gz/sim/Util.hh" + +#include "gz/sim/components/AngularVelocity.hh" +#include "gz/sim/components/Inertial.hh" +#include "gz/sim/components/Joint.hh" +#include "gz/sim/components/JointPosition.hh" +#include "gz/sim/components/LinearVelocity.hh" +#include "gz/sim/components/Link.hh" +#include "gz/sim/components/Name.hh" +#include "gz/sim/components/ExternalWorldWrenchCmd.hh" +#include "gz/sim/components/Pose.hh" +#include // Include for wrench messages +#include // Include for double messages +#include // Include for Ignition Transport + +using namespace gz; +using namespace gz::sim; +using namespace systems; + +// Define private data for HelicopterControl plugin +class ignition::gazebo::systems::HelicopterControlPrivate +{ +public: + void Load(const EntityComponentManager &_ecm, + const sdf::ElementPtr &_sdf); + + /// \brief Update function to compute lift forces and apply control + /// \param[in] _ecm Immutable reference to the EntityComponentManager +public: + void Update(EntityComponentManager &_ecm); + + /// \brief Model interface +public: + Model model{kNullEntity}; + + /// \brief PID parameters for altitude control +public: + double Kp_alt = 0.1, Ki_alt = 0.01, Kd_alt = 0.05; + + /// \brief Initial desired altitude +public: + double desired_altitude = 10.0; + + /// \brief Current altitude and velocity +public: + double current_altitude = 0.0; + double current_velocity_alt = 0.0; + + /// \brief PID state variables +public: + double integral_alt = 0.0; + double previous_error_alt = 0.0; + + /// \brief Link entity targeted by this plugin +public: + Entity linkEntity; + + /// \brief Initialization flag +public: + bool initialized{false}; + + /// \brief Valid configuration flag +public: + bool validConfig{false}; + + /// \brief SDF configuration +public: + sdf::ElementPtr sdfConfig; + + /// \brief Ignition Transport node for publishing rotor speed data +public: + gz::transport::Node node; + + /// \brief Publisher for the angle of attack control +public: + gz::transport::Node::Publisher angleOfAttackPub; + +private: + /// \brief Mutex to protect access to the desired altitude variable + std::mutex desiredAltitudeMutex; + +public: + /// \brief Callback function for the angle of attack subscription + void OnDesiredAltitudeMsg(const gz::msgs::Double &_msg) + { + std::lock_guard lock(this->desiredAltitudeMutex); + ignmsg << "Received desired altitude message: " << _msg.data() << std::endl; + this->desired_altitude = _msg.data(); + } +}; + +////////////////////////////////////////////////// +void HelicopterControlPrivate::Load(const EntityComponentManager &_ecm, + const sdf::ElementPtr &_sdf) +{ + + this->angleOfAttackPub = this->node.Advertise("/angle_of_attack"); + this->node.Subscribe("/desired_altitude", &HelicopterControlPrivate::OnDesiredAltitudeMsg, this); + + this->Kp_alt = _sdf->Get("kp_alt", this->Kp_alt).first; + this->Ki_alt = _sdf->Get("ki_alt", this->Ki_alt).first; + this->Kd_alt = _sdf->Get("kd_alt", this->Kd_alt).first; + this->desired_altitude = _sdf->Get("desired_altitude", this->desired_altitude).first; + + if (_sdf->HasElement("link_name")) + { + sdf::ElementPtr elem = _sdf->GetElement("link_name"); + auto linkName = elem->Get(); + auto entities = entitiesFromScopedName(linkName, _ecm, this->model.Entity()); + + if (entities.empty()) + { + ignerr << "Link with name[" << linkName << "] not found. " + << "The HelicopterControl will not generate forces\n"; + this->validConfig = false; + return; + } + else if (entities.size() > 1) + { + ignwarn << "Multiple link entities with name[" << linkName << "] found. " + << "Using the first one.\n"; + } + + this->linkEntity = *entities.begin(); + if (!_ecm.EntityHasComponentType(this->linkEntity, components::Link::typeId)) + { + this->linkEntity = kNullEntity; + ignerr << "Entity with name[" << linkName << "] is not a link\n"; + this->validConfig = false; + return; + } + } + else + { + ignerr << "The HelicopterControl system requires the 'link_name' parameter\n"; + this->validConfig = false; + return; + } + + // If we reached here, we have a valid configuration + this->validConfig = true; +} + +////////////////////////////////////////////////// +HelicopterControl::HelicopterControl() + : System(), dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +void HelicopterControlPrivate::Update(EntityComponentManager &_ecm) +{ + IGN_PROFILE("HelicopterControlPrivate::Update"); + + // Get linear velocity and pose at cp in world frame + const auto worldLinVel = + _ecm.Component(this->linkEntity); + const auto worldPose = + _ecm.Component(this->linkEntity); + + if (!worldLinVel || !worldPose) + return; + + const auto &vel = worldLinVel->Data(); + const auto &pose = worldPose->Data(); + + this->current_velocity_alt = vel.Z(); + this->current_altitude = pose.Pos().Z(); + + // Calculate altitude error + double error_alt = this->desired_altitude - this->current_altitude; + + // PID control terms + double Pout_alt = this->Kp_alt * error_alt; + this->integral_alt += error_alt * 0.001; // Integrate error over time step (dt = 0.001) + double Iout_alt = this->Ki_alt * this->integral_alt; + double Dout_alt = this->Kd_alt * this->current_velocity_alt; + + // Compute control adjustment based and PID + double controlAdjustment = Pout_alt + Iout_alt - Dout_alt; + + // angle of attack range from 2deg to 8deg + double angle_of_attack = std::max(0.0349066, std::min(controlAdjustment, 0.139626)); + + // Publish angle of attack + gz::msgs::Double angleOfAttackMsg; + angleOfAttackMsg.set_data(angle_of_attack); + this->angleOfAttackPub.Publish(angleOfAttackMsg); + + // igndbg << "Current Altitude: " << this->current_altitude + // << ", Desired Altitude: " << this->desired_altitude << std::endl; +} + +////////////////////////////////////////////////// +void HelicopterControl::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, EventManager &) +{ + this->dataPtr->model = Model(_entity); + if (!this->dataPtr->model.Valid(_ecm)) + { + ignerr << "The HelicopterControl system should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + this->dataPtr->sdfConfig = _sdf->Clone(); +} + +////////////////////////////////////////////////// +void HelicopterControl::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) +{ + IGN_PROFILE("HelicopterControl::PreUpdate"); + + if (_info.dt < std::chrono::steady_clock::duration::zero()) + { + ignwarn << "Detected jump back in time [" + << std::chrono::duration_cast(_info.dt).count() + << "s]. System may not work properly." << std::endl; + } + + if (!this->dataPtr->initialized) + { + this->dataPtr->Load(_ecm, this->dataPtr->sdfConfig); + this->dataPtr->initialized = true; + + if (this->dataPtr->validConfig) + { + Link link(this->dataPtr->linkEntity); + link.EnableVelocityChecks(_ecm, true); + } + } + + if (_info.paused) + return; + + if (this->dataPtr->initialized && this->dataPtr->validConfig) + { + this->dataPtr->Update(_ecm); + } +} + +IGNITION_ADD_PLUGIN(HelicopterControl, + System, + HelicopterControl::ISystemConfigure, + HelicopterControl::ISystemPreUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(HelicopterControl, "gz::sim::systems::HelicopterControl") + +// TODO: Deprecated, remove on version 8 +IGNITION_ADD_PLUGIN_ALIAS(HelicopterControl, "ignition::gazebo::systems::HelicopterControl") diff --git a/ingenuity_mars_helicopter/helicopter_flight_simulation/CMakeLists.txt b/ingenuity_mars_helicopter/helicopter_flight_simulation/CMakeLists.txt new file mode 100644 index 00000000..2e472dc6 --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_simulation/CMakeLists.txt @@ -0,0 +1,87 @@ +cmake_minimum_required(VERSION 3.5) +project(helicopter_flight_simulation) + +# Default to C11 for C and C++17 for C++ +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 11) +endif() +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +# Compiler options +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find packages +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(ignition-gazebo6 REQUIRED) # Assuming using Ignition Fortress +find_package(pluginlib REQUIRED) + + + +if("$ENV{IGNITION_VERSION}" STREQUAL "citadel") + find_package(ignition-gazebo3 REQUIRED) + set(IGN_GAZEBO_VER ${ignition-gazebo3_VERSION_MAJOR}) + message(STATUS "Compiling against Ignition Citadel") + +elseif("$ENV{IGNITION_VERSION}" STREQUAL "edifice") + find_package(ignition-gazebo5 REQUIRED) + set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR}) + message(STATUS "Compiling against Ignition Edifice") + +elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress") + find_package(ignition-gazebo6 REQUIRED) + set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR}) + message(STATUS "Compiling against Ignition Fortress") + +else() + find_package(ignition-gazebo6 REQUIRED) + set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR}) + message(STATUS "Compiling against Ignition Fortress") +endif() + +find_package(ignition-plugin1 REQUIRED) +set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR}) + +# Include directories +include_directories(include) + +# Declare a C++ library +add_library(${PROJECT_NAME} SHARED + src/helicopter_flight_simulation.cpp +) + + +target_link_libraries(${PROJECT_NAME} + ignition-gazebo${IGN_GAZEBO_VER}::core + ignition-plugin${IGN_PLUGIN_VER}::register +) + +# Ament target dependencies +ament_target_dependencies(${PROJECT_NAME} + rclcpp + geometry_msgs +) + +# Install the library +install(TARGETS ${PROJECT_NAME} + DESTINATION lib +) + +# Install header files +install(DIRECTORY include/ + DESTINATION include +) + +pluginlib_export_plugin_description_file(helicopter_flight_simulation ign_hardware_plugins.xml) + + +# Install launch files and other directories if necessary +# e.g., install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/) + +# Setup the project +ament_package() diff --git a/ingenuity_mars_helicopter/helicopter_flight_simulation/LICENSE b/ingenuity_mars_helicopter/helicopter_flight_simulation/LICENSE new file mode 100644 index 00000000..6d8d58fb --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_simulation/LICENSE @@ -0,0 +1,191 @@ + + Apache License + Version 2.0, January 2004 + https://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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Let's break these down: + +## Runtime Inputs (Subscribed Topics) + +1. `/angle_of_attack`: + - This topic receives messages about the overall angle of attack for the rotor blades. + - It's used to control the collective pitch of the rotors. + +2. `/alpha_c`: + - This topic receives messages for the longitudinal cyclic control. + - It affects the left/right tilt of the rotor disk. + +3. `/alpha_s`: + - This topic receives messages for the lateral cyclic control. + - It affects the forward/backward tilt of the rotor disk. + +These runtime inputs allow for real-time control of the helicopter's flight characteristics. + +## Configuration Parameters + +These parameters are set when the simulator is initialized: + +1. `cla`: Coefficient of Lift / alpha slope +2. `cda`: Coefficient of Drag / alpha slope +3. `cma`: Coefficient of Moment / alpha slope +4. `alphaStall`: Angle of attack at which the airfoil stalls +5. `claStall`: Cl-alpha rate after stall +6. `cdaStall`: Cd-alpha rate after stall +7. `cmaStall`: Cm-alpha rate after stall +8. `rho`: Air density +9. `radialSymmetry`: Boolean indicating if the shape is aerodynamically radially symmetric +10. `area`: Effective planform surface area +11. `alpha0`: Initial angle of attack +12. `cp`: Center of pressure (3D vector) + +## Outputs + +The simulator publishes wrench (force and torque) data to a topic structured as: +`/wrench//` + +### Collective Control + +To control the collective pitch of the rotors, publish to the `/angle_of_attack` topic: +```bash +ign topic -t /angle_of_attack -m ignition.msgs.Double -p "data: 0.1" +``` +By publishing to the /desired_altitude topic the collective will be automatically adjusted by the ingenuity flight controller plugin + +```bash +ign topic -t /desired_altitude -m ignition.msgs.Double -p "data: 42" +``` + +#### Cyclic Control: + +Cyclic control changes the feathering angle of the blades as they rotate, creating an uneven lift that tilts the rotor disk. This tilt is what allows the helicopter to move in different directions. + +The feathering angle (θ) at any azimuth angle (Ψ) is given by the equation: + +``` +θ(Ψ) = θ₀ + θc * cos(Ψ) + θs * sin(Ψ) +``` + +For helicopter flight simulator plugin the θc and θs are initialized with 0.0. +θ₀ is initialized with 0.1. + +Where: +- θ₀ is the collective pitch (base angle for all blades) +- θc is the longitudinal cyclic pitch +- θs is the lateral cyclic pitch + +To control Ingenuity's cyclic pitch in the simulation, use the following topics: + +- Lateral cyclic: `/alpha_c` +- Longitudinal cyclic: `/alpha_s` + +Example: +```bash +ign topic -t /alpha_c -m ignition.msgs.Double -p "data: 0.00001" +ign topic -t /alpha_s -m ignition.msgs.Double -p "data: 0.00001" +``` + +These commands allow you to adjust the cyclic control of Ingenuity, enabling more complex maneuvers beyond simple altitude changes. + + +## Usage + +```xml + + + + + + 0.1 + 0.1 + 0.001 + 0.0 + 0.0 0.5 0 + 0.2 + 0.024082 + 1 0 0 + 0 0 1 + blade_1 + + + + + + + +``` \ No newline at end of file diff --git a/ingenuity_mars_helicopter/helicopter_flight_simulation/ign_hardware_plugins.xml b/ingenuity_mars_helicopter/helicopter_flight_simulation/ign_hardware_plugins.xml new file mode 100644 index 00000000..28cf8261 --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_simulation/ign_hardware_plugins.xml @@ -0,0 +1,10 @@ + + + + Simulates the lift, drag and collective and cyclic controls of a helicopter + + + diff --git a/ingenuity_mars_helicopter/helicopter_flight_simulation/include/helicopter_flight_simulation.hh b/ingenuity_mars_helicopter/helicopter_flight_simulation/include/helicopter_flight_simulation.hh new file mode 100644 index 00000000..bcd50843 --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_simulation/include/helicopter_flight_simulation.hh @@ -0,0 +1,101 @@ +/* + * Copyright (C) 2019 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef GZ_GAZEBO_SYSTEMS_LIFT_DRAG_HH_ +#define GZ_GAZEBO_SYSTEMS_LIFT_DRAG_HH_ + +#include +#include + +namespace ignition +{ + namespace gazebo + { + // Inline bracket to help doxygen filtering. + inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE + { + namespace systems + { + // Forward declaration + class HelicopterFlightSimulationPrivate; + + /// \brief The HelicopterFlightSimulation system computes lift and drag forces enabling + /// simulation of aerodynamic robots. + /// + /// The following parameters are used by the system: + /// + /// link_name : Name of the link affected by the group of lift/drag + /// properties. This can be a scoped name to reference links in + /// nested models. \sa entitiesFromScopedName to learn more + /// about scoped names. + /// air_density : Density of the fluid this model is suspended in. + /// area : Surface area of the link. + /// a0 : The initial "alpha" or initial angle of attack. a0 is also + /// the y-intercept of the alpha-lift coefficient curve. + /// cla : The ratio of the coefficient of lift and alpha slope before + /// stall. Slope of the first portion of the alpha-lift + /// coefficient curve. + /// cda : The ratio of the coefficient of drag and alpha slope before + /// stall. + /// cp : Center of pressure. The forces due to lift and drag will be + /// applied here. + /// forward : 3-vector representing the forward direction of motion in the + /// link frame. + /// upward : 3-vector representing the direction of lift or drag. + /// alpha_stall : Angle of attack at stall point; the peak angle of attack. + /// cla_stall : The ratio of coefficient of lift and alpha slope after + /// stall. Slope of the second portion of the alpha-lift + /// coefficient curve. + /// cda_stall : The ratio of coefficient of drag and alpha slope after + /// stall. + /// control_joint_name: Name of joint that actuates a control surface for this + /// lifting body (Optional) + class HelicopterFlightSimulation + : public System, + public ISystemConfigure, + public ISystemPreUpdate + { + /// \brief Constructor + public: + HelicopterFlightSimulation(); + + /// \brief Destructor + public: + ~HelicopterFlightSimulation() override = default; + + // Documentation inherited + public: + void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) override; + + /// Documentation inherited + public: + void PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) final; + + /// \brief Private data pointer + private: + std::unique_ptr dataPtr; + }; + } + } + } +} + +#endif \ No newline at end of file diff --git a/ingenuity_mars_helicopter/helicopter_flight_simulation/package.xml b/ingenuity_mars_helicopter/helicopter_flight_simulation/package.xml new file mode 100644 index 00000000..92b419a6 --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_simulation/package.xml @@ -0,0 +1,32 @@ + + + helicopter_flight_simulation + 0.1.0 + Simulates the lift, drag and collective and cyclic controls of a helicopter + Baris Yazici + Baris Yazici + Apache 2 + + ament_cmake + + ament_index_cpp + + ignition-gazebo6 + ignition-gazebo3 + ignition-gazebo5 + ignition-gazebo6 + ignition-plugin + pluginlib + rclcpp + yaml_cpp_vendor + rclcpp_lifecycle + hardware_interface + controller_manager + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ingenuity_mars_helicopter/helicopter_flight_simulation/src/helicopter_flight_simulation.cpp b/ingenuity_mars_helicopter/helicopter_flight_simulation/src/helicopter_flight_simulation.cpp new file mode 100644 index 00000000..e2be7601 --- /dev/null +++ b/ingenuity_mars_helicopter/helicopter_flight_simulation/src/helicopter_flight_simulation.cpp @@ -0,0 +1,671 @@ +/* + * Copyright (C) 2019 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include "helicopter_flight_simulation.hh" + +#include +#include +#include + +#include +#include +#include + +#include + +#include "gz/sim/Link.hh" +#include "gz/sim/Model.hh" +#include "gz/sim/Util.hh" + +#include "gz/sim/components/AngularVelocity.hh" +#include "gz/sim/components/Inertial.hh" +#include "gz/sim/components/Joint.hh" +#include "gz/sim/components/JointPosition.hh" +#include "gz/sim/components/LinearVelocity.hh" +#include "gz/sim/components/Link.hh" +#include "gz/sim/components/Name.hh" +#include "gz/sim/components/ExternalWorldWrenchCmd.hh" +#include "gz/sim/components/Pose.hh" +#include +#include + +using namespace gz; +using namespace gz::sim; +using namespace systems; + +class ignition::gazebo::systems::HelicopterFlightSimulationPrivate +{ + // Initialize the system +public: + void Load(const EntityComponentManager &_ecm, + const sdf::ElementPtr &_sdf); + + /// \brief Compute lift and drag forces and update the corresponding + /// components + /// \param[in] _ecm Immutable reference to the EntityComponentManager +public: + void Update(EntityComponentManager &_ecm); + + /// \brief Model interface +public: + Model model{kNullEntity}; + + /// \brief Coefficient of Lift / alpha slope. + /// Lift = C_L * q * S + /// where q (dynamic pressure) = 0.5 * rho * v^2 +public: + double cla = 1.0; + + /// \brief Coefficient of Drag / alpha slope. + /// Drag = C_D * q * S + /// where q (dynamic pressure) = 0.5 * rho * v^2 +public: + double cda = 0.01; + + /// \brief Coefficient of Moment / alpha slope. + /// Moment = C_M * q * S + /// where q (dynamic pressure) = 0.5 * rho * v^2 +public: + double cma = 0.01; + + /// \brief angle of attach when airfoil stalls +public: + double alphaStall = IGN_PI_2; + + /// \brief Cl-alpha rate after stall +public: + double claStall = 0.0; + + /// \brief Cd-alpha rate after stall + /// \todo(anyone): what's flat plate drag? +public: + double cdaStall = 1.0; + + /// \brief Cm-alpha rate after stall +public: + double cmaStall = 0.0; + + /// \brief air density + /// at 25 deg C it's about 1.1839 kg/m^3 + /// At 20 °C and 101.325 kPa, dry air has a density of 1.2041 kg/m3. +public: + double rho = 1.2041; + + /// \brief if the shape is aerodynamically radially symmetric about + /// the forward direction. Defaults to false for wing shapes. + /// If set to true, the upward direction is determined by the + /// angle of attack. +public: + bool radialSymmetry = false; + + /// \brief effective planeform surface area +public: + double area = 1.0; + + /// \brief initial angle of attack +public: + double alpha0 = 0.0; + + /// \brief center of pressure in link local coordinates with respect to the + /// link's center of mass +public: + math::Vector3d cp = math::Vector3d::Zero; + + /// \brief Normally, this is taken as a direction parallel to the chord + /// of the airfoil in zero angle of attack forward flight. +public: + math::Vector3d forward = math::Vector3d::UnitX; + + /// \brief A vector in the lift/drag plane, perpendicular to the forward + /// vector. Inflow velocity orthogonal to forward and upward vectors + /// is considered flow in the wing sweep direction. +public: + math::Vector3d upward = math::Vector3d::UnitZ; + + /// \brief how much to change CL per radian of control surface joint + /// value. +public: + double controlJointRadToCL = 4.0; + + /// \brief Link entity targeted this plugin. +public: + Entity linkEntity; + + /// \brief Joint entity that actuates a control surface for this lifting body +public: + Entity controlJointEntity; + + /// \brief Set during Load to true if the configuration for the system is + /// valid and the post-update can run +public: + bool validConfig{false}; + + /// \brief Copy of the sdf configuration used for this plugin +public: + sdf::ElementPtr sdfConfig; + + /// \brief Initialization flag +public: + bool initialized{false}; + + /// \brief Ignition Transport node for publishing wrench data +public: + gz::transport::Node node; + + /// \brief Publisher for the wrench data +public: + gz::transport::Node::Publisher wrenchPub; + +private: + /// \brief Latest angle of attack value received from the subscriber + double currentAlpha = 0.1; + + /// \brief Mutex to protect access to the currentAlpha variable + std::mutex alphaMutex; + + /// \brief Cyclic control inputs +public: + double alphaC = 0.0; // Corresponding to \theta_C (longitudinal cyclic) + double alphaS = 0.0; // Corresponding to \theta_S (lateral cyclic) + +public: + /// \brief Callback function for the angle of attack subscription + void OnAngleOfAttackMsg(const gz::msgs::Double &_msg) + { + std::lock_guard lock(this->alphaMutex); + this->currentAlpha = _msg.data(); + } + void OnAlphaCMsg(const gz::msgs::Double &_msg) + { + std::lock_guard lock(this->alphaMutex); + this->alphaC = _msg.data(); + } + + void OnAlphaSMsg(const gz::msgs::Double &_msg) + { + std::lock_guard lock(this->alphaMutex); + this->alphaS = _msg.data(); + } +}; + +////////////////////////////////////////////////// +void HelicopterFlightSimulationPrivate::Load(const EntityComponentManager &_ecm, + const sdf::ElementPtr &_sdf) +{ + // Initialize the wrench publisher + this->wrenchPub = this->node.Advertise( + "/wrench/" + this->model.Name(_ecm) + "/" + _sdf->Get("link_name")); + + this->node.Subscribe("/angle_of_attack", &HelicopterFlightSimulationPrivate::OnAngleOfAttackMsg, this); + // Subscribe to cyclic control topics + this->node.Subscribe("/alpha_c", &HelicopterFlightSimulationPrivate::OnAlphaCMsg, this); + this->node.Subscribe("/alpha_s", &HelicopterFlightSimulationPrivate::OnAlphaSMsg, this); + + this->cla = _sdf->Get("cla", this->cla).first; + this->cda = _sdf->Get("cda", this->cda).first; + this->cma = _sdf->Get("cma", this->cma).first; + this->alphaStall = _sdf->Get("alpha_stall", this->alphaStall).first; + this->claStall = _sdf->Get("cla_stall", this->claStall).first; + this->cdaStall = _sdf->Get("cda_stall", this->cdaStall).first; + this->cmaStall = _sdf->Get("cma_stall", this->cmaStall).first; + this->rho = _sdf->Get("air_density", this->rho).first; + this->radialSymmetry = _sdf->Get("radial_symmetry", + this->radialSymmetry) + .first; + this->area = _sdf->Get("area", this->area).first; + this->alpha0 = _sdf->Get("a0", this->alpha0).first; + this->cp = _sdf->Get("cp", this->cp).first; + + // blade forward (-drag) direction in link frame + this->forward = + _sdf->Get("forward", this->forward).first; + this->forward.Normalize(); + + // blade upward (+lift) direction in link frame + this->upward = _sdf->Get( + "upward", this->upward) + .first; + this->upward.Normalize(); + + this->controlJointRadToCL = _sdf->Get( + "control_joint_rad_to_cl", this->controlJointRadToCL) + .first; + + if (_sdf->HasElement("link_name")) + { + sdf::ElementPtr elem = _sdf->GetElement("link_name"); + auto linkName = elem->Get(); + auto entities = + entitiesFromScopedName(linkName, _ecm, this->model.Entity()); + + if (entities.empty()) + { + ignerr << "Link with name[" << linkName << "] not found. " + << "The LiftDrag will not generate forces\n"; + this->validConfig = false; + return; + } + else if (entities.size() > 1) + { + ignwarn << "Multiple link entities with name[" << linkName << "] found. " + << "Using the first one.\n"; + } + + this->linkEntity = *entities.begin(); + if (!_ecm.EntityHasComponentType(this->linkEntity, + components::Link::typeId)) + { + this->linkEntity = kNullEntity; + ignerr << "Entity with name[" << linkName << "] is not a link\n"; + this->validConfig = false; + return; + } + } + else + { + ignerr << "The LiftDrag system requires the 'link_name' parameter\n"; + this->validConfig = false; + return; + } + + if (_sdf->HasElement("control_joint_name")) + { + auto controlJointName = _sdf->Get("control_joint_name"); + auto entities = + entitiesFromScopedName(controlJointName, _ecm, this->model.Entity()); + + if (entities.empty()) + { + ignerr << "Joint with name[" << controlJointName << "] not found. " + << "The LiftDrag will not generate forces\n"; + this->validConfig = false; + return; + } + else if (entities.size() > 1) + { + ignwarn << "Multiple joint entities with name[" << controlJointName + << "] found. Using the first one.\n"; + } + + this->controlJointEntity = *entities.begin(); + if (!_ecm.EntityHasComponentType(this->controlJointEntity, + components::Joint::typeId)) + { + this->controlJointEntity = kNullEntity; + ignerr << "Entity with name[" << controlJointName << "] is not a joint\n"; + this->validConfig = false; + return; + } + } + + // If we reached here, we have a valid configuration + this->validConfig = true; +} + +////////////////////////////////////////////////// +HelicopterFlightSimulation::HelicopterFlightSimulation() + : System(), dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +void HelicopterFlightSimulationPrivate::Update(EntityComponentManager &_ecm) +{ + IGN_PROFILE("HelicopterFlightSimulationPrivate::Update"); + + // get linear velocity at cp in world frame + const auto worldLinVel = + _ecm.Component(this->linkEntity); + const auto worldAngVel = + _ecm.Component(this->linkEntity); + const auto worldPose = + _ecm.Component(this->linkEntity); + + components::JointPosition *controlJointPosition = nullptr; + if (this->controlJointEntity != kNullEntity) + { + controlJointPosition = + _ecm.Component(this->controlJointEntity); + } + + if (!worldLinVel || !worldAngVel || !worldPose) + return; + + const auto &pose = worldPose->Data(); + const auto cpWorld = pose.Rot().RotateVector(this->cp); + const auto vel = worldLinVel->Data() + worldAngVel->Data().Cross(cpWorld); + + const auto &orientation = pose.Rot(); + + // Calculate azimuth angle (Psi) based on the orientation of the blade + double Psi = std::atan2(2.0 * (orientation.W() * orientation.Z() + orientation.X() * orientation.Y()), + 1.0 - 2.0 * (orientation.Y() * orientation.Y() + orientation.Z() * orientation.Z())); + + { + std::lock_guard lock(this->alphaMutex); + this->alpha0 = this->currentAlpha; // Use the subscribed angle of attack + } + + // Calculate feathering angle theta(Psi) based on cyclic controls + double thetaPsi = this->alpha0 + this->alphaC * std::cos(Psi) + this->alphaS * std::sin(Psi); + + // Use the updated feathering angle thetaPsi to compute new angle of attack (alpha) + double alpha = thetaPsi; + + if (vel.Length() <= 0.01) + return; + + const auto velI = vel.Normalized(); + + // rotate forward and upward vectors into world frame + const auto forwardI = pose.Rot().RotateVector(this->forward); + + math::Vector3d upwardI; + if (this->radialSymmetry) + { + // use inflow velocity to determine upward direction + // which is the component of inflow perpendicular to forward direction. + math::Vector3d tmp = forwardI.Cross(velI); + upwardI = forwardI.Cross(tmp).Normalize(); + } + else + { + upwardI = pose.Rot().RotateVector(this->upward); + } + + // spanwiseI: a vector normal to lift-drag-plane described in world frame + const auto spanwiseI = forwardI.Cross(upwardI).Normalize(); + + const double minRatio = -1.0; + const double maxRatio = 1.0; + // check sweep (angle between velI and lift-drag-plane) + double sinSweepAngle = math::clamp( + spanwiseI.Dot(velI), minRatio, maxRatio); + + // get cos from trig identity + const double cosSweepAngle = 1.0 - sinSweepAngle * sinSweepAngle; + double sweep = std::asin(sinSweepAngle); + + // truncate sweep to within +/-90 deg + while (std::fabs(sweep) > 0.5 * IGN_PI) + { + sweep = sweep > 0 ? sweep - IGN_PI : sweep + IGN_PI; + } + + // angle of attack is the angle between + // velI projected into lift-drag plane + // and + // forward vector + // + // projected = spanwiseI Xcross ( vector Xcross spanwiseI) + // + // so, + // removing spanwise velocity from vel + // Note: Original code had: + // const auto velInLDPlane = vel - vel.Dot(spanwiseI)*velI; + // I believe the projection should be onto spanwiseI which then gets removed + // from vel + const auto velInLDPlane = vel - vel.Dot(spanwiseI) * spanwiseI; + + // get direction of drag + const auto dragDirection = -velInLDPlane.Normalized(); + + // get direction of lift + const auto liftI = spanwiseI.Cross(velInLDPlane).Normalized(); + + // compute angle between upwardI and liftI + // in general, given vectors a and b: + // cos(theta) = a.Dot(b)/(a.Length()*b.Lenghth()) + // given upwardI and liftI are both unit vectors, we can drop the denominator + // cos(theta) = a.Dot(b) + const double cosAlpha = + math::clamp(liftI.Dot(upwardI), minRatio, maxRatio); + + // Is alpha positive or negative? Test: + // forwardI points toward zero alpha + // if forwardI is in the same direction as lift, alpha is positive. + // liftI is in the same direction as forwardI? + + // should we keep this also for the cyclic control? + // double alpha = this->alpha0 - std::acos(cosAlpha); + alpha -= std::acos(cosAlpha); + + if (liftI.Dot(forwardI) >= 0.0) + alpha = this->alpha0 + std::acos(cosAlpha); + + // normalize to within +/-90 deg + while (fabs(alpha) > 0.5 * IGN_PI) + { + alpha = alpha > 0 ? alpha - IGN_PI : alpha + IGN_PI; + } + + // compute dynamic pressure + const double speedInLDPlane = velInLDPlane.Length(); + const double q = 0.5 * this->rho * speedInLDPlane * speedInLDPlane; + + // compute cl at cp, check for stall, correct for sweep + double cl; + if (alpha > this->alphaStall) + { + cl = (this->cla * this->alphaStall + + this->claStall * (alpha - this->alphaStall)) * + cosSweepAngle; + // make sure cl is still great than 0 + cl = std::max(0.0, cl); + } + else if (alpha < -this->alphaStall) + { + cl = (-this->cla * this->alphaStall + + this->claStall * (alpha + this->alphaStall)) * + cosSweepAngle; + // make sure cl is still less than 0 + cl = std::min(0.0, cl); + } + else + cl = this->cla * alpha * cosSweepAngle; + + // modify cl per control joint value + if (controlJointPosition && !controlJointPosition->Data().empty()) + { + cl = cl + this->controlJointRadToCL * controlJointPosition->Data()[0]; + /// \todo(anyone): also change cm and cd + } + + // compute lift force at cp + math::Vector3d lift = cl * q * this->area * liftI; + + // compute cd at cp, check for stall, correct for sweep + double cd; + if (alpha > this->alphaStall) + { + cd = (this->cda * this->alphaStall + + this->cdaStall * (alpha - this->alphaStall)) * + cosSweepAngle; + } + else if (alpha < -this->alphaStall) + { + cd = (-this->cda * this->alphaStall + + this->cdaStall * (alpha + this->alphaStall)) * + cosSweepAngle; + } + else + cd = (this->cda * alpha) * cosSweepAngle; + + // make sure drag is positive + cd = std::fabs(cd); + + // drag at cp + math::Vector3d drag = cd * q * this->area * dragDirection; + + // compute cm at cp, check for stall, correct for sweep + double cm; + if (alpha > this->alphaStall) + { + cm = (this->cma * this->alphaStall + + this->cmaStall * (alpha - this->alphaStall)) * + cosSweepAngle; + // make sure cm is still great than 0 + cm = std::max(0.0, cm); + } + else if (alpha < -this->alphaStall) + { + cm = (-this->cma * this->alphaStall + + this->cmaStall * (alpha + this->alphaStall)) * + cosSweepAngle; + // make sure cm is still less than 0 + cm = std::min(0.0, cm); + } + else + cm = this->cma * alpha * cosSweepAngle; + + /// \todo(anyone): implement cm + /// for now, reset cm to zero, as cm needs testing + cm = 0.0; + + // compute moment (torque) at cp + // spanwiseI used to be momentDirection + math::Vector3d moment = cm * q * this->area * spanwiseI; + + // force and torque about cg in world frame + math::Vector3d force = lift + drag; + math::Vector3d torque = moment; + // Correct for nan or inf + force.Correct(); + this->cp.Correct(); + torque.Correct(); + + // We want to apply the force at cp. The old LiftDrag plugin did the + // following: + // this->link->AddForceAtRelativePosition(force, this->cp); + // The documentation of AddForceAtRelativePosition says: + //> Add a force (in world frame coordinates) to the body at a + //> position relative to the center of mass which is expressed in the + //> link's own frame of reference. + // But it appears that 'cp' is specified in the link frame so it probably + // should have been + // this->link->AddForceAtRelativePosition( + // force, this->cp - this->link->GetInertial()->CoG()); + // + // \todo(addisu) Create a convenient API for applying forces at offset + // positions + const auto totalTorque = torque + cpWorld.Cross(force); + Link link(this->linkEntity); + link.AddWorldWrench(_ecm, force, totalTorque); + + // Debug + // auto linkName = _ecm.Component(this->linkEntity)->Data(); + // igndbg << "=============================\n"; + // igndbg << "Link: [" << linkName << "] pose: [" << pose; + // << "] dynamic pressure: [" << q << "]\n"; + // igndbg << "spd: [" << vel.Length() << "] vel: [" << vel << "]\n"; + // igndbg << "LD plane spd: [" << velInLDPlane.Length() << "] vel : [" + // << velInLDPlane << "]\n"; + // igndbg << "forward (inertial): " << forwardI << "\n"; + // igndbg << "upward (inertial): " << upwardI << "\n"; + // igndbg << "q: " << q << "\n"; + // igndbg << "cl: " << cl << "\n"; + // igndbg << "lift dir (inertial): " << liftI << "\n"; + // igndbg << "Span direction (normal to LD plane): " << spanwiseI << "\n"; + // igndbg << "sweep: " << sweep << "\n"; + // igndbg << "alpha: " << alpha << "\n"; + // igndbg << "lift: " << lift << "\n"; + // igndbg << "drag: " << drag << " cd: " << cd << " cda: " + // << this->cda << "\n"; + // igndbg << "moment: " << moment << "\n"; + // igndbg << "force: " << force << "\n"; + // igndbg << "torque: " << torque << "\n"; + // igndbg << "totalTorque: " << totalTorque << "\n"; + + // Create a wrench message + gz::msgs::Wrench wrenchMsg; + gz::msgs::Set(wrenchMsg.mutable_force(), force); + gz::msgs::Set(wrenchMsg.mutable_torque(), torque); + + // Publish the wrench message + this->wrenchPub.Publish(wrenchMsg); +} + +////////////////////////////////////////////////// +void HelicopterFlightSimulation::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, EventManager &) +{ + this->dataPtr->model = Model(_entity); + if (!this->dataPtr->model.Valid(_ecm)) + { + ignerr << "The LiftDrag system should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + this->dataPtr->sdfConfig = _sdf->Clone(); +} + +////////////////////////////////////////////////// +void HelicopterFlightSimulation::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) +{ + IGN_PROFILE("HelicopterFlightSimulation::PreUpdate"); + + // \TODO(anyone) Support rewind + if (_info.dt < std::chrono::steady_clock::duration::zero()) + { + ignwarn << "Detected jump back in time [" + << std::chrono::duration_cast(_info.dt).count() + << "s]. System may not work properly." << std::endl; + } + + if (!this->dataPtr->initialized) + { + // We call Load here instead of Configure because we can't be guaranteed + // that all entities have been created when Configure is called + this->dataPtr->Load(_ecm, this->dataPtr->sdfConfig); + this->dataPtr->initialized = true; + + if (this->dataPtr->validConfig) + { + Link link(this->dataPtr->linkEntity); + link.EnableVelocityChecks(_ecm, true); + + if ((this->dataPtr->controlJointEntity != kNullEntity) && + !_ecm.Component( + this->dataPtr->controlJointEntity)) + { + _ecm.CreateComponent(this->dataPtr->controlJointEntity, + components::JointPosition()); + } + } + } + + if (_info.paused) + return; + + // This is not an "else" because "initialized" can be set in the if block + // above + if (this->dataPtr->initialized && this->dataPtr->validConfig) + { + this->dataPtr->Update(_ecm); + } +} + +IGNITION_ADD_PLUGIN(HelicopterFlightSimulation, + System, + HelicopterFlightSimulation::ISystemConfigure, + HelicopterFlightSimulation::ISystemPreUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(HelicopterFlightSimulation, "gz::sim::systems::HelicopterFlightSimulation") + +// TODO(CH3): Deprecated, remove on version 8 +IGNITION_ADD_PLUGIN_ALIAS(HelicopterFlightSimulation, "ignition::gazebo::systems::HelicopterFlightSimulation") diff --git a/ingenuity_mars_helicopter/ingenuity_bringup/CMakeLists.txt b/ingenuity_mars_helicopter/ingenuity_bringup/CMakeLists.txt new file mode 100644 index 00000000..906d6899 --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_bringup/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.5.0) +project(ingenuity_bringup) + +# Default to C11 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 11) +endif() +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) +endif() + +if(NOT WIN32) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(control_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_action REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME}/ +) + + +ament_package() diff --git a/ingenuity_mars_helicopter/ingenuity_bringup/LICENSE b/ingenuity_mars_helicopter/ingenuity_bringup/LICENSE new file mode 100644 index 00000000..6d8d58fb --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_bringup/LICENSE @@ -0,0 +1,191 @@ + + Apache License + Version 2.0, January 2004 + https://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + Copyright 2013-2018 Docker, Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + https://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/ingenuity_mars_helicopter/ingenuity_bringup/README.md b/ingenuity_mars_helicopter/ingenuity_bringup/README.md new file mode 100644 index 00000000..ef8e4264 --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_bringup/README.md @@ -0,0 +1,4 @@ +## ingenuity_bringup +This folder contains launch files and configuration for starting the Ingenuity simulation. +- `ingenuity_demo.launch.py`: Main launch file for the simulation +- `gz_ros2_bridge.yaml`: Configuration for bridging Gazebo and ROS 2 topics \ No newline at end of file diff --git a/ingenuity_mars_helicopter/ingenuity_bringup/config/gz_ros2_bridge.yaml b/ingenuity_mars_helicopter/ingenuity_bringup/config/gz_ros2_bridge.yaml new file mode 100644 index 00000000..41572542 --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_bringup/config/gz_ros2_bridge.yaml @@ -0,0 +1,41 @@ +- ros_topic_name: "/tf" + gz_topic_name: "model/ingenuity_model/pose" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "gz.msgs.Pose_V" + direction: GZ_TO_ROS + +- ros_topic_name: "/joint_state" + gz_topic_name: "/world/ingenuity_world/model/ingenuity_model/joint_state" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +- ros_topic_name: "/wrench/blade_1" + gz_topic_name: "/wrench/ingenuity_model/blade_1" + ros_type_name: "geometry_msgs/msg/Wrench" + gz_type_name: "ignition.msgs.Wrench" + direction: GZ_TO_ROS + +- ros_topic_name: "/wrench/blade_2" + gz_topic_name: "/wrench/ingenuity_model/blade_2" + ros_type_name: "geometry_msgs/msg/Wrench" + gz_type_name: "ignition.msgs.Wrench" + direction: GZ_TO_ROS + +- ros_topic_name: "/wrench/blade_3" + gz_topic_name: "/wrench/ingenuity_model/blade_3" + ros_type_name: "geometry_msgs/msg/Wrench" + gz_type_name: "ignition.msgs.Wrench" + direction: GZ_TO_ROS + +- ros_topic_name: "/wrench/blade_4" + gz_topic_name: "/wrench/ingenuity_model/blade_4" + ros_type_name: "geometry_msgs/msg/Wrench" + gz_type_name: "ignition.msgs.Wrench" + direction: GZ_TO_ROS + +- ros_topic_name: "/camera" + gz_topic_name: "/camera" + ros_type_name: "sensor_msgs/msg/Image" + gz_type_name: "ignition.msgs.Image" + direction: GZ_TO_ROS \ No newline at end of file diff --git a/ingenuity_mars_helicopter/ingenuity_bringup/launch/ingenuity_demo.launch.py b/ingenuity_mars_helicopter/ingenuity_bringup/launch/ingenuity_demo.launch.py new file mode 100644 index 00000000..e15f41bc --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_bringup/launch/ingenuity_demo.launch.py @@ -0,0 +1,74 @@ +import os +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + +from launch_ros.actions import Node + +def generate_launch_description(): + + # Paths + package_path = get_package_share_directory('ingenuity_description') # Replace 'simulation' with your package name + urdf_file = os.path.join(package_path,'urdf', 'ingenuity_description.urdf') + sdf_file_path = os.path.join(package_path, 'sdf', 'ingenuity_world.sdf') + + # Load URDF + urdf_content = '' + with open(urdf_file, 'r') as file: + urdf_content = file.read() + + params = {'robot_description': urdf_content} + print(urdf_content) + + # Nodes + node_robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='screen', + parameters=[params] + ) + # Define the path to the RViz configuration file + rviz_config_file = os.path.join( + get_package_share_directory('ingenuity_description'), + 'rviz', + 'ingenuity_config.rviz' + ) + + # Create a Node action to start RViz + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='screen', + arguments=['-d', rviz_config_file] + ) + + gz_ros2_bridge_yaml = os.path.join(get_package_share_directory('ingenuity_bringup'), 'config', 'gz_ros2_bridge.yaml') + + # ROS 2 to Ignition bridge for joint states and TF + bridge_node = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + parameters=[{'config_file': gz_ros2_bridge_yaml}], + output='screen' + ) + + # Launch Description + return LaunchDescription([ + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [os.path.join(get_package_share_directory('ros_ign_gazebo'), + 'launch', 'ign_gazebo.launch.py')]), + launch_arguments=[('gz_args', [f' -r -v 4 {sdf_file_path}'])]), + + node_robot_state_publisher, + bridge_node, + rviz_node, + DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='Use simulation (Gazebo) clock if true' + ), + ]) diff --git a/ingenuity_mars_helicopter/ingenuity_bringup/package.xml b/ingenuity_mars_helicopter/ingenuity_bringup/package.xml new file mode 100644 index 00000000..ef50e89d --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_bringup/package.xml @@ -0,0 +1,47 @@ + + + ingenuity_bringup + 0.1.0 + ingenuity_bringup + + Baris Yazici + + Apache License 2.0 + Baris Yazici + + ament_cmake + + control_msgs + geometry_msgs + rclcpp + rclcpp_action + std_msgs + + ament_index_python + control_msgs + geometry_msgs + imu_sensor_broadcaster + joint_state_broadcaster + joint_trajectory_controller + launch + launch_ros + ros2launch + rclcpp + robot_state_publisher + ros_ign_gazebo + ros_gz_bridge + std_msgs + xacro + + helicopter_flight_control + helicopter_flight_simulation + + + ament_cmake_gtest + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ingenuity_mars_helicopter/ingenuity_description/CMakeLists.txt b/ingenuity_mars_helicopter/ingenuity_description/CMakeLists.txt new file mode 100644 index 00000000..9c2fbf33 --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_description/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.5.0) +project(ingenuity_description) + +# Default to C11 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 11) +endif() +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) +endif() + +if(NOT WIN32) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(control_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_action REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +install(DIRECTORY + meshes + rviz + urdf + sdf + world + DESTINATION share/${PROJECT_NAME}/ +) + + +ament_package() diff --git a/ingenuity_mars_helicopter/ingenuity_description/LICENSE b/ingenuity_mars_helicopter/ingenuity_description/LICENSE new file mode 100644 index 00000000..6d8d58fb --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_description/LICENSE @@ -0,0 +1,191 @@ + + Apache License + Version 2.0, January 2004 + https://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. 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Martian Dust Storm: + To start the Martian dust storm: + ```bash + ign topic -t /model/dust_storm/link/dust_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'emitting: {data: true}' + ``` + +2. Get the Battery State: + + ```bash + ign topic -et /model/ingenuity_model/battery/ingenuity_battery/state + ``` + +3. Command rotor angular velocity + + ```bash + ign topic -t "/model/ingenuity_model/joint/rod_1_joint/cmd_vel" -m ignition.msgs.Double -p "data: 2000.0" + ign topic -t "/model/ingenuity_model/joint/rod_2_joint/cmd_vel" -m ignition.msgs.Double -p "data: 2000.0" + ``` + +4. Wind + + Must be enabled in the sdf file under ingenuity_description. Allows user to send linear wind forces. + + ./ingenuity_flight_simulator/ingenuity_description/sdf/ingenuity_world.sdf + + +## Sensors +# Ingenuity Sensors and Data Access + +The Ingenuity simulation includes several sensors to mimic the real Mars helicopter. Here's a detailed explanation of each sensor and how to access its data using the `ign topic -et` command. + +## 1. RGB Camera + +The RGB camera simulates Ingenuity's downward-facing camera, used for navigation and terrain imaging. + + +### Accessing Camera Data: +```bash +ign topic -et /camera +``` + +This command will stream the camera images. Each message includes the image data, timestamp, and other metadata. + +## 2. Altimeter + +The altimeter sensor provides altitude measurements, crucial for Ingenuity's vertical positioning. + +### Specifications: +- Update Rate: 30 Hz +- Noise: Gaussian noise applied to both position and velocity measurements + +### Accessing Altimeter Data: +```bash +ign topic -et /altimeter +``` + +This command will stream altimeter data, including vertical position and velocity. + +## 3. IMU (Inertial Measurement Unit) + +The IMU provides data about the helicopter's orientation and acceleration. + +### Specifications: +- Update Rate: 100 Hz +- Measurements: Linear acceleration and angular velocity in 3 axes + +### Accessing IMU Data: +```bash +ign topic -et /imu +``` + +This command will stream IMU data, including linear acceleration and angular velocity vectors. + +## Additional Sensor Data + +### Battery State: +To monitor the battery state of the Ingenuity model: +```bash +ign topic -et /model/ingenuity_model/battery/ingenuity_battery/state +``` + +This provides information about the current charge level, voltage, and other battery parameters. + +### Joint States: +To view the joint states of the Ingenuity model: +```bash +ign topic -et /world/ingenuity_world/model/ingenuity_model/joint_state +``` + +This gives information about the position and velocity of the model's joints, including the rotor joints. + +### Model Pose: +To get the current pose of the Ingenuity model: +```bash +ign topic -et /model/ingenuity_model/pose +``` + +This provides the position and orientation of the Ingenuity model in the world frame. diff --git a/ingenuity_mars_helicopter/ingenuity_description/meshes/CarbonFiber_albedo2.jpg b/ingenuity_mars_helicopter/ingenuity_description/meshes/CarbonFiber_albedo2.jpg new file mode 100755 index 00000000..c4e05e0e Binary files /dev/null and b/ingenuity_mars_helicopter/ingenuity_description/meshes/CarbonFiber_albedo2.jpg differ diff --git a/ingenuity_mars_helicopter/ingenuity_description/meshes/base_one_part.dae b/ingenuity_mars_helicopter/ingenuity_description/meshes/base_one_part.dae new file mode 100644 index 00000000..d8ecf133 --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_description/meshes/base_one_part.dae @@ -0,0 +1,288 @@ + + + + + Blender User + Blender 3.3.21 commit date:2024-07-15, commit time:08:57, hash:e016c21db151 + + 2024-08-31T10:20:20 + 2024-08-31T10:20:20 + + Z_UP + + + + + + + + 0 0 0 1 + + + 1 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419 380 1589 423 381 1590 420 383 1591 421 385 1592 427 386 1593 424 427 1594 425 387 1595 319 283 1596 424 391 1597 425 389 1598 316 280 1599 317 279 1600 425 389 1601 318 282 1602 427 392 1603 424 391 1604 318 282 1605 316 280 1606 426 390 1607

+ + + + + + + + 7.54979e-8 9.65599e-7 0.9999999 -0.001774356 -0.9999999 2.98024e-8 7.54979e-8 -2.8415e-4 -2.98023e-8 -0.9999999 9.65599e-7 0.47564 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ingenuity_mars_helicopter/ingenuity_description/package.xml b/ingenuity_mars_helicopter/ingenuity_description/package.xml new file mode 100644 index 00000000..d619a89f --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_description/package.xml @@ -0,0 +1,29 @@ + + + ingenuity_description + 0.1.0 + ingenuity_description + + Baris Yazici + + Apache License 2.0 + Baris Yazici + + ament_cmake + + control_msgs + geometry_msgs + rclcpp + rclcpp_action + std_msgs + + ros2launch + + ament_cmake_gtest + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ingenuity_mars_helicopter/ingenuity_description/rviz/ingenuity_config.rviz b/ingenuity_mars_helicopter/ingenuity_description/rviz/ingenuity_config.rviz new file mode 100644 index 00000000..bf851786 --- /dev/null +++ b/ingenuity_mars_helicopter/ingenuity_description/rviz/ingenuity_config.rviz @@ -0,0 +1,267 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 70 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /Image1 + Splitter Ratio: 0.5 + Tree Height: 70 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + ingenuity_model: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ingenuity_model/blade_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ingenuity_model/blade_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ingenuity_model/blade_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ingenuity_model/blade_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ingenuity_model/rod_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ingenuity_model/rod_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ingenuity_world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + ingenuity_model: + Value: true + ingenuity_model/blade_1: + Value: true + ingenuity_model/blade_2: + Value: true + ingenuity_model/blade_3: + Value: true + ingenuity_model/blade_4: + Value: true + ingenuity_model/body: + Value: true + ingenuity_model/rod_1: + Value: true + ingenuity_model/rod_2: + Value: true + ingenuity_model/solar_panel: + Value: true + ingenuity_world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + ingenuity_world: + ingenuity_model: + ingenuity_model/blade_1: + {} + ingenuity_model/blade_2: + {} + ingenuity_model/blade_3: + {} + ingenuity_model/blade_4: + {} + ingenuity_model/body: + {} + ingenuity_model/rod_1: + {} + ingenuity_model/rod_2: + {} + ingenuity_model/solar_panel: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: ingenuity_world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: 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2192 1049 2192 1104 2192 1136 2193 1049 2193 1162 2193 1105 2194 1051 2194 1050 2194 1198 2195 1075 2195 1106 2195 1199 2196 1075 2196 1198 2196 1200 2197 1138 2197 1107 2197 1164 2198 1138 2198 1200 2198 1235 2199 1108 2199 1139 2199 1165 2200 1140 2200 1077 2200 1167 2201 1054 2201 1109 2201 1110 2202 1078 2202 1167 2202 1201 2203 1141 2203 1110 2203 1170 2204 1111 2204 1169 2204 1142 2205 1111 2205 1170 2205 1142 2206 1081 2206 1111 2206 1084 2207 1112 2207 1082 2207 1204 2208 1113 2208 1084 2208 1204 2209 1172 2209 1113 2209 1086 2210 1173 2210 1114 2210 1173 2211 1174 2211 1114 2211 1205 2212 1114 2212 1174 2212 1206 2213 1144 2213 1115 2213 1207 2214 1144 2214 1206 2214 1175 2215 1116 2215 1144 2215 1208 2216 1145 2216 1117 2216 1118 2217 1176 2217 1090 2217 1210 2218 1119 2218 1091 2218 1211 2219 1092 2219 1119 2219 1212 2220 1092 2220 1211 2220 1212 2221 1147 2221 1092 2221 1213 2222 1147 2222 1212 2222 1148 2223 1147 2223 1213 2223 1093 2224 1148 2224 1214 2224 1121 2225 1120 2225 1177 2225 1178 2226 1179 2226 1094 2226 1215 2227 1150 2227 1180 2227 1216 2228 1150 2228 1215 2228 1216 2229 1151 2229 1150 2229 1152 2230 1096 2230 1151 2230 1218 2231 1181 2231 1152 2231 1219 2232 1181 2232 1218 2232 1153 2233 1097 2233 1181 2233 1182 2234 1098 2234 1153 2234 1221 2235 1098 2235 1182 2235 1123 2236 1035 2236 1154 2236 1223 2237 976 2237 1099 2237 1125 2238 1003 2238 1124 2238 1125 2239 918 2239 1003 2239 1186 2240 1068 2240 1155 2240 1187 2241 1040 2241 1186 2241 1225 2242 1188 2242 1127 2242 1130 2243 1129 2243 1190 2243 1226 2244 1158 2244 1100 2244 1191 2245 1131 2245 1101 2245 1133 2246 1132 2246 1159 2246 1228 2247 1160 2247 1133 2247 1229 2248 1192 2248 1160 2248 1193 2249 1072 2249 1192 2249 1194 2250 1073 2250 1193 2250 1102 2251 1073 2251 1194 2251 1195 2252 1103 2252 1194 2252 1230 2253 1135 2253 1161 2253 1196 2254 1104 2254 1074 2254 1231 2255 1196 2255 1074 2255 1196 2256 1162 2256 1104 2256 1137 2257 1136 2257 1197 2257 1263 2258 1106 2258 1105 2258 1233 2259 1198 2259 1106 2259 1163 2260 1075 2260 1199 2260 1234 2261 1200 2261 1107 2261 1236 2262 1165 2262 1108 2262 1166 2263 1140 2263 1165 2263 1238 2264 1166 2264 1165 2264 1168 2265 1141 2265 1201 2265 1239 2266 1168 2266 1201 2266 1242 2267 1142 2267 1170 2267 1203 2268 1142 2268 1202 2268 1142 2269 1203 2269 1143 2269 1243 2270 1171 2270 1143 2270 1243 2271 1204 2271 1171 2271 1082 2272 1171 2272 1204 2272 1204 2273 1084 2273 1082 2273 1115 2274 1114 2274 1205 2274 1205 2275 1206 2275 1115 2275 1118 2276 1145 2276 1208 2276 1208 2277 1209 2277 1118 2277 1245 2278 1118 2278 1209 2278 1245 2279 1176 2279 1118 2279 1246 2280 1176 2280 1245 2280 1246 2281 1146 2281 1176 2281 1091 2282 1146 2282 1246 2282 1210 2283 1091 2283 1246 2283 1210 2284 1211 2284 1119 2284 1213 2285 1214 2285 1148 2285 1214 2286 1177 2286 1093 2286 1247 2287 1177 2287 1214 2287 1249 2288 1121 2288 1177 2288 1249 2289 1178 2289 1121 2289 1250 2290 1178 2290 1249 2290 1251 2291 1179 2291 1178 2291 1252 2292 1149 2292 1179 2292 1252 2293 1180 2293 1149 2293 1216 2294 1152 2294 1151 2294 1218 2295 1152 2295 1217 2295 1253 2296 1153 2296 1181 2296 1253 2297 1220 2297 1153 2297 1182 2298 1153 2298 1220 2298 1154 2299 1098 2299 1221 2299 1183 2300 975 2300 1002 2300 1223 2301 1124 2301 976 2301 1309 2302 1125 2302 1124 2302 1254 2303 1037 2303 1036 2303 1254 2304 1185 2304 1037 2304 1156 2305 1040 2305 1187 2305 1225 2306 1127 2306 1156 2306 1256 2307 1189 2307 1188 2307 1258 2308 1191 2308 1158 2308 1258 2309 1131 2309 1191 2309 1259 2310 1159 2310 1131 2310 1259 2311 1227 2311 1159 2311 1133 2312 1159 2312 1227 2312 1227 2313 1228 2313 1133 2313 1260 2314 1192 2314 1229 2314 1261 2315 1195 2315 1194 2315 1231 2316 1074 2316 1135 2316 1197 2317 1136 2317 1162 2317 1293 2318 1232 2318 1137 2318 1105 2319 1050 2319 1232 2319 1233 2320 1106 2320 1263 2320 1234 2321 1107 2321 1163 2321 1200 2322 1234 2322 1164 2322 1164 2323 1235 2323 1139 2323 1236 2324 1108 2324 1235 2324 1264 2325 1236 2325 1235 2325 1237 2326 1165 2326 1236 2326 1238 2327 1165 2327 1237 2327 1238 2328 1109 2328 1166 2328 1265 2329 1167 2329 1109 2329 1265 2330 1201 2330 1110 2330 1169 2331 1168 2331 1240 2331 1240 2332 1241 2332 1169 2332 1241 2333 1170 2333 1169 2333 1202 2334 1142 2334 1242 2334 1267 2335 1203 2335 1202 2335 1243 2336 1143 2336 1203 2336 1269 2337 1086 2337 1172 2337 1270 2338 1174 2338 1173 2338 1270 2339 1205 2339 1174 2339 1271 2340 1207 2340 1206 2340 1207 2341 1175 2341 1144 2341 1207 2342 1244 2342 1175 2342 1272 2343 1244 2343 1207 2343 1273 2344 1175 2344 1244 2344 1273 2345 1208 2345 1175 2345 1274 2346 1246 2346 1245 2346 1275 2347 1214 2347 1213 2347 1248 2348 1177 2348 1247 2348 1249 2349 1177 2349 1248 2349 1251 2350 1178 2350 1250 2350 1252 2351 1179 2351 1251 2351 1276 2352 1180 2352 1252 2352 1277 2353 1216 2353 1215 2353 1217 2354 1152 2354 1216 2354 1278 2355 1181 2355 1219 2355 1337 2356 1154 2356 1221 2356 1337 2357 1123 2357 1154 2357 1099 2358 1067 2358 1280 2358 1340 2359 1126 2359 950 2359 1281 2360 1036 2360 1184 2360 1282 2361 1155 2361 1185 2361 1283 2362 1156 2362 1187 2362 1255 2363 1156 2363 1283 2363 1285 2364 1188 2364 1225 2364 1285 2365 1256 2365 1188 2365 1190 2366 1189 2366 1256 2366 1226 2367 1100 2367 1157 2367 1258 2368 1158 2368 1226 2368 1286 2369 1131 2369 1258 2369 1229 2370 1160 2370 1228 2370 1289 2371 1230 2371 1161 2371 1231 2372 1135 2372 1230 2372 1291 2373 1162 2373 1196 2373 1291 2374 1197 2374 1162 2374 1262 2375 1232 2375 1293 2375 1105 2376 1232 2376 1262 2376 1262 2377 1263 2377 1105 2377 1318 2378 1199 2378 1198 2378 1164 2379 1234 2379 1163 2379 1237 2380 1236 2380 1264 2380 1296 2381 1238 2381 1237 2381 1265 2382 1109 2382 1238 2382 1297 2383 1265 2383 1238 2383 1239 2384 1201 2384 1265 2384 1266 2385 1168 2385 1239 2385 1240 2386 1168 2386 1266 2386 1298 2387 1241 2387 1240 2387 1299 2388 1170 2388 1241 2388 1299 2389 1242 2389 1170 2389 1300 2390 1242 2390 1299 2390 1300 2391 1202 2391 1242 2391 1269 2392 1172 2392 1268 2392 1173 2393 1086 2393 1269 2393 1271 2394 1206 2394 1205 2394 1301 2395 1207 2395 1271 2395 1302 2396 1208 2396 1273 2396 1274 2397 1245 2397 1209 2397 1210 2398 1246 2398 1274 2398 1303 2399 1212 2399 1211 2399 1275 2400 1213 2400 1212 2400 1247 2401 1214 2401 1275 2401 1304 2402 1248 2402 1247 2402 1250 2403 1249 2403 1305 2403 1306 2404 1251 2404 1250 2404 1372 2405 1215 2405 1180 2405 1253 2406 1181 2406 1278 2406 1279 2407 1220 2407 1253 2407 1307 2408 1182 2408 1220 2408 1307 2409 1221 2409 1182 2409 1222 2410 1123 2410 1337 2410 1308 2411 974 2411 1222 2411 1308 2412 1002 2412 974 2412 1309 2413 1124 2413 1223 2413 1254 2414 1036 2414 1281 2414 1155 2415 1282 2415 1186 2415 1224 2416 1186 2416 1282 2416 1284 2417 1156 2417 1255 2417 1311 2418 1156 2418 1284 2418 1311 2419 1225 2419 1156 2419 1312 2420 1285 2420 1225 2420 1226 2421 1157 2421 1257 2421 1313 2422 1258 2422 1226 2422 1286 2423 1259 2423 1131 2423 1287 2424 1227 2424 1259 2424 1228 2425 1227 2425 1287 2425 1353 2426 1192 2426 1260 2426 1192 2427 1194 2427 1193 2427 1288 2428 1261 2428 1194 2428 1314 2429 1195 2429 1261 2429 1315 2430 1195 2430 1314 2430 1289 2431 1161 2431 1195 2431 1196 2432 1231 2432 1290 2432 1316 2433 1291 2433 1196 2433 1137 2434 1197 2434 1292 2434 1292 2435 1293 2435 1137 2435 1317 2436 1233 2436 1263 2436 1317 2437 1198 2437 1233 2437 1318 2438 1198 2438 1317 2438 1319 2439 1163 2439 1199 2439 1294 2440 1164 2440 1163 2440 1235 2441 1164 2441 1294 2441 1294 2442 1295 2442 1235 2442 1264 2443 1235 2443 1295 2443 1320 2444 1264 2444 1295 2444 1296 2445 1237 2445 1264 2445 1297 2446 1238 2446 1296 2446 1322 2447 1265 2447 1297 2447 1324 2448 1266 2448 1239 2448 1298 2449 1240 2449 1266 2449 1324 2450 1298 2450 1266 2450 1363 2451 1241 2451 1298 2451 1363 2452 1299 2452 1241 2452 1325 2453 1267 2453 1202 2453 1268 2454 1243 2454 1203 2454 1326 2455 1205 2455 1270 2455 1327 2456 1301 2456 1271 2456 1272 2457 1207 2457 1301 2457 1273 2458 1244 2458 1272 2458 1328 2459 1274 2459 1209 2459 1303 2460 1211 2460 1210 2460 1330 2461 1275 2461 1212 2461 1304 2462 1247 2462 1275 2462 1305 2463 1249 2463 1248 2463 1331 2464 1250 2464 1305 2464 1372 2465 1180 2465 1276 2465 1332 2466 1215 2466 1372 2466 1217 2467 1216 2467 1277 2467 1333 2468 1217 2468 1277 2468 1334 2469 1278 2469 1219 2469 1336 2470 1220 2470 1279 2470 1338 2471 1280 2471 1067 2471 1339 2472 1099 2472 1280 2472 1339 2473 1223 2473 1099 2473 1310 2474 1125 2474 1309 2474 1340 2475 1125 2475 1310 2475 1340 2476 950 2476 1125 2476 1282 2477 1185 2477 1254 2477 1342 2478 1224 2478 1282 2478 1283 2479 1187 2479 1224 2479 1343 2480 1255 2480 1283 2480 1312 2481 1225 2481 1311 2481 1345 2482 1312 2482 1311 2482 1347 2483 1190 2483 1256 2483 1347 2484 1257 2484 1157 2484 1257 2485 1313 2485 1226 2485 1348 2486 1313 2486 1257 2486 1287 2487 1259 2487 1286 2487 1351 2488 1229 2488 1228 2488 1352 2489 1260 2489 1229 2489 1288 2490 1194 2490 1192 2490 1289 2491 1195 2491 1315 2491 1354 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2558 1385 2559 1317 2559 1357 2559 1199 2560 1318 2560 1358 2560 1319 2561 1359 2561 1294 2561 1386 2562 1359 2562 1319 2562 1320 2563 1360 2563 1264 2563 1387 2564 1360 2564 1320 2564 1361 2565 1297 2565 1321 2565 1324 2566 1239 2566 1362 2566 1389 2567 1299 2567 1363 2567 1390 2568 1299 2568 1389 2568 1203 2569 1267 2569 1325 2569 1269 2570 1203 2570 1325 2570 1269 2571 1268 2571 1203 2571 1391 2572 1327 2572 1326 2572 1272 2573 1301 2573 1364 2573 1392 2574 1365 2574 1272 2574 1328 2575 1302 2575 1365 2575 1393 2576 1274 2576 1328 2576 1394 2577 1274 2577 1393 2577 1210 2578 1274 2578 1366 2578 1395 2579 1329 2579 1303 2579 1396 2580 1304 2580 1330 2580 1396 2581 1248 2581 1304 2581 1397 2582 1248 2582 1396 2582 1367 2583 1368 2583 1248 2583 1398 2584 1331 2584 1369 2584 1306 2585 1250 2585 1370 2585 1306 2586 1371 2586 1251 2586 1372 2587 1276 2587 1371 2587 1399 2588 1277 2588 1215 2588 1399 2589 1333 2589 1277 2589 1373 2590 1218 2590 1333 2590 1374 2591 1219 2591 1373 2591 1375 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2625 1324 2625 1389 2626 1363 2626 1388 2626 1417 2627 1390 2627 1389 2627 1300 2628 1299 2628 1390 2628 1418 2629 1325 2629 1300 2629 1487 2630 1269 2630 1325 2630 1419 2631 1326 2631 1270 2631 1391 2632 1326 2632 1453 2632 1364 2633 1327 2633 1391 2633 1420 2634 1272 2634 1364 2634 1394 2635 1366 2635 1274 2635 1395 2636 1330 2636 1329 2636 1395 2637 1396 2637 1330 2637 1367 2638 1248 2638 1397 2638 1423 2639 1367 2639 1397 2639 1424 2640 1368 2640 1367 2640 1425 2641 1368 2641 1424 2641 1425 2642 1369 2642 1368 2642 1492 2643 1398 2643 1369 2643 1398 2644 1370 2644 1331 2644 1426 2645 1306 2645 1370 2645 1427 2646 1215 2646 1332 2646 1399 2647 1215 2647 1427 2647 1429 2648 1373 2648 1333 2648 1375 2649 1334 2649 1374 2649 1470 2650 1309 2650 1223 2650 1471 2651 1309 2651 1470 2651 1435 2652 1344 2652 1402 2652 1437 2653 1378 2653 1436 2653 1438 2654 1345 2654 1378 2654 1438 2655 1403 2655 1345 2655 1439 2656 1346 2656 1403 2656 1439 2657 1347 2657 1346 2657 1379 2658 1347 2658 1439 2658 1404 2659 1348 2659 1379 2659 1405 2660 1313 2660 1348 2660 1349 2661 1313 2661 1405 2661 1440 2662 1351 2662 1406 2662 1440 2663 1352 2663 1351 2663 1407 2664 1353 2664 1352 2664 1410 2665 1353 2665 1409 2665 1381 2666 1288 2666 1353 2666 1411 2667 1314 2667 1381 2667 1441 2668 1356 2668 1354 2668 1442 2669 1382 2669 1356 2669 1443 2670 1316 2670 1382 2670 1383 2671 1316 2671 1443 2671 1479 2672 1292 2672 1383 2672 1444 2673 1412 2673 1479 2673 1384 2674 1293 2674 1412 2674 1446 2675 1358 2675 1385 2675 1413 2676 1320 2676 1295 2676 1448 2677 1387 2677 1320 2677 1414 2678 1360 2678 1387 2678 1415 2679 1321 2679 1414 2679 1415 2680 1361 2680 1321 2680 1449 2681 1361 2681 1415 2681 1451 2682 1324 2682 1362 2682 1452 2683 1363 2683 1451 2683 1417 2684 1389 2684 1388 2684 1418 2685 1300 2685 1390 2685 1418 2686 1487 2686 1325 2686 1419 2687 1270 2687 1487 2687 1454 2688 1364 2688 1391 2688 1420 2689 1392 2689 1272 2689 1455 2690 1421 2690 1392 2690 1422 2691 1392 2691 1421 2691 1422 2692 1365 2692 1392 2692 1328 2693 1365 2693 1422 2693 1395 2694 1303 2694 1366 2694 1456 2695 1395 2695 1366 2695 1423 2696 1397 2696 1396 2696 1457 2697 1423 2697 1396 2697 1423 2698 1424 2698 1367 2698 1371 2699 1306 2699 1426 2699 1428 2700 1399 2700 1458 2700 1428 2701 1333 2701 1399 2701 1429 2702 1333 2702 1428 2702 1460 2703 1373 2703 1429 2703 1461 2704 1373 2704 1460 2704 1462 2705 1375 2705 1374 2705 1464 2706 1400 2706 1279 2706 1465 2707 1431 2707 1336 2707 1466 2708 1336 2708 1431 2708 1467 2709 1337 2709 1307 2709 1468 2710 1222 2710 1337 2710 1338 2711 1183 2711 1469 2711 1067 2712 1183 2712 1338 2712 1470 2713 1223 2713 1339 2713 1472 2714 1401 2714 1281 2714 1433 2715 1342 2715 1341 2715 1377 2716 1342 2716 1433 2716 1343 2717 1283 2717 1377 2717 1435 2718 1402 2718 1434 2718 1378 2719 1344 2719 1435 2719 1438 2720 1378 2720 1437 2720 1439 2721 1403 2721 1438 2721 1475 2722 1404 2722 1379 2722 1475 2723 1405 2723 1404 2723 1405 2724 1380 2724 1349 2724 1476 2725 1406 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2058 973 2058 972 2058 1002 2059 748 2059 974 2059 1183 2060 917 2060 975 2060 1099 2061 869 2061 1067 2061 1124 2062 1003 2062 976 2062 1125 2063 811 2063 918 2063 1036 2064 919 2064 1126 2064 1038 2065 1004 2065 1068 2065 1127 2066 1041 2066 1040 2066 1128 2067 1069 2067 1005 2067 1129 2068 1006 2068 1069 2068 1130 2069 1042 2069 1070 2069 1130 2070 1071 2070 1042 2070 1043 2071 1007 2071 1101 2071 1131 2072 1044 2072 1101 2072 1160 2073 1072 2073 1046 2073 1102 2074 1010 2074 1073 2074 1134 2075 983 2075 1103 2075 1134 2076 1011 2076 983 2076 1135 2077 1074 2077 1011 2077 1136 2078 930 2078 1049 2078 1136 2079 1050 2079 930 2079 1137 2080 1050 2080 1136 2080 1105 2081 1052 2081 1051 2081 1052 2082 1106 2082 987 2082 1107 2083 1014 2083 1075 2083 1138 2084 1014 2084 1107 2084 1138 2085 1015 2085 1014 2085 1138 2086 1076 2086 1015 2086 1139 2087 1076 2087 1138 2087 1139 2088 1108 2088 1076 2088 1140 2089 1054 2089 1077 2089 1140 2090 1109 2090 1054 2090 1110 2091 1079 2091 1018 2091 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2125 1040 2125 1128 2126 1005 2126 1041 2126 1129 2127 1069 2127 1128 2127 1157 2128 1071 2128 1130 2128 1158 2129 1071 2129 1100 2129 1158 2130 1007 2130 1071 2130 1101 2131 1007 2131 1158 2131 1159 2132 1045 2132 1044 2132 1159 2133 1132 2133 1045 2133 1132 2134 1046 2134 1045 2134 1160 2135 1046 2135 1133 2135 1161 2136 1134 2136 1103 2136 1134 2137 1135 2137 1011 2137 1104 2138 1049 2138 1048 2138 1232 2139 1050 2139 1137 2139 1106 2140 1052 2140 1105 2140 1163 2141 1107 2141 1075 2141 1164 2142 1139 2142 1138 2142 1077 2143 1053 2143 1108 2143 1165 2144 1077 2144 1108 2144 1166 2145 1109 2145 1140 2145 1167 2146 1078 2146 1054 2146 1141 2147 1080 2147 1079 2147 1168 2148 1080 2148 1141 2148 1168 2149 1111 2149 1080 2149 1169 2150 1111 2150 1168 2150 1171 2151 1082 2151 1143 2151 1112 2152 1057 2152 1082 2152 1084 2153 1083 2153 1112 2153 1113 2154 1085 2154 1084 2154 1086 2155 993 2155 1172 2155 1115 2156 994 2156 1114 2156 1144 2157 1087 2157 1115 2157 1175 2158 1117 2158 1116 2158 1117 2159 944 2159 1032 2159 1117 2160 1145 2160 1088 2160 1176 2161 1146 2161 1090 2161 1148 2162 1062 2162 1147 2162 1177 2163 1120 2163 1093 2163 1178 2164 1094 2164 1121 2164 1149 2165 1094 2165 1179 2165 1180 2166 1150 2166 1149 2166 1151 2167 1095 2167 1150 2167 1151 2168 1096 2168 1095 2168 1152 2169 1097 2169 1122 2169 1181 2170 1097 2170 1152 2170 1222 2171 974 2171 1123 2171 1067 2172 917 2172 1183 2172 1184 2173 1036 2173 1126 2173 1185 2174 1155 2174 1037 2174 1186 2175 1038 2175 1068 2175 1040 2176 1039 2176 1186 2176 1188 2177 1041 2177 1127 2177 1188 2178 1128 2178 1041 2178 1189 2179 1128 2179 1188 2179 1189 2180 1129 2180 1128 2180 1190 2181 1129 2181 1189 2181 1130 2182 1070 2182 1129 2182 1100 2183 1071 2183 1157 2183 1191 2184 1101 2184 1158 2184 1159 2185 1044 2185 1131 2185 1133 2186 1046 2186 1132 2186 1192 2187 1072 2187 1160 2187 1193 2188 1073 2188 1072 2188 1194 2189 1103 2189 1102 2189 1195 2190 1161 2190 1103 2190 1161 2191 1135 2191 1134 2191 1162 2192 1049 2192 1104 2192 1136 2193 1049 2193 1162 2193 1105 2194 1051 2194 1050 2194 1198 2195 1075 2195 1106 2195 1199 2196 1075 2196 1198 2196 1200 2197 1138 2197 1107 2197 1164 2198 1138 2198 1200 2198 1235 2199 1108 2199 1139 2199 1165 2200 1140 2200 1077 2200 1167 2201 1054 2201 1109 2201 1110 2202 1078 2202 1167 2202 1201 2203 1141 2203 1110 2203 1170 2204 1111 2204 1169 2204 1142 2205 1111 2205 1170 2205 1142 2206 1081 2206 1111 2206 1084 2207 1112 2207 1082 2207 1204 2208 1113 2208 1084 2208 1204 2209 1172 2209 1113 2209 1086 2210 1173 2210 1114 2210 1173 2211 1174 2211 1114 2211 1205 2212 1114 2212 1174 2212 1206 2213 1144 2213 1115 2213 1207 2214 1144 2214 1206 2214 1175 2215 1116 2215 1144 2215 1208 2216 1145 2216 1117 2216 1118 2217 1176 2217 1090 2217 1210 2218 1119 2218 1091 2218 1211 2219 1092 2219 1119 2219 1212 2220 1092 2220 1211 2220 1212 2221 1147 2221 1092 2221 1213 2222 1147 2222 1212 2222 1148 2223 1147 2223 1213 2223 1093 2224 1148 2224 1214 2224 1121 2225 1120 2225 1177 2225 1178 2226 1179 2226 1094 2226 1215 2227 1150 2227 1180 2227 1216 2228 1150 2228 1215 2228 1216 2229 1151 2229 1150 2229 1152 2230 1096 2230 1151 2230 1218 2231 1181 2231 1152 2231 1219 2232 1181 2232 1218 2232 1153 2233 1097 2233 1181 2233 1182 2234 1098 2234 1153 2234 1221 2235 1098 2235 1182 2235 1123 2236 1035 2236 1154 2236 1223 2237 976 2237 1099 2237 1125 2238 1003 2238 1124 2238 1125 2239 918 2239 1003 2239 1186 2240 1068 2240 1155 2240 1187 2241 1040 2241 1186 2241 1225 2242 1188 2242 1127 2242 1130 2243 1129 2243 1190 2243 1226 2244 1158 2244 1100 2244 1191 2245 1131 2245 1101 2245 1133 2246 1132 2246 1159 2246 1228 2247 1160 2247 1133 2247 1229 2248 1192 2248 1160 2248 1193 2249 1072 2249 1192 2249 1194 2250 1073 2250 1193 2250 1102 2251 1073 2251 1194 2251 1195 2252 1103 2252 1194 2252 1230 2253 1135 2253 1161 2253 1196 2254 1104 2254 1074 2254 1231 2255 1196 2255 1074 2255 1196 2256 1162 2256 1104 2256 1137 2257 1136 2257 1197 2257 1263 2258 1106 2258 1105 2258 1233 2259 1198 2259 1106 2259 1163 2260 1075 2260 1199 2260 1234 2261 1200 2261 1107 2261 1236 2262 1165 2262 1108 2262 1166 2263 1140 2263 1165 2263 1238 2264 1166 2264 1165 2264 1168 2265 1141 2265 1201 2265 1239 2266 1168 2266 1201 2266 1242 2267 1142 2267 1170 2267 1203 2268 1142 2268 1202 2268 1142 2269 1203 2269 1143 2269 1243 2270 1171 2270 1143 2270 1243 2271 1204 2271 1171 2271 1082 2272 1171 2272 1204 2272 1204 2273 1084 2273 1082 2273 1115 2274 1114 2274 1205 2274 1205 2275 1206 2275 1115 2275 1118 2276 1145 2276 1208 2276 1208 2277 1209 2277 1118 2277 1245 2278 1118 2278 1209 2278 1245 2279 1176 2279 1118 2279 1246 2280 1176 2280 1245 2280 1246 2281 1146 2281 1176 2281 1091 2282 1146 2282 1246 2282 1210 2283 1091 2283 1246 2283 1210 2284 1211 2284 1119 2284 1213 2285 1214 2285 1148 2285 1214 2286 1177 2286 1093 2286 1247 2287 1177 2287 1214 2287 1249 2288 1121 2288 1177 2288 1249 2289 1178 2289 1121 2289 1250 2290 1178 2290 1249 2290 1251 2291 1179 2291 1178 2291 1252 2292 1149 2292 1179 2292 1252 2293 1180 2293 1149 2293 1216 2294 1152 2294 1151 2294 1218 2295 1152 2295 1217 2295 1253 2296 1153 2296 1181 2296 1253 2297 1220 2297 1153 2297 1182 2298 1153 2298 1220 2298 1154 2299 1098 2299 1221 2299 1183 2300 975 2300 1002 2300 1223 2301 1124 2301 976 2301 1309 2302 1125 2302 1124 2302 1254 2303 1037 2303 1036 2303 1254 2304 1185 2304 1037 2304 1156 2305 1040 2305 1187 2305 1225 2306 1127 2306 1156 2306 1256 2307 1189 2307 1188 2307 1258 2308 1191 2308 1158 2308 1258 2309 1131 2309 1191 2309 1259 2310 1159 2310 1131 2310 1259 2311 1227 2311 1159 2311 1133 2312 1159 2312 1227 2312 1227 2313 1228 2313 1133 2313 1260 2314 1192 2314 1229 2314 1261 2315 1195 2315 1194 2315 1231 2316 1074 2316 1135 2316 1197 2317 1136 2317 1162 2317 1293 2318 1232 2318 1137 2318 1105 2319 1050 2319 1232 2319 1233 2320 1106 2320 1263 2320 1234 2321 1107 2321 1163 2321 1200 2322 1234 2322 1164 2322 1164 2323 1235 2323 1139 2323 1236 2324 1108 2324 1235 2324 1264 2325 1236 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2358 1340 2359 1126 2359 950 2359 1281 2360 1036 2360 1184 2360 1282 2361 1155 2361 1185 2361 1283 2362 1156 2362 1187 2362 1255 2363 1156 2363 1283 2363 1285 2364 1188 2364 1225 2364 1285 2365 1256 2365 1188 2365 1190 2366 1189 2366 1256 2366 1226 2367 1100 2367 1157 2367 1258 2368 1158 2368 1226 2368 1286 2369 1131 2369 1258 2369 1229 2370 1160 2370 1228 2370 1289 2371 1230 2371 1161 2371 1231 2372 1135 2372 1230 2372 1291 2373 1162 2373 1196 2373 1291 2374 1197 2374 1162 2374 1262 2375 1232 2375 1293 2375 1105 2376 1232 2376 1262 2376 1262 2377 1263 2377 1105 2377 1318 2378 1199 2378 1198 2378 1164 2379 1234 2379 1163 2379 1237 2380 1236 2380 1264 2380 1296 2381 1238 2381 1237 2381 1265 2382 1109 2382 1238 2382 1297 2383 1265 2383 1238 2383 1239 2384 1201 2384 1265 2384 1266 2385 1168 2385 1239 2385 1240 2386 1168 2386 1266 2386 1298 2387 1241 2387 1240 2387 1299 2388 1170 2388 1241 2388 1299 2389 1242 2389 1170 2389 1300 2390 1242 2390 1299 2390 1300 2391 1202 2391 1242 2391 1269 2392 1172 2392 1268 2392 1173 2393 1086 2393 1269 2393 1271 2394 1206 2394 1205 2394 1301 2395 1207 2395 1271 2395 1302 2396 1208 2396 1273 2396 1274 2397 1245 2397 1209 2397 1210 2398 1246 2398 1274 2398 1303 2399 1212 2399 1211 2399 1275 2400 1213 2400 1212 2400 1247 2401 1214 2401 1275 2401 1304 2402 1248 2402 1247 2402 1250 2403 1249 2403 1305 2403 1306 2404 1251 2404 1250 2404 1372 2405 1215 2405 1180 2405 1253 2406 1181 2406 1278 2406 1279 2407 1220 2407 1253 2407 1307 2408 1182 2408 1220 2408 1307 2409 1221 2409 1182 2409 1222 2410 1123 2410 1337 2410 1308 2411 974 2411 1222 2411 1308 2412 1002 2412 974 2412 1309 2413 1124 2413 1223 2413 1254 2414 1036 2414 1281 2414 1155 2415 1282 2415 1186 2415 1224 2416 1186 2416 1282 2416 1284 2417 1156 2417 1255 2417 1311 2418 1156 2418 1284 2418 1311 2419 1225 2419 1156 2419 1312 2420 1285 2420 1225 2420 1226 2421 1157 2421 1257 2421 1313 2422 1258 2422 1226 2422 1286 2423 1259 2423 1131 2423 1287 2424 1227 2424 1259 2424 1228 2425 1227 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2458 1328 2459 1274 2459 1209 2459 1303 2460 1211 2460 1210 2460 1330 2461 1275 2461 1212 2461 1304 2462 1247 2462 1275 2462 1305 2463 1249 2463 1248 2463 1331 2464 1250 2464 1305 2464 1372 2465 1180 2465 1276 2465 1332 2466 1215 2466 1372 2466 1217 2467 1216 2467 1277 2467 1333 2468 1217 2468 1277 2468 1334 2469 1278 2469 1219 2469 1336 2470 1220 2470 1279 2470 1338 2471 1280 2471 1067 2471 1339 2472 1099 2472 1280 2472 1339 2473 1223 2473 1099 2473 1310 2474 1125 2474 1309 2474 1340 2475 1125 2475 1310 2475 1340 2476 950 2476 1125 2476 1282 2477 1185 2477 1254 2477 1342 2478 1224 2478 1282 2478 1283 2479 1187 2479 1224 2479 1343 2480 1255 2480 1283 2480 1312 2481 1225 2481 1311 2481 1345 2482 1312 2482 1311 2482 1347 2483 1190 2483 1256 2483 1347 2484 1257 2484 1157 2484 1257 2485 1313 2485 1226 2485 1348 2486 1313 2486 1257 2486 1287 2487 1259 2487 1286 2487 1351 2488 1229 2488 1228 2488 1352 2489 1260 2489 1229 2489 1288 2490 1194 2490 1192 2490 1289 2491 1195 2491 1315 2491 1354 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3992 2015 3992 2108 3992 1979 3993 2051 3993 2109 3993 2138 3994 2111 3994 1981 3994 2080 3995 1945 3995 2111 3995 2081 3996 1946 3996 2080 3996 2113 3997 2053 3997 2112 3997 2140 3998 2083 3998 2115 3998 1987 3999 2018 3999 2084 3999 2141 4000 1987 4000 2116 4000 2141 4001 2020 4001 2019 4001 2055 4002 2021 4002 2020 4002 2143 4003 2022 4003 1988 4003 2144 4004 2056 4004 2022 4004 2117 4005 2057 4005 2056 4005 2086 4006 2057 4006 2117 4006 2145 4007 2024 4007 2118 4007 2087 4008 2059 4008 2145 4008 2146 4009 2025 4009 2087 4009 2146 4010 2060 4010 2025 4010 2148 4011 1992 4011 1991 4011 2148 4012 2119 4012 1992 4012 2149 4013 2088 4013 2119 4013 2149 4014 2089 4014 2088 4014 2150 4015 2089 4015 2149 4015 2120 4016 2027 4016 2089 4016 2152 4017 2061 4017 2121 4017 2153 4018 2062 4018 2122 4018 2153 4019 2123 4019 2062 4019 2063 4020 2124 4020 1962 4020 2155 4021 2092 4021 2125 4021 2157 4022 2094 4022 2126 4022 2157 4023 2032 4023 2094 4023 2065 4024 2032 4024 2157 4024 2127 4025 2033 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2058 973 2058 972 2058 1002 2059 748 2059 974 2059 1183 2060 917 2060 975 2060 1099 2061 869 2061 1067 2061 1124 2062 1003 2062 976 2062 1125 2063 811 2063 918 2063 1036 2064 919 2064 1126 2064 1038 2065 1004 2065 1068 2065 1127 2066 1041 2066 1040 2066 1128 2067 1069 2067 1005 2067 1129 2068 1006 2068 1069 2068 1130 2069 1042 2069 1070 2069 1130 2070 1071 2070 1042 2070 1043 2071 1007 2071 1101 2071 1131 2072 1044 2072 1101 2072 1160 2073 1072 2073 1046 2073 1102 2074 1010 2074 1073 2074 1134 2075 983 2075 1103 2075 1134 2076 1011 2076 983 2076 1135 2077 1074 2077 1011 2077 1136 2078 930 2078 1049 2078 1136 2079 1050 2079 930 2079 1137 2080 1050 2080 1136 2080 1105 2081 1052 2081 1051 2081 1052 2082 1106 2082 987 2082 1107 2083 1014 2083 1075 2083 1138 2084 1014 2084 1107 2084 1138 2085 1015 2085 1014 2085 1138 2086 1076 2086 1015 2086 1139 2087 1076 2087 1138 2087 1139 2088 1108 2088 1076 2088 1140 2089 1054 2089 1077 2089 1140 2090 1109 2090 1054 2090 1110 2091 1079 2091 1018 2091 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2125 1040 2125 1128 2126 1005 2126 1041 2126 1129 2127 1069 2127 1128 2127 1157 2128 1071 2128 1130 2128 1158 2129 1071 2129 1100 2129 1158 2130 1007 2130 1071 2130 1101 2131 1007 2131 1158 2131 1159 2132 1045 2132 1044 2132 1159 2133 1132 2133 1045 2133 1132 2134 1046 2134 1045 2134 1160 2135 1046 2135 1133 2135 1161 2136 1134 2136 1103 2136 1134 2137 1135 2137 1011 2137 1104 2138 1049 2138 1048 2138 1232 2139 1050 2139 1137 2139 1106 2140 1052 2140 1105 2140 1163 2141 1107 2141 1075 2141 1164 2142 1139 2142 1138 2142 1077 2143 1053 2143 1108 2143 1165 2144 1077 2144 1108 2144 1166 2145 1109 2145 1140 2145 1167 2146 1078 2146 1054 2146 1141 2147 1080 2147 1079 2147 1168 2148 1080 2148 1141 2148 1168 2149 1111 2149 1080 2149 1169 2150 1111 2150 1168 2150 1171 2151 1082 2151 1143 2151 1112 2152 1057 2152 1082 2152 1084 2153 1083 2153 1112 2153 1113 2154 1085 2154 1084 2154 1086 2155 993 2155 1172 2155 1115 2156 994 2156 1114 2156 1144 2157 1087 2157 1115 2157 1175 2158 1117 2158 1116 2158 1117 2159 944 2159 1032 2159 1117 2160 1145 2160 1088 2160 1176 2161 1146 2161 1090 2161 1148 2162 1062 2162 1147 2162 1177 2163 1120 2163 1093 2163 1178 2164 1094 2164 1121 2164 1149 2165 1094 2165 1179 2165 1180 2166 1150 2166 1149 2166 1151 2167 1095 2167 1150 2167 1151 2168 1096 2168 1095 2168 1152 2169 1097 2169 1122 2169 1181 2170 1097 2170 1152 2170 1222 2171 974 2171 1123 2171 1067 2172 917 2172 1183 2172 1184 2173 1036 2173 1126 2173 1185 2174 1155 2174 1037 2174 1186 2175 1038 2175 1068 2175 1040 2176 1039 2176 1186 2176 1188 2177 1041 2177 1127 2177 1188 2178 1128 2178 1041 2178 1189 2179 1128 2179 1188 2179 1189 2180 1129 2180 1128 2180 1190 2181 1129 2181 1189 2181 1130 2182 1070 2182 1129 2182 1100 2183 1071 2183 1157 2183 1191 2184 1101 2184 1158 2184 1159 2185 1044 2185 1131 2185 1133 2186 1046 2186 1132 2186 1192 2187 1072 2187 1160 2187 1193 2188 1073 2188 1072 2188 1194 2189 1103 2189 1102 2189 1195 2190 1161 2190 1103 2190 1161 2191 1135 2191 1134 2191 1162 2192 1049 2192 1104 2192 1136 2193 1049 2193 1162 2193 1105 2194 1051 2194 1050 2194 1198 2195 1075 2195 1106 2195 1199 2196 1075 2196 1198 2196 1200 2197 1138 2197 1107 2197 1164 2198 1138 2198 1200 2198 1235 2199 1108 2199 1139 2199 1165 2200 1140 2200 1077 2200 1167 2201 1054 2201 1109 2201 1110 2202 1078 2202 1167 2202 1201 2203 1141 2203 1110 2203 1170 2204 1111 2204 1169 2204 1142 2205 1111 2205 1170 2205 1142 2206 1081 2206 1111 2206 1084 2207 1112 2207 1082 2207 1204 2208 1113 2208 1084 2208 1204 2209 1172 2209 1113 2209 1086 2210 1173 2210 1114 2210 1173 2211 1174 2211 1114 2211 1205 2212 1114 2212 1174 2212 1206 2213 1144 2213 1115 2213 1207 2214 1144 2214 1206 2214 1175 2215 1116 2215 1144 2215 1208 2216 1145 2216 1117 2216 1118 2217 1176 2217 1090 2217 1210 2218 1119 2218 1091 2218 1211 2219 1092 2219 1119 2219 1212 2220 1092 2220 1211 2220 1212 2221 1147 2221 1092 2221 1213 2222 1147 2222 1212 2222 1148 2223 1147 2223 1213 2223 1093 2224 1148 2224 1214 2224 1121 2225 1120 2225 1177 2225 1178 2226 1179 2226 1094 2226 1215 2227 1150 2227 1180 2227 1216 2228 1150 2228 1215 2228 1216 2229 1151 2229 1150 2229 1152 2230 1096 2230 1151 2230 1218 2231 1181 2231 1152 2231 1219 2232 1181 2232 1218 2232 1153 2233 1097 2233 1181 2233 1182 2234 1098 2234 1153 2234 1221 2235 1098 2235 1182 2235 1123 2236 1035 2236 1154 2236 1223 2237 976 2237 1099 2237 1125 2238 1003 2238 1124 2238 1125 2239 918 2239 1003 2239 1186 2240 1068 2240 1155 2240 1187 2241 1040 2241 1186 2241 1225 2242 1188 2242 1127 2242 1130 2243 1129 2243 1190 2243 1226 2244 1158 2244 1100 2244 1191 2245 1131 2245 1101 2245 1133 2246 1132 2246 1159 2246 1228 2247 1160 2247 1133 2247 1229 2248 1192 2248 1160 2248 1193 2249 1072 2249 1192 2249 1194 2250 1073 2250 1193 2250 1102 2251 1073 2251 1194 2251 1195 2252 1103 2252 1194 2252 1230 2253 1135 2253 1161 2253 1196 2254 1104 2254 1074 2254 1231 2255 1196 2255 1074 2255 1196 2256 1162 2256 1104 2256 1137 2257 1136 2257 1197 2257 1263 2258 1106 2258 1105 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2292 1149 2292 1179 2292 1252 2293 1180 2293 1149 2293 1216 2294 1152 2294 1151 2294 1218 2295 1152 2295 1217 2295 1253 2296 1153 2296 1181 2296 1253 2297 1220 2297 1153 2297 1182 2298 1153 2298 1220 2298 1154 2299 1098 2299 1221 2299 1183 2300 975 2300 1002 2300 1223 2301 1124 2301 976 2301 1309 2302 1125 2302 1124 2302 1254 2303 1037 2303 1036 2303 1254 2304 1185 2304 1037 2304 1156 2305 1040 2305 1187 2305 1225 2306 1127 2306 1156 2306 1256 2307 1189 2307 1188 2307 1258 2308 1191 2308 1158 2308 1258 2309 1131 2309 1191 2309 1259 2310 1159 2310 1131 2310 1259 2311 1227 2311 1159 2311 1133 2312 1159 2312 1227 2312 1227 2313 1228 2313 1133 2313 1260 2314 1192 2314 1229 2314 1261 2315 1195 2315 1194 2315 1231 2316 1074 2316 1135 2316 1197 2317 1136 2317 1162 2317 1293 2318 1232 2318 1137 2318 1105 2319 1050 2319 1232 2319 1233 2320 1106 2320 1263 2320 1234 2321 1107 2321 1163 2321 1200 2322 1234 2322 1164 2322 1164 2323 1235 2323 1139 2323 1236 2324 1108 2324 1235 2324 1264 2325 1236 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2358 1340 2359 1126 2359 950 2359 1281 2360 1036 2360 1184 2360 1282 2361 1155 2361 1185 2361 1283 2362 1156 2362 1187 2362 1255 2363 1156 2363 1283 2363 1285 2364 1188 2364 1225 2364 1285 2365 1256 2365 1188 2365 1190 2366 1189 2366 1256 2366 1226 2367 1100 2367 1157 2367 1258 2368 1158 2368 1226 2368 1286 2369 1131 2369 1258 2369 1229 2370 1160 2370 1228 2370 1289 2371 1230 2371 1161 2371 1231 2372 1135 2372 1230 2372 1291 2373 1162 2373 1196 2373 1291 2374 1197 2374 1162 2374 1262 2375 1232 2375 1293 2375 1105 2376 1232 2376 1262 2376 1262 2377 1263 2377 1105 2377 1318 2378 1199 2378 1198 2378 1164 2379 1234 2379 1163 2379 1237 2380 1236 2380 1264 2380 1296 2381 1238 2381 1237 2381 1265 2382 1109 2382 1238 2382 1297 2383 1265 2383 1238 2383 1239 2384 1201 2384 1265 2384 1266 2385 1168 2385 1239 2385 1240 2386 1168 2386 1266 2386 1298 2387 1241 2387 1240 2387 1299 2388 1170 2388 1241 2388 1299 2389 1242 2389 1170 2389 1300 2390 1242 2390 1299 2390 1300 2391 1202 2391 1242 2391 1269 2392 1172 2392 1268 2392 1173 2393 1086 2393 1269 2393 1271 2394 1206 2394 1205 2394 1301 2395 1207 2395 1271 2395 1302 2396 1208 2396 1273 2396 1274 2397 1245 2397 1209 2397 1210 2398 1246 2398 1274 2398 1303 2399 1212 2399 1211 2399 1275 2400 1213 2400 1212 2400 1247 2401 1214 2401 1275 2401 1304 2402 1248 2402 1247 2402 1250 2403 1249 2403 1305 2403 1306 2404 1251 2404 1250 2404 1372 2405 1215 2405 1180 2405 1253 2406 1181 2406 1278 2406 1279 2407 1220 2407 1253 2407 1307 2408 1182 2408 1220 2408 1307 2409 1221 2409 1182 2409 1222 2410 1123 2410 1337 2410 1308 2411 974 2411 1222 2411 1308 2412 1002 2412 974 2412 1309 2413 1124 2413 1223 2413 1254 2414 1036 2414 1281 2414 1155 2415 1282 2415 1186 2415 1224 2416 1186 2416 1282 2416 1284 2417 1156 2417 1255 2417 1311 2418 1156 2418 1284 2418 1311 2419 1225 2419 1156 2419 1312 2420 1285 2420 1225 2420 1226 2421 1157 2421 1257 2421 1313 2422 1258 2422 1226 2422 1286 2423 1259 2423 1131 2423 1287 2424 1227 2424 1259 2424 1228 2425 1227 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2458 1328 2459 1274 2459 1209 2459 1303 2460 1211 2460 1210 2460 1330 2461 1275 2461 1212 2461 1304 2462 1247 2462 1275 2462 1305 2463 1249 2463 1248 2463 1331 2464 1250 2464 1305 2464 1372 2465 1180 2465 1276 2465 1332 2466 1215 2466 1372 2466 1217 2467 1216 2467 1277 2467 1333 2468 1217 2468 1277 2468 1334 2469 1278 2469 1219 2469 1336 2470 1220 2470 1279 2470 1338 2471 1280 2471 1067 2471 1339 2472 1099 2472 1280 2472 1339 2473 1223 2473 1099 2473 1310 2474 1125 2474 1309 2474 1340 2475 1125 2475 1310 2475 1340 2476 950 2476 1125 2476 1282 2477 1185 2477 1254 2477 1342 2478 1224 2478 1282 2478 1283 2479 1187 2479 1224 2479 1343 2480 1255 2480 1283 2480 1312 2481 1225 2481 1311 2481 1345 2482 1312 2482 1311 2482 1347 2483 1190 2483 1256 2483 1347 2484 1257 2484 1157 2484 1257 2485 1313 2485 1226 2485 1348 2486 1313 2486 1257 2486 1287 2487 1259 2487 1286 2487 1351 2488 1229 2488 1228 2488 1352 2489 1260 2489 1229 2489 1288 2490 1194 2490 1192 2490 1289 2491 1195 2491 1315 2491 1354 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2058 973 2058 972 2058 1002 2059 748 2059 974 2059 1183 2060 917 2060 975 2060 1099 2061 869 2061 1067 2061 1124 2062 1003 2062 976 2062 1125 2063 811 2063 918 2063 1036 2064 919 2064 1126 2064 1038 2065 1004 2065 1068 2065 1127 2066 1041 2066 1040 2066 1128 2067 1069 2067 1005 2067 1129 2068 1006 2068 1069 2068 1130 2069 1042 2069 1070 2069 1130 2070 1071 2070 1042 2070 1043 2071 1007 2071 1101 2071 1131 2072 1044 2072 1101 2072 1160 2073 1072 2073 1046 2073 1102 2074 1010 2074 1073 2074 1134 2075 983 2075 1103 2075 1134 2076 1011 2076 983 2076 1135 2077 1074 2077 1011 2077 1136 2078 930 2078 1049 2078 1136 2079 1050 2079 930 2079 1137 2080 1050 2080 1136 2080 1105 2081 1052 2081 1051 2081 1052 2082 1106 2082 987 2082 1107 2083 1014 2083 1075 2083 1138 2084 1014 2084 1107 2084 1138 2085 1015 2085 1014 2085 1138 2086 1076 2086 1015 2086 1139 2087 1076 2087 1138 2087 1139 2088 1108 2088 1076 2088 1140 2089 1054 2089 1077 2089 1140 2090 1109 2090 1054 2090 1110 2091 1079 2091 1018 2091 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2125 1040 2125 1128 2126 1005 2126 1041 2126 1129 2127 1069 2127 1128 2127 1157 2128 1071 2128 1130 2128 1158 2129 1071 2129 1100 2129 1158 2130 1007 2130 1071 2130 1101 2131 1007 2131 1158 2131 1159 2132 1045 2132 1044 2132 1159 2133 1132 2133 1045 2133 1132 2134 1046 2134 1045 2134 1160 2135 1046 2135 1133 2135 1161 2136 1134 2136 1103 2136 1134 2137 1135 2137 1011 2137 1104 2138 1049 2138 1048 2138 1232 2139 1050 2139 1137 2139 1106 2140 1052 2140 1105 2140 1163 2141 1107 2141 1075 2141 1164 2142 1139 2142 1138 2142 1077 2143 1053 2143 1108 2143 1165 2144 1077 2144 1108 2144 1166 2145 1109 2145 1140 2145 1167 2146 1078 2146 1054 2146 1141 2147 1080 2147 1079 2147 1168 2148 1080 2148 1141 2148 1168 2149 1111 2149 1080 2149 1169 2150 1111 2150 1168 2150 1171 2151 1082 2151 1143 2151 1112 2152 1057 2152 1082 2152 1084 2153 1083 2153 1112 2153 1113 2154 1085 2154 1084 2154 1086 2155 993 2155 1172 2155 1115 2156 994 2156 1114 2156 1144 2157 1087 2157 1115 2157 1175 2158 1117 2158 1116 2158 1117 2159 944 2159 1032 2159 1117 2160 1145 2160 1088 2160 1176 2161 1146 2161 1090 2161 1148 2162 1062 2162 1147 2162 1177 2163 1120 2163 1093 2163 1178 2164 1094 2164 1121 2164 1149 2165 1094 2165 1179 2165 1180 2166 1150 2166 1149 2166 1151 2167 1095 2167 1150 2167 1151 2168 1096 2168 1095 2168 1152 2169 1097 2169 1122 2169 1181 2170 1097 2170 1152 2170 1222 2171 974 2171 1123 2171 1067 2172 917 2172 1183 2172 1184 2173 1036 2173 1126 2173 1185 2174 1155 2174 1037 2174 1186 2175 1038 2175 1068 2175 1040 2176 1039 2176 1186 2176 1188 2177 1041 2177 1127 2177 1188 2178 1128 2178 1041 2178 1189 2179 1128 2179 1188 2179 1189 2180 1129 2180 1128 2180 1190 2181 1129 2181 1189 2181 1130 2182 1070 2182 1129 2182 1100 2183 1071 2183 1157 2183 1191 2184 1101 2184 1158 2184 1159 2185 1044 2185 1131 2185 1133 2186 1046 2186 1132 2186 1192 2187 1072 2187 1160 2187 1193 2188 1073 2188 1072 2188 1194 2189 1103 2189 1102 2189 1195 2190 1161 2190 1103 2190 1161 2191 1135 2191 1134 2191 1162 2192 1049 2192 1104 2192 1136 2193 1049 2193 1162 2193 1105 2194 1051 2194 1050 2194 1198 2195 1075 2195 1106 2195 1199 2196 1075 2196 1198 2196 1200 2197 1138 2197 1107 2197 1164 2198 1138 2198 1200 2198 1235 2199 1108 2199 1139 2199 1165 2200 1140 2200 1077 2200 1167 2201 1054 2201 1109 2201 1110 2202 1078 2202 1167 2202 1201 2203 1141 2203 1110 2203 1170 2204 1111 2204 1169 2204 1142 2205 1111 2205 1170 2205 1142 2206 1081 2206 1111 2206 1084 2207 1112 2207 1082 2207 1204 2208 1113 2208 1084 2208 1204 2209 1172 2209 1113 2209 1086 2210 1173 2210 1114 2210 1173 2211 1174 2211 1114 2211 1205 2212 1114 2212 1174 2212 1206 2213 1144 2213 1115 2213 1207 2214 1144 2214 1206 2214 1175 2215 1116 2215 1144 2215 1208 2216 1145 2216 1117 2216 1118 2217 1176 2217 1090 2217 1210 2218 1119 2218 1091 2218 1211 2219 1092 2219 1119 2219 1212 2220 1092 2220 1211 2220 1212 2221 1147 2221 1092 2221 1213 2222 1147 2222 1212 2222 1148 2223 1147 2223 1213 2223 1093 2224 1148 2224 1214 2224 1121 2225 1120 2225 1177 2225 1178 2226 1179 2226 1094 2226 1215 2227 1150 2227 1180 2227 1216 2228 1150 2228 1215 2228 1216 2229 1151 2229 1150 2229 1152 2230 1096 2230 1151 2230 1218 2231 1181 2231 1152 2231 1219 2232 1181 2232 1218 2232 1153 2233 1097 2233 1181 2233 1182 2234 1098 2234 1153 2234 1221 2235 1098 2235 1182 2235 1123 2236 1035 2236 1154 2236 1223 2237 976 2237 1099 2237 1125 2238 1003 2238 1124 2238 1125 2239 918 2239 1003 2239 1186 2240 1068 2240 1155 2240 1187 2241 1040 2241 1186 2241 1225 2242 1188 2242 1127 2242 1130 2243 1129 2243 1190 2243 1226 2244 1158 2244 1100 2244 1191 2245 1131 2245 1101 2245 1133 2246 1132 2246 1159 2246 1228 2247 1160 2247 1133 2247 1229 2248 1192 2248 1160 2248 1193 2249 1072 2249 1192 2249 1194 2250 1073 2250 1193 2250 1102 2251 1073 2251 1194 2251 1195 2252 1103 2252 1194 2252 1230 2253 1135 2253 1161 2253 1196 2254 1104 2254 1074 2254 1231 2255 1196 2255 1074 2255 1196 2256 1162 2256 1104 2256 1137 2257 1136 2257 1197 2257 1263 2258 1106 2258 1105 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2292 1149 2292 1179 2292 1252 2293 1180 2293 1149 2293 1216 2294 1152 2294 1151 2294 1218 2295 1152 2295 1217 2295 1253 2296 1153 2296 1181 2296 1253 2297 1220 2297 1153 2297 1182 2298 1153 2298 1220 2298 1154 2299 1098 2299 1221 2299 1183 2300 975 2300 1002 2300 1223 2301 1124 2301 976 2301 1309 2302 1125 2302 1124 2302 1254 2303 1037 2303 1036 2303 1254 2304 1185 2304 1037 2304 1156 2305 1040 2305 1187 2305 1225 2306 1127 2306 1156 2306 1256 2307 1189 2307 1188 2307 1258 2308 1191 2308 1158 2308 1258 2309 1131 2309 1191 2309 1259 2310 1159 2310 1131 2310 1259 2311 1227 2311 1159 2311 1133 2312 1159 2312 1227 2312 1227 2313 1228 2313 1133 2313 1260 2314 1192 2314 1229 2314 1261 2315 1195 2315 1194 2315 1231 2316 1074 2316 1135 2316 1197 2317 1136 2317 1162 2317 1293 2318 1232 2318 1137 2318 1105 2319 1050 2319 1232 2319 1233 2320 1106 2320 1263 2320 1234 2321 1107 2321 1163 2321 1200 2322 1234 2322 1164 2322 1164 2323 1235 2323 1139 2323 1236 2324 1108 2324 1235 2324 1264 2325 1236 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2358 1340 2359 1126 2359 950 2359 1281 2360 1036 2360 1184 2360 1282 2361 1155 2361 1185 2361 1283 2362 1156 2362 1187 2362 1255 2363 1156 2363 1283 2363 1285 2364 1188 2364 1225 2364 1285 2365 1256 2365 1188 2365 1190 2366 1189 2366 1256 2366 1226 2367 1100 2367 1157 2367 1258 2368 1158 2368 1226 2368 1286 2369 1131 2369 1258 2369 1229 2370 1160 2370 1228 2370 1289 2371 1230 2371 1161 2371 1231 2372 1135 2372 1230 2372 1291 2373 1162 2373 1196 2373 1291 2374 1197 2374 1162 2374 1262 2375 1232 2375 1293 2375 1105 2376 1232 2376 1262 2376 1262 2377 1263 2377 1105 2377 1318 2378 1199 2378 1198 2378 1164 2379 1234 2379 1163 2379 1237 2380 1236 2380 1264 2380 1296 2381 1238 2381 1237 2381 1265 2382 1109 2382 1238 2382 1297 2383 1265 2383 1238 2383 1239 2384 1201 2384 1265 2384 1266 2385 1168 2385 1239 2385 1240 2386 1168 2386 1266 2386 1298 2387 1241 2387 1240 2387 1299 2388 1170 2388 1241 2388 1299 2389 1242 2389 1170 2389 1300 2390 1242 2390 1299 2390 1300 2391 1202 2391 1242 2391 1269 2392 1172 2392 1268 2392 1173 2393 1086 2393 1269 2393 1271 2394 1206 2394 1205 2394 1301 2395 1207 2395 1271 2395 1302 2396 1208 2396 1273 2396 1274 2397 1245 2397 1209 2397 1210 2398 1246 2398 1274 2398 1303 2399 1212 2399 1211 2399 1275 2400 1213 2400 1212 2400 1247 2401 1214 2401 1275 2401 1304 2402 1248 2402 1247 2402 1250 2403 1249 2403 1305 2403 1306 2404 1251 2404 1250 2404 1372 2405 1215 2405 1180 2405 1253 2406 1181 2406 1278 2406 1279 2407 1220 2407 1253 2407 1307 2408 1182 2408 1220 2408 1307 2409 1221 2409 1182 2409 1222 2410 1123 2410 1337 2410 1308 2411 974 2411 1222 2411 1308 2412 1002 2412 974 2412 1309 2413 1124 2413 1223 2413 1254 2414 1036 2414 1281 2414 1155 2415 1282 2415 1186 2415 1224 2416 1186 2416 1282 2416 1284 2417 1156 2417 1255 2417 1311 2418 1156 2418 1284 2418 1311 2419 1225 2419 1156 2419 1312 2420 1285 2420 1225 2420 1226 2421 1157 2421 1257 2421 1313 2422 1258 2422 1226 2422 1286 2423 1259 2423 1131 2423 1287 2424 1227 2424 1259 2424 1228 2425 1227 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2458 1328 2459 1274 2459 1209 2459 1303 2460 1211 2460 1210 2460 1330 2461 1275 2461 1212 2461 1304 2462 1247 2462 1275 2462 1305 2463 1249 2463 1248 2463 1331 2464 1250 2464 1305 2464 1372 2465 1180 2465 1276 2465 1332 2466 1215 2466 1372 2466 1217 2467 1216 2467 1277 2467 1333 2468 1217 2468 1277 2468 1334 2469 1278 2469 1219 2469 1336 2470 1220 2470 1279 2470 1338 2471 1280 2471 1067 2471 1339 2472 1099 2472 1280 2472 1339 2473 1223 2473 1099 2473 1310 2474 1125 2474 1309 2474 1340 2475 1125 2475 1310 2475 1340 2476 950 2476 1125 2476 1282 2477 1185 2477 1254 2477 1342 2478 1224 2478 1282 2478 1283 2479 1187 2479 1224 2479 1343 2480 1255 2480 1283 2480 1312 2481 1225 2481 1311 2481 1345 2482 1312 2482 1311 2482 1347 2483 1190 2483 1256 2483 1347 2484 1257 2484 1157 2484 1257 2485 1313 2485 1226 2485 1348 2486 1313 2486 1257 2486 1287 2487 1259 2487 1286 2487 1351 2488 1229 2488 1228 2488 1352 2489 1260 2489 1229 2489 1288 2490 1194 2490 1192 2490 1289 2491 1195 2491 1315 2491 1354 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2058 973 2058 972 2058 1002 2059 748 2059 974 2059 1183 2060 917 2060 975 2060 1099 2061 869 2061 1067 2061 1124 2062 1003 2062 976 2062 1125 2063 811 2063 918 2063 1036 2064 919 2064 1126 2064 1038 2065 1004 2065 1068 2065 1127 2066 1041 2066 1040 2066 1128 2067 1069 2067 1005 2067 1129 2068 1006 2068 1069 2068 1130 2069 1042 2069 1070 2069 1130 2070 1071 2070 1042 2070 1043 2071 1007 2071 1101 2071 1131 2072 1044 2072 1101 2072 1160 2073 1072 2073 1046 2073 1102 2074 1010 2074 1073 2074 1134 2075 983 2075 1103 2075 1134 2076 1011 2076 983 2076 1135 2077 1074 2077 1011 2077 1136 2078 930 2078 1049 2078 1136 2079 1050 2079 930 2079 1137 2080 1050 2080 1136 2080 1105 2081 1052 2081 1051 2081 1052 2082 1106 2082 987 2082 1107 2083 1014 2083 1075 2083 1138 2084 1014 2084 1107 2084 1138 2085 1015 2085 1014 2085 1138 2086 1076 2086 1015 2086 1139 2087 1076 2087 1138 2087 1139 2088 1108 2088 1076 2088 1140 2089 1054 2089 1077 2089 1140 2090 1109 2090 1054 2090 1110 2091 1079 2091 1018 2091 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2125 1040 2125 1128 2126 1005 2126 1041 2126 1129 2127 1069 2127 1128 2127 1157 2128 1071 2128 1130 2128 1158 2129 1071 2129 1100 2129 1158 2130 1007 2130 1071 2130 1101 2131 1007 2131 1158 2131 1159 2132 1045 2132 1044 2132 1159 2133 1132 2133 1045 2133 1132 2134 1046 2134 1045 2134 1160 2135 1046 2135 1133 2135 1161 2136 1134 2136 1103 2136 1134 2137 1135 2137 1011 2137 1104 2138 1049 2138 1048 2138 1232 2139 1050 2139 1137 2139 1106 2140 1052 2140 1105 2140 1163 2141 1107 2141 1075 2141 1164 2142 1139 2142 1138 2142 1077 2143 1053 2143 1108 2143 1165 2144 1077 2144 1108 2144 1166 2145 1109 2145 1140 2145 1167 2146 1078 2146 1054 2146 1141 2147 1080 2147 1079 2147 1168 2148 1080 2148 1141 2148 1168 2149 1111 2149 1080 2149 1169 2150 1111 2150 1168 2150 1171 2151 1082 2151 1143 2151 1112 2152 1057 2152 1082 2152 1084 2153 1083 2153 1112 2153 1113 2154 1085 2154 1084 2154 1086 2155 993 2155 1172 2155 1115 2156 994 2156 1114 2156 1144 2157 1087 2157 1115 2157 1175 2158 1117 2158 1116 2158 1117 2159 944 2159 1032 2159 1117 2160 1145 2160 1088 2160 1176 2161 1146 2161 1090 2161 1148 2162 1062 2162 1147 2162 1177 2163 1120 2163 1093 2163 1178 2164 1094 2164 1121 2164 1149 2165 1094 2165 1179 2165 1180 2166 1150 2166 1149 2166 1151 2167 1095 2167 1150 2167 1151 2168 1096 2168 1095 2168 1152 2169 1097 2169 1122 2169 1181 2170 1097 2170 1152 2170 1222 2171 974 2171 1123 2171 1067 2172 917 2172 1183 2172 1184 2173 1036 2173 1126 2173 1185 2174 1155 2174 1037 2174 1186 2175 1038 2175 1068 2175 1040 2176 1039 2176 1186 2176 1188 2177 1041 2177 1127 2177 1188 2178 1128 2178 1041 2178 1189 2179 1128 2179 1188 2179 1189 2180 1129 2180 1128 2180 1190 2181 1129 2181 1189 2181 1130 2182 1070 2182 1129 2182 1100 2183 1071 2183 1157 2183 1191 2184 1101 2184 1158 2184 1159 2185 1044 2185 1131 2185 1133 2186 1046 2186 1132 2186 1192 2187 1072 2187 1160 2187 1193 2188 1073 2188 1072 2188 1194 2189 1103 2189 1102 2189 1195 2190 1161 2190 1103 2190 1161 2191 1135 2191 1134 2191 1162 2192 1049 2192 1104 2192 1136 2193 1049 2193 1162 2193 1105 2194 1051 2194 1050 2194 1198 2195 1075 2195 1106 2195 1199 2196 1075 2196 1198 2196 1200 2197 1138 2197 1107 2197 1164 2198 1138 2198 1200 2198 1235 2199 1108 2199 1139 2199 1165 2200 1140 2200 1077 2200 1167 2201 1054 2201 1109 2201 1110 2202 1078 2202 1167 2202 1201 2203 1141 2203 1110 2203 1170 2204 1111 2204 1169 2204 1142 2205 1111 2205 1170 2205 1142 2206 1081 2206 1111 2206 1084 2207 1112 2207 1082 2207 1204 2208 1113 2208 1084 2208 1204 2209 1172 2209 1113 2209 1086 2210 1173 2210 1114 2210 1173 2211 1174 2211 1114 2211 1205 2212 1114 2212 1174 2212 1206 2213 1144 2213 1115 2213 1207 2214 1144 2214 1206 2214 1175 2215 1116 2215 1144 2215 1208 2216 1145 2216 1117 2216 1118 2217 1176 2217 1090 2217 1210 2218 1119 2218 1091 2218 1211 2219 1092 2219 1119 2219 1212 2220 1092 2220 1211 2220 1212 2221 1147 2221 1092 2221 1213 2222 1147 2222 1212 2222 1148 2223 1147 2223 1213 2223 1093 2224 1148 2224 1214 2224 1121 2225 1120 2225 1177 2225 1178 2226 1179 2226 1094 2226 1215 2227 1150 2227 1180 2227 1216 2228 1150 2228 1215 2228 1216 2229 1151 2229 1150 2229 1152 2230 1096 2230 1151 2230 1218 2231 1181 2231 1152 2231 1219 2232 1181 2232 1218 2232 1153 2233 1097 2233 1181 2233 1182 2234 1098 2234 1153 2234 1221 2235 1098 2235 1182 2235 1123 2236 1035 2236 1154 2236 1223 2237 976 2237 1099 2237 1125 2238 1003 2238 1124 2238 1125 2239 918 2239 1003 2239 1186 2240 1068 2240 1155 2240 1187 2241 1040 2241 1186 2241 1225 2242 1188 2242 1127 2242 1130 2243 1129 2243 1190 2243 1226 2244 1158 2244 1100 2244 1191 2245 1131 2245 1101 2245 1133 2246 1132 2246 1159 2246 1228 2247 1160 2247 1133 2247 1229 2248 1192 2248 1160 2248 1193 2249 1072 2249 1192 2249 1194 2250 1073 2250 1193 2250 1102 2251 1073 2251 1194 2251 1195 2252 1103 2252 1194 2252 1230 2253 1135 2253 1161 2253 1196 2254 1104 2254 1074 2254 1231 2255 1196 2255 1074 2255 1196 2256 1162 2256 1104 2256 1137 2257 1136 2257 1197 2257 1263 2258 1106 2258 1105 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2292 1149 2292 1179 2292 1252 2293 1180 2293 1149 2293 1216 2294 1152 2294 1151 2294 1218 2295 1152 2295 1217 2295 1253 2296 1153 2296 1181 2296 1253 2297 1220 2297 1153 2297 1182 2298 1153 2298 1220 2298 1154 2299 1098 2299 1221 2299 1183 2300 975 2300 1002 2300 1223 2301 1124 2301 976 2301 1309 2302 1125 2302 1124 2302 1254 2303 1037 2303 1036 2303 1254 2304 1185 2304 1037 2304 1156 2305 1040 2305 1187 2305 1225 2306 1127 2306 1156 2306 1256 2307 1189 2307 1188 2307 1258 2308 1191 2308 1158 2308 1258 2309 1131 2309 1191 2309 1259 2310 1159 2310 1131 2310 1259 2311 1227 2311 1159 2311 1133 2312 1159 2312 1227 2312 1227 2313 1228 2313 1133 2313 1260 2314 1192 2314 1229 2314 1261 2315 1195 2315 1194 2315 1231 2316 1074 2316 1135 2316 1197 2317 1136 2317 1162 2317 1293 2318 1232 2318 1137 2318 1105 2319 1050 2319 1232 2319 1233 2320 1106 2320 1263 2320 1234 2321 1107 2321 1163 2321 1200 2322 1234 2322 1164 2322 1164 2323 1235 2323 1139 2323 1236 2324 1108 2324 1235 2324 1264 2325 1236 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2358 1340 2359 1126 2359 950 2359 1281 2360 1036 2360 1184 2360 1282 2361 1155 2361 1185 2361 1283 2362 1156 2362 1187 2362 1255 2363 1156 2363 1283 2363 1285 2364 1188 2364 1225 2364 1285 2365 1256 2365 1188 2365 1190 2366 1189 2366 1256 2366 1226 2367 1100 2367 1157 2367 1258 2368 1158 2368 1226 2368 1286 2369 1131 2369 1258 2369 1229 2370 1160 2370 1228 2370 1289 2371 1230 2371 1161 2371 1231 2372 1135 2372 1230 2372 1291 2373 1162 2373 1196 2373 1291 2374 1197 2374 1162 2374 1262 2375 1232 2375 1293 2375 1105 2376 1232 2376 1262 2376 1262 2377 1263 2377 1105 2377 1318 2378 1199 2378 1198 2378 1164 2379 1234 2379 1163 2379 1237 2380 1236 2380 1264 2380 1296 2381 1238 2381 1237 2381 1265 2382 1109 2382 1238 2382 1297 2383 1265 2383 1238 2383 1239 2384 1201 2384 1265 2384 1266 2385 1168 2385 1239 2385 1240 2386 1168 2386 1266 2386 1298 2387 1241 2387 1240 2387 1299 2388 1170 2388 1241 2388 1299 2389 1242 2389 1170 2389 1300 2390 1242 2390 1299 2390 1300 2391 1202 2391 1242 2391 1269 2392 1172 2392 1268 2392 1173 2393 1086 2393 1269 2393 1271 2394 1206 2394 1205 2394 1301 2395 1207 2395 1271 2395 1302 2396 1208 2396 1273 2396 1274 2397 1245 2397 1209 2397 1210 2398 1246 2398 1274 2398 1303 2399 1212 2399 1211 2399 1275 2400 1213 2400 1212 2400 1247 2401 1214 2401 1275 2401 1304 2402 1248 2402 1247 2402 1250 2403 1249 2403 1305 2403 1306 2404 1251 2404 1250 2404 1372 2405 1215 2405 1180 2405 1253 2406 1181 2406 1278 2406 1279 2407 1220 2407 1253 2407 1307 2408 1182 2408 1220 2408 1307 2409 1221 2409 1182 2409 1222 2410 1123 2410 1337 2410 1308 2411 974 2411 1222 2411 1308 2412 1002 2412 974 2412 1309 2413 1124 2413 1223 2413 1254 2414 1036 2414 1281 2414 1155 2415 1282 2415 1186 2415 1224 2416 1186 2416 1282 2416 1284 2417 1156 2417 1255 2417 1311 2418 1156 2418 1284 2418 1311 2419 1225 2419 1156 2419 1312 2420 1285 2420 1225 2420 1226 2421 1157 2421 1257 2421 1313 2422 1258 2422 1226 2422 1286 2423 1259 2423 1131 2423 1287 2424 1227 2424 1259 2424 1228 2425 1227 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2458 1328 2459 1274 2459 1209 2459 1303 2460 1211 2460 1210 2460 1330 2461 1275 2461 1212 2461 1304 2462 1247 2462 1275 2462 1305 2463 1249 2463 1248 2463 1331 2464 1250 2464 1305 2464 1372 2465 1180 2465 1276 2465 1332 2466 1215 2466 1372 2466 1217 2467 1216 2467 1277 2467 1333 2468 1217 2468 1277 2468 1334 2469 1278 2469 1219 2469 1336 2470 1220 2470 1279 2470 1338 2471 1280 2471 1067 2471 1339 2472 1099 2472 1280 2472 1339 2473 1223 2473 1099 2473 1310 2474 1125 2474 1309 2474 1340 2475 1125 2475 1310 2475 1340 2476 950 2476 1125 2476 1282 2477 1185 2477 1254 2477 1342 2478 1224 2478 1282 2478 1283 2479 1187 2479 1224 2479 1343 2480 1255 2480 1283 2480 1312 2481 1225 2481 1311 2481 1345 2482 1312 2482 1311 2482 1347 2483 1190 2483 1256 2483 1347 2484 1257 2484 1157 2484 1257 2485 1313 2485 1226 2485 1348 2486 1313 2486 1257 2486 1287 2487 1259 2487 1286 2487 1351 2488 1229 2488 1228 2488 1352 2489 1260 2489 1229 2489 1288 2490 1194 2490 1192 2490 1289 2491 1195 2491 1315 2491 1354 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2058 973 2058 972 2058 1002 2059 748 2059 974 2059 1183 2060 917 2060 975 2060 1099 2061 869 2061 1067 2061 1124 2062 1003 2062 976 2062 1125 2063 811 2063 918 2063 1036 2064 919 2064 1126 2064 1038 2065 1004 2065 1068 2065 1127 2066 1041 2066 1040 2066 1128 2067 1069 2067 1005 2067 1129 2068 1006 2068 1069 2068 1130 2069 1042 2069 1070 2069 1130 2070 1071 2070 1042 2070 1043 2071 1007 2071 1101 2071 1131 2072 1044 2072 1101 2072 1160 2073 1072 2073 1046 2073 1102 2074 1010 2074 1073 2074 1134 2075 983 2075 1103 2075 1134 2076 1011 2076 983 2076 1135 2077 1074 2077 1011 2077 1136 2078 930 2078 1049 2078 1136 2079 1050 2079 930 2079 1137 2080 1050 2080 1136 2080 1105 2081 1052 2081 1051 2081 1052 2082 1106 2082 987 2082 1107 2083 1014 2083 1075 2083 1138 2084 1014 2084 1107 2084 1138 2085 1015 2085 1014 2085 1138 2086 1076 2086 1015 2086 1139 2087 1076 2087 1138 2087 1139 2088 1108 2088 1076 2088 1140 2089 1054 2089 1077 2089 1140 2090 1109 2090 1054 2090 1110 2091 1079 2091 1018 2091 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2125 1040 2125 1128 2126 1005 2126 1041 2126 1129 2127 1069 2127 1128 2127 1157 2128 1071 2128 1130 2128 1158 2129 1071 2129 1100 2129 1158 2130 1007 2130 1071 2130 1101 2131 1007 2131 1158 2131 1159 2132 1045 2132 1044 2132 1159 2133 1132 2133 1045 2133 1132 2134 1046 2134 1045 2134 1160 2135 1046 2135 1133 2135 1161 2136 1134 2136 1103 2136 1134 2137 1135 2137 1011 2137 1104 2138 1049 2138 1048 2138 1232 2139 1050 2139 1137 2139 1106 2140 1052 2140 1105 2140 1163 2141 1107 2141 1075 2141 1164 2142 1139 2142 1138 2142 1077 2143 1053 2143 1108 2143 1165 2144 1077 2144 1108 2144 1166 2145 1109 2145 1140 2145 1167 2146 1078 2146 1054 2146 1141 2147 1080 2147 1079 2147 1168 2148 1080 2148 1141 2148 1168 2149 1111 2149 1080 2149 1169 2150 1111 2150 1168 2150 1171 2151 1082 2151 1143 2151 1112 2152 1057 2152 1082 2152 1084 2153 1083 2153 1112 2153 1113 2154 1085 2154 1084 2154 1086 2155 993 2155 1172 2155 1115 2156 994 2156 1114 2156 1144 2157 1087 2157 1115 2157 1175 2158 1117 2158 1116 2158 1117 2159 944 2159 1032 2159 1117 2160 1145 2160 1088 2160 1176 2161 1146 2161 1090 2161 1148 2162 1062 2162 1147 2162 1177 2163 1120 2163 1093 2163 1178 2164 1094 2164 1121 2164 1149 2165 1094 2165 1179 2165 1180 2166 1150 2166 1149 2166 1151 2167 1095 2167 1150 2167 1151 2168 1096 2168 1095 2168 1152 2169 1097 2169 1122 2169 1181 2170 1097 2170 1152 2170 1222 2171 974 2171 1123 2171 1067 2172 917 2172 1183 2172 1184 2173 1036 2173 1126 2173 1185 2174 1155 2174 1037 2174 1186 2175 1038 2175 1068 2175 1040 2176 1039 2176 1186 2176 1188 2177 1041 2177 1127 2177 1188 2178 1128 2178 1041 2178 1189 2179 1128 2179 1188 2179 1189 2180 1129 2180 1128 2180 1190 2181 1129 2181 1189 2181 1130 2182 1070 2182 1129 2182 1100 2183 1071 2183 1157 2183 1191 2184 1101 2184 1158 2184 1159 2185 1044 2185 1131 2185 1133 2186 1046 2186 1132 2186 1192 2187 1072 2187 1160 2187 1193 2188 1073 2188 1072 2188 1194 2189 1103 2189 1102 2189 1195 2190 1161 2190 1103 2190 1161 2191 1135 2191 1134 2191 1162 2192 1049 2192 1104 2192 1136 2193 1049 2193 1162 2193 1105 2194 1051 2194 1050 2194 1198 2195 1075 2195 1106 2195 1199 2196 1075 2196 1198 2196 1200 2197 1138 2197 1107 2197 1164 2198 1138 2198 1200 2198 1235 2199 1108 2199 1139 2199 1165 2200 1140 2200 1077 2200 1167 2201 1054 2201 1109 2201 1110 2202 1078 2202 1167 2202 1201 2203 1141 2203 1110 2203 1170 2204 1111 2204 1169 2204 1142 2205 1111 2205 1170 2205 1142 2206 1081 2206 1111 2206 1084 2207 1112 2207 1082 2207 1204 2208 1113 2208 1084 2208 1204 2209 1172 2209 1113 2209 1086 2210 1173 2210 1114 2210 1173 2211 1174 2211 1114 2211 1205 2212 1114 2212 1174 2212 1206 2213 1144 2213 1115 2213 1207 2214 1144 2214 1206 2214 1175 2215 1116 2215 1144 2215 1208 2216 1145 2216 1117 2216 1118 2217 1176 2217 1090 2217 1210 2218 1119 2218 1091 2218 1211 2219 1092 2219 1119 2219 1212 2220 1092 2220 1211 2220 1212 2221 1147 2221 1092 2221 1213 2222 1147 2222 1212 2222 1148 2223 1147 2223 1213 2223 1093 2224 1148 2224 1214 2224 1121 2225 1120 2225 1177 2225 1178 2226 1179 2226 1094 2226 1215 2227 1150 2227 1180 2227 1216 2228 1150 2228 1215 2228 1216 2229 1151 2229 1150 2229 1152 2230 1096 2230 1151 2230 1218 2231 1181 2231 1152 2231 1219 2232 1181 2232 1218 2232 1153 2233 1097 2233 1181 2233 1182 2234 1098 2234 1153 2234 1221 2235 1098 2235 1182 2235 1123 2236 1035 2236 1154 2236 1223 2237 976 2237 1099 2237 1125 2238 1003 2238 1124 2238 1125 2239 918 2239 1003 2239 1186 2240 1068 2240 1155 2240 1187 2241 1040 2241 1186 2241 1225 2242 1188 2242 1127 2242 1130 2243 1129 2243 1190 2243 1226 2244 1158 2244 1100 2244 1191 2245 1131 2245 1101 2245 1133 2246 1132 2246 1159 2246 1228 2247 1160 2247 1133 2247 1229 2248 1192 2248 1160 2248 1193 2249 1072 2249 1192 2249 1194 2250 1073 2250 1193 2250 1102 2251 1073 2251 1194 2251 1195 2252 1103 2252 1194 2252 1230 2253 1135 2253 1161 2253 1196 2254 1104 2254 1074 2254 1231 2255 1196 2255 1074 2255 1196 2256 1162 2256 1104 2256 1137 2257 1136 2257 1197 2257 1263 2258 1106 2258 1105 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2292 1149 2292 1179 2292 1252 2293 1180 2293 1149 2293 1216 2294 1152 2294 1151 2294 1218 2295 1152 2295 1217 2295 1253 2296 1153 2296 1181 2296 1253 2297 1220 2297 1153 2297 1182 2298 1153 2298 1220 2298 1154 2299 1098 2299 1221 2299 1183 2300 975 2300 1002 2300 1223 2301 1124 2301 976 2301 1309 2302 1125 2302 1124 2302 1254 2303 1037 2303 1036 2303 1254 2304 1185 2304 1037 2304 1156 2305 1040 2305 1187 2305 1225 2306 1127 2306 1156 2306 1256 2307 1189 2307 1188 2307 1258 2308 1191 2308 1158 2308 1258 2309 1131 2309 1191 2309 1259 2310 1159 2310 1131 2310 1259 2311 1227 2311 1159 2311 1133 2312 1159 2312 1227 2312 1227 2313 1228 2313 1133 2313 1260 2314 1192 2314 1229 2314 1261 2315 1195 2315 1194 2315 1231 2316 1074 2316 1135 2316 1197 2317 1136 2317 1162 2317 1293 2318 1232 2318 1137 2318 1105 2319 1050 2319 1232 2319 1233 2320 1106 2320 1263 2320 1234 2321 1107 2321 1163 2321 1200 2322 1234 2322 1164 2322 1164 2323 1235 2323 1139 2323 1236 2324 1108 2324 1235 2324 1264 2325 1236 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2358 1340 2359 1126 2359 950 2359 1281 2360 1036 2360 1184 2360 1282 2361 1155 2361 1185 2361 1283 2362 1156 2362 1187 2362 1255 2363 1156 2363 1283 2363 1285 2364 1188 2364 1225 2364 1285 2365 1256 2365 1188 2365 1190 2366 1189 2366 1256 2366 1226 2367 1100 2367 1157 2367 1258 2368 1158 2368 1226 2368 1286 2369 1131 2369 1258 2369 1229 2370 1160 2370 1228 2370 1289 2371 1230 2371 1161 2371 1231 2372 1135 2372 1230 2372 1291 2373 1162 2373 1196 2373 1291 2374 1197 2374 1162 2374 1262 2375 1232 2375 1293 2375 1105 2376 1232 2376 1262 2376 1262 2377 1263 2377 1105 2377 1318 2378 1199 2378 1198 2378 1164 2379 1234 2379 1163 2379 1237 2380 1236 2380 1264 2380 1296 2381 1238 2381 1237 2381 1265 2382 1109 2382 1238 2382 1297 2383 1265 2383 1238 2383 1239 2384 1201 2384 1265 2384 1266 2385 1168 2385 1239 2385 1240 2386 1168 2386 1266 2386 1298 2387 1241 2387 1240 2387 1299 2388 1170 2388 1241 2388 1299 2389 1242 2389 1170 2389 1300 2390 1242 2390 1299 2390 1300 2391 1202 2391 1242 2391 1269 2392 1172 2392 1268 2392 1173 2393 1086 2393 1269 2393 1271 2394 1206 2394 1205 2394 1301 2395 1207 2395 1271 2395 1302 2396 1208 2396 1273 2396 1274 2397 1245 2397 1209 2397 1210 2398 1246 2398 1274 2398 1303 2399 1212 2399 1211 2399 1275 2400 1213 2400 1212 2400 1247 2401 1214 2401 1275 2401 1304 2402 1248 2402 1247 2402 1250 2403 1249 2403 1305 2403 1306 2404 1251 2404 1250 2404 1372 2405 1215 2405 1180 2405 1253 2406 1181 2406 1278 2406 1279 2407 1220 2407 1253 2407 1307 2408 1182 2408 1220 2408 1307 2409 1221 2409 1182 2409 1222 2410 1123 2410 1337 2410 1308 2411 974 2411 1222 2411 1308 2412 1002 2412 974 2412 1309 2413 1124 2413 1223 2413 1254 2414 1036 2414 1281 2414 1155 2415 1282 2415 1186 2415 1224 2416 1186 2416 1282 2416 1284 2417 1156 2417 1255 2417 1311 2418 1156 2418 1284 2418 1311 2419 1225 2419 1156 2419 1312 2420 1285 2420 1225 2420 1226 2421 1157 2421 1257 2421 1313 2422 1258 2422 1226 2422 1286 2423 1259 2423 1131 2423 1287 2424 1227 2424 1259 2424 1228 2425 1227 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2458 1328 2459 1274 2459 1209 2459 1303 2460 1211 2460 1210 2460 1330 2461 1275 2461 1212 2461 1304 2462 1247 2462 1275 2462 1305 2463 1249 2463 1248 2463 1331 2464 1250 2464 1305 2464 1372 2465 1180 2465 1276 2465 1332 2466 1215 2466 1372 2466 1217 2467 1216 2467 1277 2467 1333 2468 1217 2468 1277 2468 1334 2469 1278 2469 1219 2469 1336 2470 1220 2470 1279 2470 1338 2471 1280 2471 1067 2471 1339 2472 1099 2472 1280 2472 1339 2473 1223 2473 1099 2473 1310 2474 1125 2474 1309 2474 1340 2475 1125 2475 1310 2475 1340 2476 950 2476 1125 2476 1282 2477 1185 2477 1254 2477 1342 2478 1224 2478 1282 2478 1283 2479 1187 2479 1224 2479 1343 2480 1255 2480 1283 2480 1312 2481 1225 2481 1311 2481 1345 2482 1312 2482 1311 2482 1347 2483 1190 2483 1256 2483 1347 2484 1257 2484 1157 2484 1257 2485 1313 2485 1226 2485 1348 2486 1313 2486 1257 2486 1287 2487 1259 2487 1286 2487 1351 2488 1229 2488 1228 2488 1352 2489 1260 2489 1229 2489 1288 2490 1194 2490 1192 2490 1289 2491 1195 2491 1315 2491 1354 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2058 973 2058 972 2058 1002 2059 748 2059 974 2059 1183 2060 917 2060 975 2060 1099 2061 869 2061 1067 2061 1124 2062 1003 2062 976 2062 1125 2063 811 2063 918 2063 1036 2064 919 2064 1126 2064 1038 2065 1004 2065 1068 2065 1127 2066 1041 2066 1040 2066 1128 2067 1069 2067 1005 2067 1129 2068 1006 2068 1069 2068 1130 2069 1042 2069 1070 2069 1130 2070 1071 2070 1042 2070 1043 2071 1007 2071 1101 2071 1131 2072 1044 2072 1101 2072 1160 2073 1072 2073 1046 2073 1102 2074 1010 2074 1073 2074 1134 2075 983 2075 1103 2075 1134 2076 1011 2076 983 2076 1135 2077 1074 2077 1011 2077 1136 2078 930 2078 1049 2078 1136 2079 1050 2079 930 2079 1137 2080 1050 2080 1136 2080 1105 2081 1052 2081 1051 2081 1052 2082 1106 2082 987 2082 1107 2083 1014 2083 1075 2083 1138 2084 1014 2084 1107 2084 1138 2085 1015 2085 1014 2085 1138 2086 1076 2086 1015 2086 1139 2087 1076 2087 1138 2087 1139 2088 1108 2088 1076 2088 1140 2089 1054 2089 1077 2089 1140 2090 1109 2090 1054 2090 1110 2091 1079 2091 1018 2091 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2125 1040 2125 1128 2126 1005 2126 1041 2126 1129 2127 1069 2127 1128 2127 1157 2128 1071 2128 1130 2128 1158 2129 1071 2129 1100 2129 1158 2130 1007 2130 1071 2130 1101 2131 1007 2131 1158 2131 1159 2132 1045 2132 1044 2132 1159 2133 1132 2133 1045 2133 1132 2134 1046 2134 1045 2134 1160 2135 1046 2135 1133 2135 1161 2136 1134 2136 1103 2136 1134 2137 1135 2137 1011 2137 1104 2138 1049 2138 1048 2138 1232 2139 1050 2139 1137 2139 1106 2140 1052 2140 1105 2140 1163 2141 1107 2141 1075 2141 1164 2142 1139 2142 1138 2142 1077 2143 1053 2143 1108 2143 1165 2144 1077 2144 1108 2144 1166 2145 1109 2145 1140 2145 1167 2146 1078 2146 1054 2146 1141 2147 1080 2147 1079 2147 1168 2148 1080 2148 1141 2148 1168 2149 1111 2149 1080 2149 1169 2150 1111 2150 1168 2150 1171 2151 1082 2151 1143 2151 1112 2152 1057 2152 1082 2152 1084 2153 1083 2153 1112 2153 1113 2154 1085 2154 1084 2154 1086 2155 993 2155 1172 2155 1115 2156 994 2156 1114 2156 1144 2157 1087 2157 1115 2157 1175 2158 1117 2158 1116 2158 1117 2159 944 2159 1032 2159 1117 2160 1145 2160 1088 2160 1176 2161 1146 2161 1090 2161 1148 2162 1062 2162 1147 2162 1177 2163 1120 2163 1093 2163 1178 2164 1094 2164 1121 2164 1149 2165 1094 2165 1179 2165 1180 2166 1150 2166 1149 2166 1151 2167 1095 2167 1150 2167 1151 2168 1096 2168 1095 2168 1152 2169 1097 2169 1122 2169 1181 2170 1097 2170 1152 2170 1222 2171 974 2171 1123 2171 1067 2172 917 2172 1183 2172 1184 2173 1036 2173 1126 2173 1185 2174 1155 2174 1037 2174 1186 2175 1038 2175 1068 2175 1040 2176 1039 2176 1186 2176 1188 2177 1041 2177 1127 2177 1188 2178 1128 2178 1041 2178 1189 2179 1128 2179 1188 2179 1189 2180 1129 2180 1128 2180 1190 2181 1129 2181 1189 2181 1130 2182 1070 2182 1129 2182 1100 2183 1071 2183 1157 2183 1191 2184 1101 2184 1158 2184 1159 2185 1044 2185 1131 2185 1133 2186 1046 2186 1132 2186 1192 2187 1072 2187 1160 2187 1193 2188 1073 2188 1072 2188 1194 2189 1103 2189 1102 2189 1195 2190 1161 2190 1103 2190 1161 2191 1135 2191 1134 2191 1162 2192 1049 2192 1104 2192 1136 2193 1049 2193 1162 2193 1105 2194 1051 2194 1050 2194 1198 2195 1075 2195 1106 2195 1199 2196 1075 2196 1198 2196 1200 2197 1138 2197 1107 2197 1164 2198 1138 2198 1200 2198 1235 2199 1108 2199 1139 2199 1165 2200 1140 2200 1077 2200 1167 2201 1054 2201 1109 2201 1110 2202 1078 2202 1167 2202 1201 2203 1141 2203 1110 2203 1170 2204 1111 2204 1169 2204 1142 2205 1111 2205 1170 2205 1142 2206 1081 2206 1111 2206 1084 2207 1112 2207 1082 2207 1204 2208 1113 2208 1084 2208 1204 2209 1172 2209 1113 2209 1086 2210 1173 2210 1114 2210 1173 2211 1174 2211 1114 2211 1205 2212 1114 2212 1174 2212 1206 2213 1144 2213 1115 2213 1207 2214 1144 2214 1206 2214 1175 2215 1116 2215 1144 2215 1208 2216 1145 2216 1117 2216 1118 2217 1176 2217 1090 2217 1210 2218 1119 2218 1091 2218 1211 2219 1092 2219 1119 2219 1212 2220 1092 2220 1211 2220 1212 2221 1147 2221 1092 2221 1213 2222 1147 2222 1212 2222 1148 2223 1147 2223 1213 2223 1093 2224 1148 2224 1214 2224 1121 2225 1120 2225 1177 2225 1178 2226 1179 2226 1094 2226 1215 2227 1150 2227 1180 2227 1216 2228 1150 2228 1215 2228 1216 2229 1151 2229 1150 2229 1152 2230 1096 2230 1151 2230 1218 2231 1181 2231 1152 2231 1219 2232 1181 2232 1218 2232 1153 2233 1097 2233 1181 2233 1182 2234 1098 2234 1153 2234 1221 2235 1098 2235 1182 2235 1123 2236 1035 2236 1154 2236 1223 2237 976 2237 1099 2237 1125 2238 1003 2238 1124 2238 1125 2239 918 2239 1003 2239 1186 2240 1068 2240 1155 2240 1187 2241 1040 2241 1186 2241 1225 2242 1188 2242 1127 2242 1130 2243 1129 2243 1190 2243 1226 2244 1158 2244 1100 2244 1191 2245 1131 2245 1101 2245 1133 2246 1132 2246 1159 2246 1228 2247 1160 2247 1133 2247 1229 2248 1192 2248 1160 2248 1193 2249 1072 2249 1192 2249 1194 2250 1073 2250 1193 2250 1102 2251 1073 2251 1194 2251 1195 2252 1103 2252 1194 2252 1230 2253 1135 2253 1161 2253 1196 2254 1104 2254 1074 2254 1231 2255 1196 2255 1074 2255 1196 2256 1162 2256 1104 2256 1137 2257 1136 2257 1197 2257 1263 2258 1106 2258 1105 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2292 1149 2292 1179 2292 1252 2293 1180 2293 1149 2293 1216 2294 1152 2294 1151 2294 1218 2295 1152 2295 1217 2295 1253 2296 1153 2296 1181 2296 1253 2297 1220 2297 1153 2297 1182 2298 1153 2298 1220 2298 1154 2299 1098 2299 1221 2299 1183 2300 975 2300 1002 2300 1223 2301 1124 2301 976 2301 1309 2302 1125 2302 1124 2302 1254 2303 1037 2303 1036 2303 1254 2304 1185 2304 1037 2304 1156 2305 1040 2305 1187 2305 1225 2306 1127 2306 1156 2306 1256 2307 1189 2307 1188 2307 1258 2308 1191 2308 1158 2308 1258 2309 1131 2309 1191 2309 1259 2310 1159 2310 1131 2310 1259 2311 1227 2311 1159 2311 1133 2312 1159 2312 1227 2312 1227 2313 1228 2313 1133 2313 1260 2314 1192 2314 1229 2314 1261 2315 1195 2315 1194 2315 1231 2316 1074 2316 1135 2316 1197 2317 1136 2317 1162 2317 1293 2318 1232 2318 1137 2318 1105 2319 1050 2319 1232 2319 1233 2320 1106 2320 1263 2320 1234 2321 1107 2321 1163 2321 1200 2322 1234 2322 1164 2322 1164 2323 1235 2323 1139 2323 1236 2324 1108 2324 1235 2324 1264 2325 1236 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2358 1340 2359 1126 2359 950 2359 1281 2360 1036 2360 1184 2360 1282 2361 1155 2361 1185 2361 1283 2362 1156 2362 1187 2362 1255 2363 1156 2363 1283 2363 1285 2364 1188 2364 1225 2364 1285 2365 1256 2365 1188 2365 1190 2366 1189 2366 1256 2366 1226 2367 1100 2367 1157 2367 1258 2368 1158 2368 1226 2368 1286 2369 1131 2369 1258 2369 1229 2370 1160 2370 1228 2370 1289 2371 1230 2371 1161 2371 1231 2372 1135 2372 1230 2372 1291 2373 1162 2373 1196 2373 1291 2374 1197 2374 1162 2374 1262 2375 1232 2375 1293 2375 1105 2376 1232 2376 1262 2376 1262 2377 1263 2377 1105 2377 1318 2378 1199 2378 1198 2378 1164 2379 1234 2379 1163 2379 1237 2380 1236 2380 1264 2380 1296 2381 1238 2381 1237 2381 1265 2382 1109 2382 1238 2382 1297 2383 1265 2383 1238 2383 1239 2384 1201 2384 1265 2384 1266 2385 1168 2385 1239 2385 1240 2386 1168 2386 1266 2386 1298 2387 1241 2387 1240 2387 1299 2388 1170 2388 1241 2388 1299 2389 1242 2389 1170 2389 1300 2390 1242 2390 1299 2390 1300 2391 1202 2391 1242 2391 1269 2392 1172 2392 1268 2392 1173 2393 1086 2393 1269 2393 1271 2394 1206 2394 1205 2394 1301 2395 1207 2395 1271 2395 1302 2396 1208 2396 1273 2396 1274 2397 1245 2397 1209 2397 1210 2398 1246 2398 1274 2398 1303 2399 1212 2399 1211 2399 1275 2400 1213 2400 1212 2400 1247 2401 1214 2401 1275 2401 1304 2402 1248 2402 1247 2402 1250 2403 1249 2403 1305 2403 1306 2404 1251 2404 1250 2404 1372 2405 1215 2405 1180 2405 1253 2406 1181 2406 1278 2406 1279 2407 1220 2407 1253 2407 1307 2408 1182 2408 1220 2408 1307 2409 1221 2409 1182 2409 1222 2410 1123 2410 1337 2410 1308 2411 974 2411 1222 2411 1308 2412 1002 2412 974 2412 1309 2413 1124 2413 1223 2413 1254 2414 1036 2414 1281 2414 1155 2415 1282 2415 1186 2415 1224 2416 1186 2416 1282 2416 1284 2417 1156 2417 1255 2417 1311 2418 1156 2418 1284 2418 1311 2419 1225 2419 1156 2419 1312 2420 1285 2420 1225 2420 1226 2421 1157 2421 1257 2421 1313 2422 1258 2422 1226 2422 1286 2423 1259 2423 1131 2423 1287 2424 1227 2424 1259 2424 1228 2425 1227 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2458 1328 2459 1274 2459 1209 2459 1303 2460 1211 2460 1210 2460 1330 2461 1275 2461 1212 2461 1304 2462 1247 2462 1275 2462 1305 2463 1249 2463 1248 2463 1331 2464 1250 2464 1305 2464 1372 2465 1180 2465 1276 2465 1332 2466 1215 2466 1372 2466 1217 2467 1216 2467 1277 2467 1333 2468 1217 2468 1277 2468 1334 2469 1278 2469 1219 2469 1336 2470 1220 2470 1279 2470 1338 2471 1280 2471 1067 2471 1339 2472 1099 2472 1280 2472 1339 2473 1223 2473 1099 2473 1310 2474 1125 2474 1309 2474 1340 2475 1125 2475 1310 2475 1340 2476 950 2476 1125 2476 1282 2477 1185 2477 1254 2477 1342 2478 1224 2478 1282 2478 1283 2479 1187 2479 1224 2479 1343 2480 1255 2480 1283 2480 1312 2481 1225 2481 1311 2481 1345 2482 1312 2482 1311 2482 1347 2483 1190 2483 1256 2483 1347 2484 1257 2484 1157 2484 1257 2485 1313 2485 1226 2485 1348 2486 1313 2486 1257 2486 1287 2487 1259 2487 1286 2487 1351 2488 1229 2488 1228 2488 1352 2489 1260 2489 1229 2489 1288 2490 1194 2490 1192 2490 1289 2491 1195 2491 1315 2491 1354 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