diff --git a/iiwa_bringup/launch/iiwa.launch.py b/iiwa_bringup/launch/iiwa14.launch.py similarity index 100% rename from iiwa_bringup/launch/iiwa.launch.py rename to iiwa_bringup/launch/iiwa14.launch.py diff --git a/iiwa_bringup/launch/iiwa7.launch.py b/iiwa_bringup/launch/iiwa7.launch.py new file mode 100644 index 0000000..82f31a4 --- /dev/null +++ b/iiwa_bringup/launch/iiwa7.launch.py @@ -0,0 +1,251 @@ +# Copyright 2022 ICube Laboratory, University of Strasbourg +# +# 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. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + 'runtime_config_package', + default_value='iiwa_description', + description='Package with the controller\'s configuration in "config" folder. \ + Usually the argument is not set, it enables use of a custom setup.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'controllers_file', + default_value='iiwa_controllers.yaml', + description='YAML file with the controllers configuration.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'description_package', + default_value='iiwa_description', + description='Description package with robot URDF/xacro files. Usually the argument \ + is not set, it enables use of a custom description.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'description_file', + default_value='iiwa7.config.xacro', + description='URDF/XACRO description file with the robot.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'prefix', + default_value='""', + description='Prefix of the joint names, useful for multi-robot setup. \ + If changed than also joint names in the controllers \ + configuration have to be updated.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'use_sim', + default_value='false', + description='Start robot in Gazebo simulation.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'use_fake_hardware', + default_value='true', + description='Start robot with fake hardware mirroring command to its states.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'robot_controller', + default_value='iiwa_arm_controller', + description='Robot controller to start.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'start_rviz', + default_value='true', + description='Start RViz2 automatically with this launch file.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'robot_ip', + default_value='192.170.10.2', + description='Robot IP of FRI interface', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'robot_port', + default_value='30200', + description='Robot port of FRI interface.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'initial_positions_file', + default_value='initial_positions.yaml', + description='Configuration file of robot initial positions for simulation.', + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + 'command_interface', + default_value='position', + description='Robot command interface [position|velocity|effort].', + ) + ) + + # Initialize Arguments + runtime_config_package = LaunchConfiguration('runtime_config_package') + controllers_file = LaunchConfiguration('controllers_file') + description_package = LaunchConfiguration('description_package') + description_file = LaunchConfiguration('description_file') + prefix = LaunchConfiguration('prefix') + use_sim = LaunchConfiguration('use_sim') + use_fake_hardware = LaunchConfiguration('use_fake_hardware') + robot_controller = LaunchConfiguration('robot_controller') + start_rviz = LaunchConfiguration('start_rviz') + robot_ip = LaunchConfiguration('robot_ip') + robot_port = LaunchConfiguration('robot_port') + initial_positions_file = LaunchConfiguration('initial_positions_file') + command_interface = LaunchConfiguration('command_interface') + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name='xacro')]), + ' ', + PathJoinSubstitution( + [FindPackageShare(description_package), 'config', description_file] + ), + ' ', + 'prefix:=', + prefix, + ' ', + 'use_sim:=', + use_sim, + ' ', + 'use_fake_hardware:=', + use_fake_hardware, + ' ', + 'robot_ip:=', + robot_ip, + ' ', + 'robot_port:=', + robot_port, + ' ', + 'initial_positions_file:=', + initial_positions_file, + ' ', + 'command_interface:=', + command_interface, + ] + ) + robot_description = {'robot_description': robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare(runtime_config_package), + 'config', + controllers_file, + ] + ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare(description_package), 'rviz', 'iiwa.rviz'] + ) + + control_node = Node( + package='controller_manager', + executable='ros2_control_node', + parameters=[robot_description, robot_controllers], + output={ + 'stdout': 'screen', + 'stderr': 'screen', + }, + ) + robot_state_pub_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='both', + parameters=[robot_description], + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='log', + arguments=['-d', rviz_config_file], + condition=IfCondition(start_rviz), + ) + + joint_state_broadcaster_spawner = Node( + package='controller_manager', + executable='spawner.py', + arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'], + ) + + eternal_torque_broadcaster_spawner = Node( + package='controller_manager', + executable='spawner.py', + arguments=['ets_state_broadcaster', '--controller-manager', '/controller_manager'], + ) + + robot_controller_spawner = Node( + package='controller_manager', + executable='spawner.py', + arguments=[robot_controller, '-c', '/controller_manager'], + ) + + # Delay rviz start after `joint_state_broadcaster` + delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[rviz_node], + ) + ) + + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], + ) + ) + + nodes = [ + control_node, + robot_state_pub_node, + joint_state_broadcaster_spawner, + delay_rviz_after_joint_state_broadcaster_spawner, + eternal_torque_broadcaster_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, + ] + + return LaunchDescription(declared_arguments + nodes) diff --git a/iiwa_bringup/launch/iiwa_ignition.launch.py b/iiwa_bringup/launch/iiwa_ignition.launch.py new file mode 100644 index 0000000..f361cad --- /dev/null +++ b/iiwa_bringup/launch/iiwa_ignition.launch.py @@ -0,0 +1,125 @@ +# Copyright 2022 ICube Laboratory, University of Strasbourg +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory, get_package_prefix +from launch import LaunchDescription +from launch.actions import ExecuteProcess, DeclareLaunchArgument, IncludeLaunchDescription, RegisterEventHandler, SetEnvironmentVariable +from launch.event_handlers import OnProcessExit, OnProcessIO, OnProcessStart +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + + set_ign_path = SetEnvironmentVariable( + name = 'IGN_GAZEBO_SYSTEM_PLUGIN_PATH', + value = os.path.join( + get_package_prefix('ign_ros2_control'), + 'lib' + ) + ) + + iiwa_simulation_world = os.path.join( + get_package_share_directory('iiwa_description'), + 'ignition/worlds', + 'empty.sdf') + + ignition = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [os.path.join(get_package_share_directory('ros_ign_gazebo'), + 'launch', + 'ign_gazebo.launch.py')] + ), + launch_arguments=[('ign_args', [' -r -v 4 ' + iiwa_simulation_world])] + ) + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name='xacro')]), + ' ', + PathJoinSubstitution( + [ + FindPackageShare('iiwa_description'), + 'config', + 'iiwa7.config.xacro', + ] + ), + ' ', + 'use_sim:=true', + ' ', + 'initial_positions_file:=', + PathJoinSubstitution( + [ + FindPackageShare('iiwa_description'), + 'config', + 'initial_positions.yaml', + ] + ), + ] + ) + robot_description = {'robot_description': robot_description_content} + + node_robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='screen', + parameters=[robot_description], + ) + + spawn_entity = Node( + package='ros_ign_gazebo', + executable='create', + arguments=['-world', 'empty', + '-name', 'iiwa7', + '-string', robot_description_content], + output='screen', + ) + + load_jst_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', + 'joint_state_broadcaster'], + output='screen' + ) + + load_arm_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', + 'iiwa_arm_controller'], + output='screen' + ) + + return LaunchDescription( + [ + set_ign_path, + ignition, + node_robot_state_publisher, + spawn_entity, + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=spawn_entity, + on_exit=[load_jst_controller], + ) + ), + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=load_jst_controller, + on_exit=[load_arm_controller], + ) + ), + ] + ) diff --git a/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py b/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py index 0ed228d..a17bd56 100644 --- a/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py +++ b/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py @@ -30,8 +30,8 @@ def generate_launch_description(): [ Node( package='ros2_control_test_nodes', - executable='publisher_joint_trajectory_controller', - name='publisher_joint_trajectory_controller', + executable='publisher_joint_trajectory_position_controller', + name='publisher_joint_trajectory_position_controller', parameters=[position_goals], output={ 'stdout': 'screen', diff --git a/iiwa_description/CMakeLists.txt b/iiwa_description/CMakeLists.txt index cb014b3..ed891d2 100644 --- a/iiwa_description/CMakeLists.txt +++ b/iiwa_description/CMakeLists.txt @@ -27,7 +27,7 @@ endif() # Install ################################################################################ install( - DIRECTORY urdf meshes gazebo rviz ros2_control config moveit2 + DIRECTORY urdf meshes gazebo ignition rviz ros2_control config moveit2 DESTINATION share/${PROJECT_NAME} ) diff --git a/iiwa_description/config/iiwa.config.xacro b/iiwa_description/config/iiwa.config.xacro index 141ba95..cc051a8 100644 --- a/iiwa_description/config/iiwa.config.xacro +++ b/iiwa_description/config/iiwa.config.xacro @@ -14,11 +14,13 @@ + + + - - + diff --git a/iiwa_description/config/iiwa7.config.xacro b/iiwa_description/config/iiwa7.config.xacro new file mode 100644 index 0000000..e163305 --- /dev/null +++ b/iiwa_description/config/iiwa7.config.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + + + + diff --git a/iiwa_description/config/iiwa_controllers.yaml b/iiwa_description/config/iiwa_controllers.yaml index b85e9ff..4e26325 100644 --- a/iiwa_description/config/iiwa_controllers.yaml +++ b/iiwa_description/config/iiwa_controllers.yaml @@ -49,6 +49,12 @@ velocity_controller: impedance_controller: ros__parameters: + command_interfaces: + - position + - effort + state_interfaces: + - position + - velocity joints: - joint_a1 - joint_a2 @@ -63,3 +69,5 @@ impedance_controller: ets_state_broadcaster: ros__parameters: sensor_name: external_torque_sensor + + diff --git a/iiwa_description/ignition/iiwa.ignition b/iiwa_description/ignition/iiwa.ignition new file mode 100644 index 0000000..91826a5 --- /dev/null +++ b/iiwa_description/ignition/iiwa.ignition @@ -0,0 +1,16 @@ + + + + + + + $(find iiwa_description)/config/iiwa_controllers.yaml + + + + + + Gazebo/Gray + + + \ No newline at end of file diff --git a/iiwa_description/ignition/worlds/empty.sdf b/iiwa_description/ignition/worlds/empty.sdf new file mode 100644 index 0000000..5f12705 --- /dev/null +++ b/iiwa_description/ignition/worlds/empty.sdf @@ -0,0 +1,89 @@ + + + + 0.001 + 1 + 1000 + + + + + + 0 0 0 + 6e-06 2.3e-05 -4.2e-05 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + + + true + + + + + 0 0 1 + 100 100 + + + + + + + + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + + 1 + 0 + 0 + 1 + 0 + 1 + + + false + + 0 0 0 0 -0 0 + false + + + 0 0 10 0 -0 0 + true + 1 + -0.5 0.1 -0.9 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.01 + 0.90000000000000002 + 0.001 + + + 0 + 0 + 0 + + + + diff --git a/iiwa_description/meshes/lbr_iiwa_7_r800/collision/base_link.stl b/iiwa_description/meshes/lbr_iiwa_7_r800/collision/base_link.stl new file mode 100755 index 0000000..c70ebae Binary files /dev/null and b/iiwa_description/meshes/lbr_iiwa_7_r800/collision/base_link.stl differ diff --git a/iiwa_description/meshes/lbr_iiwa_7_r800/collision/link_1.stl b/iiwa_description/meshes/lbr_iiwa_7_r800/collision/link_1.stl new file mode 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2544 2784 2778 3433 2539 3068 2508 2026 2503 2025 3770 2027

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2301 8599 3804 2302 8600 2012 2295 8601 3804 2302 8602 3803 2293 8603 1981 2303 8604 3839 2304 8605 2010 2279 8606 2010 2279 8607 3839 2304 8608 2631 2305 8609 2010 2279 8610 2631 2305 8611 2633 2277 8612 1905 2306 8613 4206 2307 8614 2429 2308 8615 2429 2308 8616 3575 2309 8617 1905 2306 8618 1905 2306 8619 3575 2309 8620 3576 2310 8621 1905 2306 8622 3576 2310 8623 1981 2303 8624 1981 2303 8625 3576 2310 8626 2516 2311 8627 1981 2303 8628 2516 2311 8629 3839 2304 8630 4023 2312 8631 4392 2313 8632 1305 2314 8633 1305 2314 8634 4392 2313 8635 4769 2315 8636 1305 2314 8637 4769 2315 8638 4615 2316 8639 4615 2316 8640 4616 2317 8641 1305 2314 8642 1305 2314 8643 4616 2317 8644 4249 2318 8645 1305 2314 8646 4249 2318 8647 1336 2319 8648 1336 2319 8649 4249 2318 8650 759 2320 8651 1336 2319 8652 759 2320 8653 785 2321 8654 4536 2322 8655 617 2323 8656 1307 2324 8657 1307 2324 8658 617 2323 8659 4150 2325 8660 1307 2324 8661 4150 2325 8662 4149 2326 8663 2092 2327 8664 2029 2328 8665 1844 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10914 46391 164 10913 46392 174 10914 46393 214 10915 46394 214 10915 46395 174 10914 46396 229 10850 46397 214 10915 46398 229 10850 46399 220 10916 46400 220 10916 46401 229 10850 46402 271 3964 46403 220 10916 46404 271 3964 46405 265 3965 46406 145 10877 46407 175 10899 46408 127 10875 46409 127 10875 46410 175 10899 46411 151 10901 46412 127 10875 46413 151 10901 46414 147 10881 46415 147 10881 46416 151 10901 46417 195 10902 46418 147 10881 46419 195 10902 46420 137 10882 46421 137 10882 46422 195 10902 46423 179 10917 46424 137 10882 46425 179 10917 46426 162 10918 46427 162 10918 46428 122 10857 46429 137 10882 46430 137 10882 46431 122 10857 46432 107 10856 46433 137 10882 46434 107 10856 46435 119 10880 46436 119 10880 46437 107 10856 46438 97 10883 46439 119 10880 46440 97 10883 46441 104 10879 46442 104 10879 46443 97 10883 46444 90 10860 46445 104 10879 46446 90 10860 46447 109 10866 46448 109 10866 46449 90 10860 46450 85 10859 46451 109 10866 46452 85 10859 46453 96 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248 10933 46580 248 10933 46581 253 10932 46582 225 10934 46583 248 10933 46584 225 10934 46585 224 10935 46586 224 10935 46587 225 10934 46588 201 10936 46589 224 10935 46590 201 10936 46591 199 10937 46592 365 3946 46593 361 3949 46594 356 10849 46595 356 10849 46596 361 3949 46597 346 10848 46598 356 10849 46599 346 10848 46600 344 10919 46601 344 10919 46602 346 10848 46603 330 10925 46604 344 10919 46605 330 10925 46606 328 10920 46607 328 10920 46608 330 10925 46609 311 10927 46610 328 10920 46611 311 10927 46612 309 10921 46613 309 10921 46614 311 10927 46615 292 10929 46616 309 10921 46617 292 10929 46618 290 10922 46619 290 10922 46620 292 10929 46621 270 10931 46622 290 10922 46623 270 10931 46624 267 10923 46625 267 10923 46626 270 10931 46627 248 10933 46628 267 10923 46629 248 10933 46630 246 10846 46631 246 10846 46632 248 10933 46633 224 10935 46634 246 10846 46635 224 10935 46636 211 10844 46637 211 10844 46638 224 10935 46639 199 10937 46640 211 10844 46641 199 10937 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46767 125 10878 46768 139 10874 46769 139 10874 46770 125 10878 46771 134 10862 46772 139 10874 46773 134 10862 46774 155 10873 46775 155 10873 46776 134 10862 46777 169 10832 46778 155 10873 46779 169 10832 46780 167 10831 46781 69 10940 46782 80 5354 46783 81 5355 46784 220 10916 46785 265 3965 46786 80 5354 46787 220 10916 46788 80 5354 46789 214 10915 46790 214 10915 46791 80 5354 46792 69 10940 46793 214 10915 46794 69 10940 46795 164 10913 46796 164 10913 46797 69 10940 46798 64 10941 46799 164 10913 46800 64 10941 46801 143 10911 46802 143 10911 46803 64 10941 46804 129 10851 46805 129 10851 46806 64 10941 46807 62 10942 46808 129 10851 46809 62 10942 46810 111 10852 46811 111 10852 46812 62 10942 46813 94 10854 46814 94 10854 46815 62 10942 46816 60 10943 46817 94 10854 46818 60 10943 46819 88 10888 46820 88 10888 46821 60 10943 46822 84 10884 46823 84 10884 46824 60 10943 46825 58 10944 46826 84 10884 46827 58 10944 46828 76 10887 46829 76 10887 46830 58 10944 46831 74 10886 46832 74 10886 46833 58 10944 46834 55 10945 46835 74 10886 46836 55 10945 46837 71 10885 46838 56 10946 46839 59 10947 46840 57 10948 46841 57 10948 46842 59 10947 46843 75 10949 46844 57 10948 46845 75 10949 46846 72 10950 46847 61 10951 46848 83 10952 46849 59 10947 46850 59 10947 46851 83 10952 46852 77 10953 46853 59 10947 46854 77 10953 46855 75 10949 46856 63 10954 46857 93 10955 46858 61 10951 46859 61 10951 46860 93 10955 46861 89 10956 46862 61 10951 46863 89 10956 46864 83 10952 46865 65 10957 46866 130 10958 46867 63 10954 46868 63 10954 46869 130 10958 46870 112 10959 46871 63 10954 46872 112 10959 46873 93 10955 46874 245 10960 46875 215 10961 46876 70 10962 46877 70 10962 46878 215 10961 46879 163 10963 46880 70 10962 46881 163 10963 46882 65 10957 46883 65 10957 46884 163 10963 46885 144 10964 46886 65 10957 46887 144 10964 46888 130 10958 46889 266 3989 46890 245 10960 46891 81 5355 46892 81 5355 46893 245 10960 46894 70 10962 46895 81 5355 46896 70 10962 46897 69 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10986 46963 87 10988 46964 91 10987 46965 87 10988 46966 78 10989 46967 132 10990 46968 135 10991 46969 136 10992 46970 136 10992 46971 135 10991 46972 170 10993 46973 136 10992 46974 170 10993 46975 160 10994 46976 160 10994 46977 170 10993 46978 173 10995 46979 77 10953 46980 91 10987 46981 75 10949 46982 75 10949 46983 91 10987 46984 78 10989 46985 75 10949 46986 78 10989 46987 72 10950 46988 93 10955 46989 100 10984 46990 89 10956 46991 89 10956 46992 100 10984 46993 98 10996 46994 89 10956 46995 98 10996 46996 83 10952 46997 121 10997 46998 103 10985 46999 110 10998 47000 110 10998 47001 103 10985 47002 91 10987 47003 110 10998 47004 91 10987 47005 98 10996 47006 98 10996 47007 91 10987 47008 77 10953 47009 98 10996 47010 77 10953 47011 83 10952 47012 112 10959 47013 118 10965 47014 100 10984 47015 100 10984 47016 118 10965 47017 108 10999 47018 100 10984 47019 108 10999 47020 98 10996 47021 98 10996 47022 108 10999 47023 105 11000 47024 98 10996 47025 105 11000 47026 110 10998 47027 128 10983 47028 152 10982 47029 146 11001 47030 189 11002 47031 159 11003 47032 198 11004 47033 198 11004 47034 159 11003 47035 183 11005 47036 189 11002 47037 156 11006 47038 159 11003 47039 159 11003 47040 156 11006 47041 140 11007 47042 159 11003 47043 140 11007 47044 146 11001 47045 146 11001 47046 140 11007 47047 126 11008 47048 146 11001 47049 126 11008 47050 128 10983 47051 185 11009 47052 11834 11010 47053 156 11006 47054 156 11006 47055 11834 11010 47056 166 11011 47057 123 11012 47058 138 10981 47059 120 11013 47060 120 11013 47061 138 10981 47062 128 10983 47063 120 11013 47064 128 10983 47065 116 11014 47066 116 11014 47067 128 10983 47068 126 11008 47069 116 11014 47070 126 11008 47071 135 10991 47072 135 10991 47073 126 11008 47074 140 11007 47075 135 10991 47076 140 11007 47077 170 10993 47078 170 10993 47079 140 11007 47080 156 11006 47081 170 10993 47082 156 11006 47083 168 11015 47084 168 11015 47085 156 11006 47086 166 11011 47087 198 11004 47088 207 11016 47089 189 11002 47090 189 11002 47091 207 11016 47092 204 11017 47093 189 11002 47094 204 11017 47095 156 11006 47096 156 11006 47097 204 11017 47098 191 11018 47099 156 11006 47100 191 11018 47101 185 11009 47102 276 11019 47103 296 11020 47104 305 11021 47105 305 11021 47106 296 11020 47107 317 11022 47108 317 11022 47109 340 3994 47110 305 11021 47111 305 11021 47112 340 3994 47113 342 3995 47114 305 11021 47115 342 3995 47116 313 11023 47117 313 11023 47118 342 3995 47119 343 4000 47120 313 11023 47121 343 4000 47122 321 11024 47123 343 4000 47124 352 3999 47125 321 11024 47126 321 11024 47127 352 3999 47128 358 3998 47129 321 11024 47130 358 3998 47131 331 11025 47132 331 11025 47133 358 3998 47134 360 4002 47135 331 11025 47136 360 4002 47137 338 11026 47138 255 10976 47139 276 11019 47140 264 10977 47141 264 10977 47142 276 11019 47143 305 11021 47144 264 10977 47145 305 11021 47146 274 11027 47147 274 11027 47148 305 11021 47149 313 11023 47150 274 11027 47151 313 11023 47152 285 11028 47153 285 11028 47154 313 11023 47155 321 11024 47156 285 11028 47157 321 11024 47158 293 11029 47159 293 11029 47160 321 11024 47161 331 11025 47162 293 11029 47163 331 11025 47164 302 11030 47165 302 11030 47166 331 11025 47167 338 11026 47168 314 11031 47169 345 11032 47170 349 10971 47171 349 10971 47172 345 11032 47173 364 4001 47174 349 10971 47175 364 4001 47176 367 4005 47177 371 4006 47178 355 10969 47179 369 4003 47180 369 4003 47181 355 10969 47182 349 10971 47183 369 4003 47184 349 10971 47185 368 4004 47186 368 4004 47187 349 10971 47188 367 4005 47189 203 10973 47190 231 10975 47191 216 10974 47192 216 10974 47193 231 10975 47194 264 10977 47195 216 10974 47196 264 10977 47197 226 11033 47198 226 11033 47199 264 10977 47200 274 11027 47201 226 11033 47202 274 11027 47203 237 11034 47204 237 11034 47205 274 11027 47206 285 11028 47207 237 11034 47208 285 11028 47209 249 11035 47210 249 11035 47211 285 11028 47212 293 11029 47213 249 11035 47214 293 11029 47215 257 11036 47216 257 11036 47217 293 11029 47218 302 11030 47219 310 11037 47220 272 11038 47221 268 11039 47222 268 11039 47223 272 11038 47224 233 10978 47225 268 11039 47226 233 10978 47227 223 11040 47228 223 11040 47229 233 10978 47230 219 10980 47231 223 11040 47232 219 10980 47233 198 11004 47234 198 11004 47235 219 10980 47236 218 11041 47237 198 11004 47238 218 11041 47239 207 11016 47240 308 11042 47241 272 11038 47242 314 11031 47243 314 11031 47244 272 11038 47245 310 11037 47246 314 11031 47247 310 11037 47248 345 11032 47249 353 10970 47250 348 11043 47251 349 10971 47252 349 10971 47253 348 11043 47254 323 11044 47255 349 10971 47256 323 11044 47257 314 11031 47258 314 11031 47259 323 11044 47260 320 11045 47261 314 11031 47262 320 11045 47263 308 11042 47264 257 11036 47265 212 11046 47266 249 11035 47267 249 11035 47268 212 11046 47269 200 11047 47270 249 11035 47271 200 11047 47272 237 11034 47273 237 11034 47274 200 11047 47275 194 11048 47276 237 11034 47277 194 11048 47278 226 11033 47279 226 11033 47280 194 11048 47281 178 11049 47282 226 11033 47283 178 11049 47284 216 10974 47285 216 10974 47286 178 11049 47287 161 11050 47288 216 10974 47289 161 11050 47290 177 10972 47291 266 3989 47292 280 3988 47293 245 10960 47294 245 10960 47295 280 3988 47296 261 10968 47297 245 10960 47298 261 10968 47299 215 10961 47300 318 3996 47301 329 3997 47302 317 11022 47303 317 11022 47304 329 3997 47305 333 3993 47306 317 11022 47307 333 3993 47308 340 3994 47309 261 10968 47310 239 11051 47311 215 10961 47312 215 10961 47313 239 11051 47314 213 11052 47315 215 10961 47316 213 11052 47317 163 10963 47318 163 10963 47319 213 11052 47320 193 11053 47321 163 10963 47322 193 11053 47323 144 10964 47324 144 10964 47325 193 11053 47326 157 11054 47327 144 10964 47328 157 11054 47329 142 11055 47330 299 3990 47331 301 3991 47332 282 10967 47333 282 10967 47334 301 3991 47335 297 10966 47336 282 10967 47337 297 10966 47338 259 11056 47339 259 11056 47340 297 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47403 150 11066 47404 203 10973 47405 203 10973 47406 150 11066 47407 180 11065 47408 203 10973 47409 180 11065 47410 231 10975 47411 231 10975 47412 180 11065 47413 208 11063 47414 231 10975 47415 208 11063 47416 255 10976 47417 255 10976 47418 208 11063 47419 235 11061 47420 255 10976 47421 235 11061 47422 276 11019 47423 276 11019 47424 235 11061 47425 256 11059 47426 276 11019 47427 256 11059 47428 296 11020 47429 296 11020 47430 256 11059 47431 278 11057 47432 296 11020 47433 278 11057 47434 317 11022 47435 317 11022 47436 278 11057 47437 297 10966 47438 317 11022 47439 297 10966 47440 318 3996 47441 318 3996 47442 297 10966 47443 304 3992 47444 308 11042 47445 287 11067 47446 272 11038 47447 272 11038 47448 287 11067 47449 263 11068 47450 272 11038 47451 263 11068 47452 233 10978 47453 233 10978 47454 263 11068 47455 243 11069 47456 233 10978 47457 243 11069 47458 240 10979 47459 284 3987 47460 288 3986 47461 261 10968 47462 261 10968 47463 288 3986 47464 282 10967 47465 261 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