From 18031e05925d51653d6b853ca416c45a007b876f Mon Sep 17 00:00:00 2001 From: Bastian Hofmann Date: Sun, 30 Apr 2023 07:43:08 +0000 Subject: [PATCH] Cleanup and finishing touches --- README.md | 21 + src/Groot | 1 - src/btree/trees/actorTreeCoex.xml | 39 +- src/btree/trees/actorTreeColab.xml | 5 +- src/btree/trees/actorTreeCoop.xml | 6 +- src/btree/trees/robotTreeColab.xml | 1 - src/btree/trees/robotTreeCoop.xml | 1 - src/ign_actor_plugin/CMakeLists.txt | 3 +- src/ign_actor_plugin/animation/low_grab.dae | 3538 +++++++++++++++++ .../animation/low_inspect.dae | 3538 +++++++++++++++++ .../animation/low_put_back.dae | 3538 +++++++++++++++++ .../animation/low_to_standing.dae | 3538 +++++++++++++++++ .../animation/standing_extend_arm.dae | 2899 ++++++++++++++ .../animation/standing_idle.dae | 2899 ++++++++++++++ .../animation/standing_retract_arm.dae | 2899 ++++++++++++++ .../animation/standing_to_low.dae | 3538 +++++++++++++++++ .../animation/standing_walk.dae | 2899 ++++++++++++++ .../launch/gazebo_controller_launch.py | 45 +- src/ign_world/launch/moveit_launch.py | 311 -- src/ign_world/launch/new_launch.py | 55 - src/ign_world/model/conveyor.stl | Bin 3884 -> 16084 bytes src/ign_world/model/room.stl | Bin 0 -> 16334 bytes src/ign_world/world/conveyor.sdf | 4 +- src/ign_world/world/gaz_new_test.sdf | 75 - src/ign_world/world/world.sdf | 109 + 25 files changed, 29486 insertions(+), 476 deletions(-) create mode 100644 README.md delete mode 160000 src/Groot create mode 100644 src/ign_actor_plugin/animation/low_grab.dae create mode 100644 src/ign_actor_plugin/animation/low_inspect.dae create mode 100644 src/ign_actor_plugin/animation/low_put_back.dae create mode 100644 src/ign_actor_plugin/animation/low_to_standing.dae create mode 100755 src/ign_actor_plugin/animation/standing_extend_arm.dae create mode 100755 src/ign_actor_plugin/animation/standing_idle.dae create mode 100755 src/ign_actor_plugin/animation/standing_retract_arm.dae create mode 100644 src/ign_actor_plugin/animation/standing_to_low.dae create mode 100755 src/ign_actor_plugin/animation/standing_walk.dae delete mode 100644 src/ign_world/launch/moveit_launch.py delete mode 100644 src/ign_world/launch/new_launch.py create mode 100644 src/ign_world/model/room.stl delete mode 100644 src/ign_world/world/gaz_new_test.sdf create mode 100644 src/ign_world/world/world.sdf diff --git a/README.md b/README.md new file mode 100644 index 0000000..c30724c --- /dev/null +++ b/README.md @@ -0,0 +1,21 @@ +# Usage +`ros2 launch ign_world gazebo_controller_launch.py scene:=` and one of the following scene types: `Coex`, `Coop` and `Colab` appended to the beforementioned command. + +Depending on your terminal configuration, adding the environment variable `DISPLAY=:0` may be required as a prefix to the command, as not all terminals load the predefined environment. + +# Build +Building a package is handled by using the `build.sh` executable. +Many IDE's require a `compile_commands.json` file to offer syntax highlighting, which will be output when using the script. This also includes a symlink, in case your IDE does not search for it in the build directory. +Another addition of the script is the usage of `console_cohesion+` as event handler, which will format output by package, easing debugging in the noisy build output. + +# Packages +package name|description +-|- +`btree` | the executable for the behavior trees and the used xml files +`controller_test` | a debugging tool for sending direct commands to the ros_control controller of the `iisy` +`gz_ros2_control` | the git version of that package, as the one in the repos was too outdated +`ign_actor_plugin` | the Gazebo Ignition plugin for controllable Actors +`ign_world` | the world for the simulation +`ros_actor_action_server` | second component of actor plugin, has to be started to enable control functionality +`ros_actor_action_server_msgs` | ros_action messages used by the actor plugin server +`ros_actor_message_queue_msgs` | internal messages of the actor plugin \ No newline at end of file diff --git a/src/Groot b/src/Groot deleted file mode 160000 index 05fe640..0000000 --- a/src/Groot +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 05fe640172e3cd447ab5db31f71355789f6a48b3 diff --git a/src/btree/trees/actorTreeCoex.xml b/src/btree/trees/actorTreeCoex.xml index 88290ed..ad4cc9b 100644 --- a/src/btree/trees/actorTreeCoex.xml +++ b/src/btree/trees/actorTreeCoex.xml @@ -3,18 +3,41 @@ - - - - - - - + + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/btree/trees/actorTreeColab.xml b/src/btree/trees/actorTreeColab.xml index db84fe5..684f350 100644 --- a/src/btree/trees/actorTreeColab.xml +++ b/src/btree/trees/actorTreeColab.xml @@ -1,6 +1,5 @@ - @@ -14,12 +13,12 @@ - + - + diff --git a/src/btree/trees/actorTreeCoop.xml b/src/btree/trees/actorTreeCoop.xml index db84fe5..e7ff2b2 100644 --- a/src/btree/trees/actorTreeCoop.xml +++ b/src/btree/trees/actorTreeCoop.xml @@ -1,25 +1,23 @@ - - - + - + diff --git a/src/btree/trees/robotTreeColab.xml b/src/btree/trees/robotTreeColab.xml index bce5cf7..ef0b86c 100644 --- a/src/btree/trees/robotTreeColab.xml +++ b/src/btree/trees/robotTreeColab.xml @@ -1,6 +1,5 @@ - diff --git a/src/btree/trees/robotTreeCoop.xml b/src/btree/trees/robotTreeCoop.xml index 57ee5db..788eca2 100644 --- a/src/btree/trees/robotTreeCoop.xml +++ b/src/btree/trees/robotTreeCoop.xml @@ -1,6 +1,5 @@ - diff --git a/src/ign_actor_plugin/CMakeLists.txt b/src/ign_actor_plugin/CMakeLists.txt index a56af14..9ed8ed2 100644 --- a/src/ign_actor_plugin/CMakeLists.txt +++ b/src/ign_actor_plugin/CMakeLists.txt @@ -33,7 +33,8 @@ target_link_libraries(ign_actor_plugin install(TARGETS ign_actor_plugin - DESTINATION lib/${PROJECT_NAME} + DESTINATION share/${PROJECT_NAME} ) +install(DIRECTORY animation DESTINATION share/${PROJECT_NAME}) ament_package() diff --git a/src/ign_actor_plugin/animation/low_grab.dae b/src/ign_actor_plugin/animation/low_grab.dae new file mode 100644 index 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3123 3123 1965 1126 3124 3124 1966 1128 3125 3125 3521 1106 3126 3126 2605 1129 3127 3127 2603 1113 3128 3128 1756 1130 3129 3129 2057 1131 3130 3130 2002 1132 3131 3131 1390 1123 3132 3132 1973 1092 3133 3133 1395 1133 3134 3134 3522 1134 3135 3135 2606 1135 3136 3136 2605 1129 3137 3137 2002 1132 3138 3138 2058 1136 3139 3139 1845 1127 3140 3140 1973 1092 3141 3141 1749 1137 3142 3142 1395 1133 3143 3143 1966 1128 3144 3144 2590 1138 3145 3145 1388 1105 3146 3146 2053 1139 3147 3147 2057 1131 3148 3148 2054 1140 3149 3149 1960 1141 3150 3150 1975 1142 3151 3151 1959 1143 3152 3152 2590 1138 3153 3153 2599 1111 3154 3154 2595 1144 3155 3155 2054 1140 3156 3156 2055 1078 3157 3157 2056 1077 3158 3158 1976 1145 3159 3159 1978 1146 3160 3160 1975 1142 3161 3161 1756 1130 3162 3162 1966 1128 3163 3163 1965 1126 3164 3164 2056 1077 3165 3165 2076 1147 3166 3166 2071 1148 3167 3167 1746 1149 3168 3168 1975 1142 3169 3169 1978 1146 3170 3170 2076 1147 3171 3171 1976 1145 3172 3172 1960 1141 3173 3173 1959 1143 3174 3174 1755 1150 3175 3175 1974 1151 3176 3176 1966 1128 3177 3177 3532 1124 3178 3178 3533 1152 3179 3179 2075 1153 3180 3180 2079 1154 3181 3181 2078 1116 3182 3182 1979 1155 3183 3183 1968 1156 3184 3184 1967 1102 3185 3185 1741 1110 3186 3186 1983 1157 3187 3187 1984 1158 3188 3188 3533 1152 3189 3189 2600 1159 3190 3190 2599 1111 3191 3191 2078 1116 3192 3192 1964 1076 3193 3193 1753 1160 3194 3194 1981 1161 3195 3195 1980 1085 3196 3196 1979 1155 3197 3197 2077 1117 3198 3198 1753 1160 3199 3199 1747 1093 3200 3200 1981 1161 3201 3201 1983 1157 3202 3202 1982 1162 3203 3203 2610 1112 3204 3204 3543 1163 3205 3205 3527 1107 3206 3206 2075 1153 3207 3207 1977 1164 3208 3208 1976 1145 3209 3209 2600 1159 3210 3210 3541 1165 3211 3211 2610 1112 3212 3212 1754 1086 3213 3213 1982 1162 3214 3214 1745 1166 3215 3215 3532 1124 3216 3216 3542 1167 3217 3217 2600 1159 3218 3218 2073 1168 3219 3219 2077 1117 3220 3220 2072 1169 3221 3221 1745 1166 3222 3222 1983 1157 3223 3223 1742 1074 3224 3224 2056 1077 3225 3225 2069 1170 3226 3226 2054 1140 3227 3227 2072 1169 3228 3228 1747 1093 3229 3229 1743 1059 3230 3230 3544 1171 3231 3231 3528 1172 3232 3232 2051 1173 3233 3233 2002 1132 3234 3234 2583 1174 3235 3235 1756 1130 3236 3236 1984 1158 3237 3237 1746 1149 3238 3238 1741 1110 3239 3239 2055 1078 3240 3240 1965 1126 3241 3241 1964 1076 3242 3242 2051 1173 3243 3243 2071 1148 3244 3244 3544 1171 3245 3245 1389 1104 3246 3246 2588 1175 3247 3247 1383 1176 3248 3248 1981 1161 3249 3249 1755 1150 3250 3250 1746 1149 3251 3251 1960 1141 3252 3252 2071 1148 3253 3253 2076 1147 3254 3254 1388 1105 3255 3255 2589 1177 3256 3256 1389 1104 3257 3257 1974 1151 3258 3258 1979 1155 3259 3259 1967 1102 3260 3260 1959 1143 3261 3261 3544 1171 3262 3262 1960 1141 3263 3263 2589 1177 3264 3264 2593 1178 3265 3265 2588 1175 3266 3266 1986 1179 3267 3267 1969 1180 3268 3268 1970 1181 3269 3269 1974 1151 3270 3270 3545 1182 3271 3271 1959 1143 3272 3272 2590 1138 3273 3273 2594 1183 3274 3274 2589 1177 3275 3275 1988 1184 3276 3276 1985 1185 3277 3277 1986 1179 3278 3278 1977 1164 3279 3279 3547 1186 3280 3280 1978 1146 3281 3281 2037 1187 3282 3282 2000 1096 3283 3283 1962 1114 3284 3284 1989 1080 3285 3285 1987 1188 3286 3286 1988 1184 3287 3287 1746 1149 3288 3288 3547 1186 3289 3289 1741 1110 3290 3290 2595 1144 3291 3291 2603 1113 3292 3292 2605 1129 3293 3293 1754 1086 3294 3294 1970 1181 3295 3295 1971 1084 3296 3296 2074 1115 3297 3297 3546 1189 3298 3298 1977 1164 3299 3299 2606 1135 3300 3300 3524 1190 3301 3301 2607 1191 3302 3302 2595 1144 3303 3303 2606 1135 3304 3304 2594 1183 3305 3305 1972 1091 3306 3306 1985 1185 3307 3307 1749 1137 3308 3308 3546 1189 3309 3309 2072 1169 3310 3310 1743 1059 3311 3311 2594 1183 3312 3312 2607 1191 3313 3313 2593 1178 3314 3314 1749 1137 3315 3315 1987 1188 3316 3316 1748 1192 3317 3317 1408 1193 3318 3318 1744 1073 3319 3319 1409 1056 3320 3320 1741 1110 3321 3321 3546 1189 3322 3322 1743 1059 3323 3323 2604 1099 3324 3324 3522 1134 3325 3325 3521 1106 3326 3326 1745 1166 3327 3327 1986 1179 3328 3328 1754 1086 3329 3329 1395 1133 3330 3330 1748 1192 3331 3331 1408 1193 3332 3332 1406 1022 3333 3333 1743 1059 3334 3334 1407 1075 3335 3335 2037 1187 3336 3336 3523 1194 3337 3337 3522 1134 3338 3338 1748 1192 3339 3339 1990 1079 3340 3340 1744 1073 3341 3341 1395 1133 3342 3342 1394 1195 3343 3343 1390 1123 3344 3344 1996 1090 3345 3345 1846 1089 3346 3346 1764 1196 3347 3347 2028 1122 3348 3348 3524 1190 3349 3349 3523 1194 3350 3350 1989 1080 3351 3351 1745 1166 3352 3352 1742 1074 3353 3353 1387 1081 3354 3354 1394 1195 3355 3355 1392 1197 3356 3356 1391 1095 3357 3357 1383 1176 3358 3358 1385 1198 3359 3359 2584 1199 3360 3360 3526 1200 3361 3361 2602 1201 3362 3362 1393 1082 3363 3363 1377 1202 3364 3364 1378 1203 3365 3365 1376 1204 3366 3366 1392 1197 3367 3367 1394 1195 3368 3368 2608 1205 3369 3369 3526 1200 3370 3370 2609 1206 3371 3371 1376 1204 3372 3372 1408 1193 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2993 2436 7144 7144 3057 2384 7145 7145 3066 2387 7146 7146 2983 2393 7147 7147 3008 2395 7148 7148 2943 2390 7149 7149 3069 2423 7150 7150 3067 2428 7151 7151 3030 2431 7152 7152 2994 2401 7153 7153 3027 2437 7154 7154 3009 2434 7155 7155 3074 2414 7156 7156 3071 2427 7157 7157 3020 2396 7158 7158 2952 2347 7159 7159 3054 2346 7160 7160 3033 2430 7161 7161 2971 2379 7162 7162 2986 2370 7163 7163 2980 2438 7164 7164 3030 2431 7165 7165 3029 2433 7166 7166 3086 2367 7167 7167 3021 2392 7168 7168 3085 2382 7169 7169 3077 2441 7170 7170 3060 2442 7171 7171 3076 2443 7172 7172 3062 2444 7173 7173 3011 2445 7174 7174 3041 2446 7175 7175 3037 2447 7176 7176 3016 2448 7177 7177 3018 2449 7178 7178 3044 2450 7179 7179 3015 2451 7180 7180 3045 2452 7181 7181 3036 2453 7182 7182 3049 2454 7183 7183 3038 2455 7184 7184 2945 2456 7185 7185 3064 2457 7186 7186 3068 2417 7187 7187 3035 2458 7188 7188 2998 2459 7189 7189 3036 2453 7190 7190 3061 2460 7191 7191 2945 2456 7192 7192 3072 2419 7193 7193 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3122 2529 7394 7394 1158 2536 7395 7395 1162 2498 7396 7396 1161 2500 7397 7397 1060 2503 7398 7398 1284 2539 7399 7399 1164 2540 7400 7400 3267 2538 7401 7401 3126 2531 7402 7402 3125 2530 7403 7403 1137 2492 7404 7404 1159 2535 7405 7405 1140 2490 7406 7406 1127 2541 7407 7407 3242 2542 7408 7408 3270 2543 7409 7409 1274 2507 7410 7410 1272 2506 7411 7411 1273 2511 7412 7412 1125 2544 7413 7413 3242 2542 7414 7414 3124 2537 7415 7415 1277 2509 7416 7416 1275 2504 7417 7417 1274 2507 7418 7418 1124 2545 7419 7419 3124 2537 7420 7420 3183 2528 7421 7421 1164 2540 7422 7422 1278 2341 7423 7423 1163 2376 7424 7424 3150 2516 7425 7425 3111 2512 7426 7426 1273 2511 7427 7427 1126 2534 7428 7428 3126 2531 7429 7429 1127 2541 7430 7430 1124 2545 7431 7431 1279 2546 7432 7432 1164 2540 7433 7433 1272 2506 7434 7434 3150 2516 7435 7435 1273 2511 7436 7436 1158 2536 7437 7437 3181 2524 7438 7438 1126 2534 7439 7439 1279 2546 7440 7440 1276 2365 7441 7441 1278 2341 7442 7442 1272 2506 7443 7443 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3122 2529 7544 7544 3206 2588 7545 7545 3216 2576 7546 7546 3200 2578 7547 7547 3122 2529 7548 7548 3266 2567 7549 7549 3185 2571 7550 7550 3214 2579 7551 7551 3209 2589 7552 7552 3180 2580 7553 7553 3125 2530 7554 7554 3266 2567 7555 7555 3267 2538 7556 7556 3209 2589 7557 7557 3179 2590 7558 7558 3180 2580 7559 7559 3127 2523 7560 7560 3128 2566 7561 7561 3125 2530 7562 7562 3207 2573 7563 7563 3200 2578 7564 7564 3179 2590 7565 7565 3212 2527 7566 7566 3129 2591 7567 7567 3127 2523 7568 7568 3176 2564 7569 7569 3201 2557 7570 7570 3175 2592 7571 7571 3213 2593 7572 7572 3214 2579 7573 7573 3212 2527 7574 7574 3179 2590 7575 7575 3137 2577 7576 7576 3178 2570 7577 7577 3268 2594 7578 7578 3222 2583 7579 7579 3174 2584 7580 7580 3186 2585 7581 7581 3184 2565 7582 7582 3173 2563 7583 7583 3175 2592 7584 7584 3268 2594 7585 7585 3174 2584 7586 7586 3180 2580 7587 7587 3178 2570 7588 7588 3177 2569 7589 7589 3237 2581 7590 7590 3269 2595 7591 7591 3154 2582 7592 7592 3176 2564 7593 7593 3174 2584 7594 7594 3173 2563 7595 7595 3130 2561 7596 7596 3129 2591 7597 7597 3177 2569 7598 7598 3269 2595 7599 7599 3187 2596 7600 7600 3154 2582 7601 7601 3188 2586 7602 7602 3207 2573 7603 7603 3151 2575 7604 7604 3137 2577 7605 7605 3135 2597 7606 7606 3138 2572 7607 7607 3151 2575 7608 7608 3255 2598 7609 7609 3188 2586 7610 7610 3133 2599 7611 7611 3216 2576 7612 7612 3220 2600 7613 7613 3154 2582 7614 7614 3255 2598 7615 7615 3254 2601 7616 7616 3217 2587 7617 7617 3220 2600 7618 7618 3216 2576 7619 7619 3136 2602 7620 7620 3134 2603 7621 7621 3133 2599 7622 7622 3201 2557 7623 7623 3269 2595 7624 7624 3175 2592 7625 7625 3151 2575 7626 7626 3249 2532 7627 7627 3254 2601 7628 7628 3254 2601 7629 7629 3153 2518 7630 7630 3154 2582 7631 7631 3156 2604 7632 7632 3255 2598 7633 7633 3256 2605 7634 7634 3255 2598 7635 7635 3158 2606 7636 7636 3256 2605 7637 7637 3135 2597 7638 7638 3261 2607 7639 7639 3262 2608 7640 7640 3261 2607 7641 7641 3139 2609 7642 7642 3262 2608 7643 7643 3138 2572 7644 7644 3262 2608 7645 7645 3263 2552 7646 7646 3263 2552 7647 7647 3139 2609 7648 7648 3141 2558 7649 7649 3228 2568 7650 7650 3263 2552 7651 7651 3264 2554 7652 7652 3187 2596 7653 7653 3233 2610 7654 7654 3158 2606 7655 7655 3146 2611 7656 7656 3226 2612 7657 7657 3145 2613 7658 7658 3163 2614 7659 7659 3250 2615 7660 7660 3251 2616 7661 7661 3226 2612 7662 7662 3143 2559 7663 7663 3145 2613 7664 7664 3169 2617 7665 7665 3171 2618 7666 7666 3170 2619 7667 7667 3250 2615 7668 7668 3169 2617 7669 7669 3251 2616 7670 7670 3155 2620 7671 7671 3219 2621 7672 7672 3156 2604 7673 7673 3166 2622 7674 7674 3251 2616 7675 7675 3252 2623 7676 7676 3160 2624 7677 7677 3211 2625 7678 7678 3155 2620 7679 7679 3253 2626 7680 7680 3241 2627 7681 7681 3259 2628 7682 7682 3252 2623 7683 7683 3169 2617 7684 7684 3170 2619 7685 7685 3221 2629 7686 7686 3218 2630 7687 7687 3220 2600 7688 7688 3159 2631 7689 7689 3252 2623 7690 7690 3170 2619 7691 7691 3218 2630 7692 7692 3211 2625 7693 7693 3172 2632 7694 7694 3252 2623 7695 7695 3162 2633 7696 7696 3166 2622 7697 7697 3172 2632 7698 7698 3210 2634 7699 7699 3171 2618 7700 7700 3155 2620 7701 7701 3256 2605 7702 7702 3257 2635 7703 7703 3171 2618 7704 7704 3159 2631 7705 7705 3170 2619 7706 7706 3163 2614 7707 7707 3165 2636 7708 7708 3164 2637 7709 7709 3257 2635 7710 7710 3158 2606 7711 7711 3157 2638 7712 7712 3163 2614 7713 7713 3191 2639 7714 7714 3193 2640 7715 7715 3155 2620 7716 7716 3258 2641 7717 7717 3160 2624 7718 7718 3190 2642 7719 7719 3169 2617 7720 7720 3192 2643 7721 7721 3258 2641 7722 7722 3157 2638 7723 7723 3161 2644 7724 7724 3167 2645 7725 7725 3144 2646 7726 7726 3189 2647 7727 7727 3260 2648 7728 7728 3189 2647 7729 7729 3144 2646 7730 7730 3241 2627 7731 7731 3258 2641 7732 7732 3259 2628 7733 7733 3143 2559 7734 7734 3140 2649 7735 7735 3145 2613 7736 7736 3136 2602 7737 7737 3260 2648 7738 7738 3261 2607 7739 7739 3258 2641 7740 7740 3240 2650 7741 7741 3259 2628 7742 7742 3131 2651 7743 7743 3148 2652 7744 7744 3132 2653 7745 7745 3260 2648 7746 7746 3140 2649 7747 7747 3261 2607 7748 7748 3240 2650 7749 7749 3253 2626 7750 7750 3259 2628 7751 7751 3205 2654 7752 7752 3204 2655 7753 7753 3245 2656 7754 7754 3172 2632 7755 7755 3190 2642 7756 7756 3132 2653 7757 7757 3147 2657 7758 7758 3243 2658 7759 7759 3260 2648 7760 7760 3164 2637 7761 7761 3168 2659 7762 7762 3167 2645 7763 7763 3133 2599 7764 7764 3147 2657 7765 7765 3136 2602 7766 7766 3145 2613 7767 7767 3144 2646 7768 7768 3146 2611 7769 7769 3202 2660 7770 7770 3205 2654 7771 7771 3197 2661 7772 7772 3197 2661 7773 7773 3192 2643 7774 7774 3202 2660 7775 7775 3219 2621 7776 7776 3217 2587 7777 7777 3156 2604 7778 7778 3233 2610 7779 7779 3230 2662 7780 7780 3158 2606 7781 7781 3166 2622 7782 7782 3238 2663 7783 7783 3165 2636 7784 7784 3167 2645 7785 7785 3191 2639 7786 7786 3164 2637 7787 7787 3157 2638 7788 7788 3238 2663 7789 7789 3161 2644 7790 7790 3190 2642 7791 7791 3131 2651 7792 7792 3132 2653 7793 7793 3230 2662 7794 7794 3157 2638 7795 7795 3158 2606 7796 7796 3162 2633 7797 7797 3161 2644 7798 7798 3238 2663 7799 7799 3165 2636 7800 7800 3231 2664 7801 7801 3168 2659 7802 7802 3241 2627 7803 7803 3210 2634 7804 7804 3160 2624 7805 7805 3226 2612 7806 7806 3233 2610 7807 7807 3225 2555 7808 7808 3227 2665 7809 7809 3232 2666 7810 7810 3226 2612 7811 7811 3231 2664 7812 7812 3227 2665 7813 7813 3168 2659 7814 7814 3204 2655 7815 7815 3202 2660 7816 7816 3246 2667 7817 7817 3220 2600 7818 7818 3148 2652 7819 7819 3133 2599 7820 7820 3246 2667 7821 7821 3245 2656 7822 7822 3204 2655 7823 7823 3132 2653 7824 7824 3218 2630 7825 7825 3172 2632 7826 7826 3202 2660 7827 7827 3250 2615 7828 7828 3246 2667 7829 7829 3168 2659 7830 7830 3146 2611 7831 7831 3167 2645 7832 7832 3250 2615 7833 7833 3203 2668 7834 7834 3246 2667 7835 7835 1243 1951 7836 7836 1242 2669 7837 7837 1241 2670 7838 7838 1241 2670 7839 7839 1097 2671 7840 7840 1243 1951 7841 7841 1245 2672 7842 7842 1095 2673 7843 7843 1246 2674 7844 7844 1244 2675 7845 7845 1247 2676 7846 7846 1243 1951 7847 7847 1250 2677 7848 7848 1248 1997 7849 7849 1249 1999 7850 7850 1243 1951 7851 7851 1247 2676 7852 7852 1250 2677 7853 7853 1313 1998 7854 7854 1094 2678 7855 7855 1093 1996 7856 7856 1246 2674 7857 7857 1313 1998 7858 7858 1248 1997 7859 7859 1100 2679 7860 7860 1244 2675 7861 7861 1098 2680 7862 7862 1085 1968 7863 7863 1093 1996 7864 7864 1087 2681 7865 7865 1094 2678 7866 7866 1087 2681 7867 7867 1093 1996 7868 7868 1099 2682 7869 7869 1097 2671 7870 7870 1092 2683 7871 7871 1092 2683 7872 7872 1096 2684 7873 7873 1099 2682 7874 7874 1091 2000 7875 7875 1087 2681 7876 7876 1092 2683 7877 7877 1094 2678 7878 7878 1100 2679 7879 7879 1096 2684 7880 7880 1102 2685 7881 7881 1101 2686 7882 7882 1103 2687 7883 7883 1098 2680 7884 7884 1096 2684 7885 7885 1100 2679 7886 7886 1097 2671 7887 7887 1101 2686 7888 7888 1092 2683 7889 7889 1091 2000 7890 7890 1092 2683 7891 7891 1101 2686 7892 7892 1090 1973 7893 7893 1101 2686 7894 7894 1102 2685 7895 7895 1101 2686 7896 7896 1104 2688 7897 7897 1103 2687 7898 7898 1101 2686 7899 7899 1102 2685 7900 7900 1104 2688 7901 7901 1097 2671 7902 7902 1244 2675 7903 7903 1243 1951 7904 7904 1103 2687 7905 7905 1104 2688 7906 7906 1102 2685 7907 7907 1241 2670 7908 7908 1102 2685 7909 7909 1240 2689 7910 7910 1247 2676 7911 7911 1246 2674 7912 7912 1248 1997 7913 7913 1102 2685 7914 7914 1241 2670 7915 7915 1242 2669 7916 7916 1090 1973 7917 7917 1242 2669 7918 7918 1243 1951 7919 7919 2865 2690 7920 7920 2854 2691 7921 7921 2860 2692 7922 7922 2864 2131 7923 7923 2855 2693 7924 7924 2852 2116 7925 7925 2866 2130 7926 7926 2863 2694 7927 7927 2864 2131 7928 7928 2859 2695 7929 7929 2808 2696 7930 7930 2862 2697 7931 7931 2808 2696 7932 7932 2860 2692 7933 7933 2811 2698 7934 7934 2863 2694 7935 7935 2808 2696 7936 7936 2811 2698 7937 7937 2808 2696 7938 7938 2858 2699 7939 7939 2861 2700 7940 7940 2855 2693 7941 7941 2811 2698 7942 7942 2810 2701 7943 7943 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22175 22175 3876 7086 22176 22176 3906 7097 22177 22177 3905 7096 22178 22178 3877 7088 22179 22179 3900 7098 22180 22180 3906 7097 22181 22181 3908 7099 22182 22182 3878 7100 22183 22183 3879 7101 22184 22184 3908 7099 22185 22185 3845 6851 22186 22186 3907 7102 22187 22187 3844 6850 22188 22188 3907 7102 22189 22189 3845 6851 22190 22190 3909 7103 22191 22191 3878 7100 22192 22192 3907 7102 22193 22193 3843 6849 22194 22194 3909 7103 22195 22195 3844 6850 22196 22196 3910 7104 22197 22197 3880 7105 22198 22198 3909 7103 22199 22199 3843 6849 22200 22200 3911 7106 22201 22201 3910 7104 22202 22202 3910 7104 22203 22203 3882 7107 22204 22204 3881 7108 22205 22205 3912 7109 22206 22206 3842 6848 22207 22207 3841 6847 22208 22208 3883 7110 22209 22209 3911 7106 22210 22210 3912 7109 22211 22211 3840 6846 22212 22212 3912 7109 22213 22213 3841 6847 22214 22214 3913 7111 22215 22215 3883 7110 22216 22216 3912 7109 22217 22217 3914 7112 22218 22218 3840 6846 22219 22219 3839 6853 22220 22220 3885 7113 22221 22221 3913 7111 22222 22222 3914 7112 22223 22223 3885 7113 22224 22224 3908 7099 22225 22225 3879 7101 22226 22226 3838 6852 22227 22227 3914 7112 22228 22228 3839 6853 22229 22229 3915 7114 22230 22230 3879 7101 22231 22231 3878 7100 22232 22232 3847 7115 22233 22233 3916 7116 22234 22234 3915 7114 22235 22235 3880 7105 22236 22236 3915 7114 22237 22237 3878 7100 22238 22238 3917 7117 22239 22239 3847 7115 22240 22240 3915 7114 22241 22241 3881 7108 22242 22242 3917 7117 22243 22243 3880 7105 22244 22244 3918 7118 22245 22245 3848 7119 22246 22246 3917 7117 22247 22247 3882 7107 22248 22248 3918 7118 22249 22249 3881 7108 22250 22250 3919 7120 22251 22251 3849 7121 22252 22252 3918 7118 22253 22253 3883 7110 22254 22254 3919 7120 22255 22255 3882 7107 22256 22256 3920 7122 22257 22257 3850 7123 22258 22258 3919 7120 22259 22259 3883 7110 22260 22260 3921 7124 22261 22261 3920 7122 22262 22262 3920 7122 22263 22263 3852 7125 22264 22264 3851 7126 22265 22265 3922 7127 22266 22266 3884 7128 22267 22267 3885 7113 22268 22268 3853 7129 22269 22269 3921 7124 22270 22270 3922 7127 22271 22271 3885 7113 22272 22272 3916 7116 22273 22273 3922 7127 22274 22274 3922 7127 22275 22275 3846 7130 22276 22276 3853 7129 22277 22277 3846 7130 22278 22278 3923 7131 22279 22279 3853 7129 22280 22280 3924 7132 22281 22281 3899 7091 22282 22282 3923 7131 22283 22283 3923 7131 22284 22284 3852 7125 22285 22285 3853 7129 22286 22286 3899 7091 22287 22287 3925 7133 22288 22288 3923 7131 22289 22289 3852 7125 22290 22290 3926 7134 22291 22291 3851 7126 22292 22292 3925 7133 22293 22293 3902 7093 22294 22294 3926 7134 22295 22295 3926 7134 22296 22296 3850 7123 22297 22297 3851 7126 22298 22298 3902 7093 22299 22299 3927 7135 22300 22300 3926 7134 22301 22301 3849 7121 22302 22302 3927 7135 22303 22303 3928 7136 22304 22304 3928 7136 22305 22305 3903 7094 22306 22306 3904 7095 22307 22307 3849 7121 22308 22308 3929 7137 22309 22309 3848 7119 22310 22310 3928 7136 22311 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32626 315 3598 32627 32627 233 3588 32628 32628 317 3600 32629 32629 316 3599 32630 32630 317 3600 32631 32631 293 3560 32632 32632 292 3559 32633 32633 232 3585 32634 32634 318 3601 32635 32635 317 3600 32636 32636 318 3601 32637 32637 294 3561 32638 32638 293 3560 32639 32639 232 3585 32640 32640 231 3583 32641 32641 319 3602 32642 32642 318 3601 32643 32643 319 3602 32644 32644 295 3563 32645 32645 230 3581 32646 32646 320 3603 32647 32647 319 3602 32648 32648 320 3603 32649 32649 296 3562 32650 32650 295 3563 32651 32651 230 3581 32652 32652 229 3595 32653 32653 314 3597 32654 32654 314 3597 32655 32655 290 3557 32656 32656 296 3562 32657 32657 322 3604 32658 32658 321 3609 32659 32659 221 3293 32660 32660 227 3289 32661 32661 323 3605 32662 32662 322 3604 32663 32663 226 3288 32664 32664 324 7169 32665 32665 323 3605 32666 32666 325 3606 32667 32667 324 7169 32668 32668 226 3288 32669 32669 326 3607 32670 32670 325 3606 32671 32671 225 3287 32672 32672 223 3285 32673 32673 327 3608 32674 32674 326 3607 32675 32675 222 3294 32676 32676 328 7170 32677 32677 327 3608 32678 32678 321 3609 32679 32679 328 7170 32680 32680 222 3294 32681 32681 277 3538 32709 32709 250 3524 32710 32710 3614 3533 32711 32711 3855 7053 42711 42711 3861 7056 42712 42712 3862 7054 42713 42713 3861 7056 42714 42714 3860 7058 42715 42715 3864 7057 42716 42716 3860 7058 42717 42717 3859 7061 42718 42718 3865 7059 42719 42719 3858 7060 42720 42720 3866 7063 42721 42721 3865 7059 42722 42722 3857 7062 42723 42723 3867 7065 42724 42724 3866 7063 42725 42725 3856 7064 42726 42726 3868 7067 42727 42727 3867 7065 42728 42728 3854 7066 42729 42729 3869 7070 42730 42730 3868 7067 42731 42731 3863 7055 42732 42732 3869 7070 42733 42733 3854 7066 42734 42734 3866 7063 42735 42735 253 3529 42736 42736 254 3528 42737 42737 3865 7059 42738 42738 254 3528 42739 42739 255 3530 42740 42740 272 3531 42741 42741 7150 7074 42742 42742 7151 7068 42743 42743 3864 7057 42744 42744 255 3530 42745 42745 273 3534 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42837 42837 3838 6852 42838 42838 3845 6851 42839 42839 3844 6850 42840 42840 3909 7103 42841 42841 3907 7102 42842 42842 3909 7103 42843 42843 3880 7105 42844 42844 3878 7100 42845 42845 3843 6849 42846 42846 3910 7104 42847 42847 3909 7103 42848 42848 3910 7104 42849 42849 3881 7108 42850 42850 3880 7105 42851 42851 3843 6849 42852 42852 3842 6848 42853 42853 3911 7106 42854 42854 3910 7104 42855 42855 3911 7106 42856 42856 3882 7107 42857 42857 3912 7109 42858 42858 3911 7106 42859 42859 3842 6848 42860 42860 3883 7110 42861 42861 3882 7107 42862 42862 3911 7106 42863 42863 3840 6846 42864 42864 3913 7111 42865 42865 3912 7109 42866 42866 3913 7111 42867 42867 3884 7128 42868 42868 3883 7110 42869 42869 3914 7112 42870 42870 3913 7111 42871 42871 3840 6846 42872 42872 3885 7113 42873 42873 3884 7128 42874 42874 3913 7111 42875 42875 3885 7113 42876 42876 3914 7112 42877 42877 3908 7099 42878 42878 3838 6852 42879 42879 3908 7099 42880 42880 3914 7112 42881 42881 3915 7114 42882 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7116 42928 42928 3846 7130 42929 42929 3846 7130 42930 42930 3924 7132 42931 42931 3923 7131 42932 42932 3924 7132 42933 42933 3900 7098 42934 42934 3899 7091 42935 42935 3923 7131 42936 42936 3925 7133 42937 42937 3852 7125 42938 42938 3899 7091 42939 42939 3901 7092 42940 42940 3925 7133 42941 42941 3852 7125 42942 42942 3925 7133 42943 42943 3926 7134 42944 42944 3925 7133 42945 42945 3901 7092 42946 42946 3902 7093 42947 42947 3926 7134 42948 42948 3927 7135 42949 42949 3850 7123 42950 42950 3902 7093 42951 42951 3903 7094 42952 42952 3927 7135 42953 42953 3849 7121 42954 42954 3850 7123 42955 42955 3927 7135 42956 42956 3928 7136 42957 42957 3927 7135 42958 42958 3903 7094 42959 42959 3849 7121 42960 42960 3928 7136 42961 42961 3929 7137 42962 42962 3928 7136 42963 42963 3904 7095 42964 42964 3905 7096 42965 42965 3929 7137 42966 42966 3930 7138 42967 42967 3847 7115 42968 42968 3905 7096 42969 42969 3906 7097 42970 42970 3930 7138 42971 42971 3847 7115 42972 42972 3930 7138 42973 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3123 3123 1965 1126 3124 3124 1966 1128 3125 3125 3521 1106 3126 3126 2605 1129 3127 3127 2603 1113 3128 3128 1756 1130 3129 3129 2057 1131 3130 3130 2002 1132 3131 3131 1390 1123 3132 3132 1973 1092 3133 3133 1395 1133 3134 3134 3522 1134 3135 3135 2606 1135 3136 3136 2605 1129 3137 3137 2002 1132 3138 3138 2058 1136 3139 3139 1845 1127 3140 3140 1973 1092 3141 3141 1749 1137 3142 3142 1395 1133 3143 3143 1966 1128 3144 3144 2590 1138 3145 3145 1388 1105 3146 3146 2053 1139 3147 3147 2057 1131 3148 3148 2054 1140 3149 3149 1960 1141 3150 3150 1975 1142 3151 3151 1959 1143 3152 3152 2590 1138 3153 3153 2599 1111 3154 3154 2595 1144 3155 3155 2054 1140 3156 3156 2055 1078 3157 3157 2056 1077 3158 3158 1976 1145 3159 3159 1978 1146 3160 3160 1975 1142 3161 3161 1756 1130 3162 3162 1966 1128 3163 3163 1965 1126 3164 3164 2056 1077 3165 3165 2076 1147 3166 3166 2071 1148 3167 3167 1746 1149 3168 3168 1975 1142 3169 3169 1978 1146 3170 3170 2076 1147 3171 3171 1976 1145 3172 3172 1960 1141 3173 3173 1959 1143 3174 3174 1755 1150 3175 3175 1974 1151 3176 3176 1966 1128 3177 3177 3532 1124 3178 3178 3533 1152 3179 3179 2075 1153 3180 3180 2079 1154 3181 3181 2078 1116 3182 3182 1979 1155 3183 3183 1968 1156 3184 3184 1967 1102 3185 3185 1741 1110 3186 3186 1983 1157 3187 3187 1984 1158 3188 3188 3533 1152 3189 3189 2600 1159 3190 3190 2599 1111 3191 3191 2078 1116 3192 3192 1964 1076 3193 3193 1753 1160 3194 3194 1981 1161 3195 3195 1980 1085 3196 3196 1979 1155 3197 3197 2077 1117 3198 3198 1753 1160 3199 3199 1747 1093 3200 3200 1981 1161 3201 3201 1983 1157 3202 3202 1982 1162 3203 3203 2610 1112 3204 3204 3543 1163 3205 3205 3527 1107 3206 3206 2075 1153 3207 3207 1977 1164 3208 3208 1976 1145 3209 3209 2600 1159 3210 3210 3541 1165 3211 3211 2610 1112 3212 3212 1754 1086 3213 3213 1982 1162 3214 3214 1745 1166 3215 3215 3532 1124 3216 3216 3542 1167 3217 3217 2600 1159 3218 3218 2073 1168 3219 3219 2077 1117 3220 3220 2072 1169 3221 3221 1745 1166 3222 3222 1983 1157 3223 3223 1742 1074 3224 3224 2056 1077 3225 3225 2069 1170 3226 3226 2054 1140 3227 3227 2072 1169 3228 3228 1747 1093 3229 3229 1743 1059 3230 3230 3544 1171 3231 3231 3528 1172 3232 3232 2051 1173 3233 3233 2002 1132 3234 3234 2583 1174 3235 3235 1756 1130 3236 3236 1984 1158 3237 3237 1746 1149 3238 3238 1741 1110 3239 3239 2055 1078 3240 3240 1965 1126 3241 3241 1964 1076 3242 3242 2051 1173 3243 3243 2071 1148 3244 3244 3544 1171 3245 3245 1389 1104 3246 3246 2588 1175 3247 3247 1383 1176 3248 3248 1981 1161 3249 3249 1755 1150 3250 3250 1746 1149 3251 3251 1960 1141 3252 3252 2071 1148 3253 3253 2076 1147 3254 3254 1388 1105 3255 3255 2589 1177 3256 3256 1389 1104 3257 3257 1974 1151 3258 3258 1979 1155 3259 3259 1967 1102 3260 3260 1959 1143 3261 3261 3544 1171 3262 3262 1960 1141 3263 3263 2589 1177 3264 3264 2593 1178 3265 3265 2588 1175 3266 3266 1986 1179 3267 3267 1969 1180 3268 3268 1970 1181 3269 3269 1974 1151 3270 3270 3545 1182 3271 3271 1959 1143 3272 3272 2590 1138 3273 3273 2594 1183 3274 3274 2589 1177 3275 3275 1988 1184 3276 3276 1985 1185 3277 3277 1986 1179 3278 3278 1977 1164 3279 3279 3547 1186 3280 3280 1978 1146 3281 3281 2037 1187 3282 3282 2000 1096 3283 3283 1962 1114 3284 3284 1989 1080 3285 3285 1987 1188 3286 3286 1988 1184 3287 3287 1746 1149 3288 3288 3547 1186 3289 3289 1741 1110 3290 3290 2595 1144 3291 3291 2603 1113 3292 3292 2605 1129 3293 3293 1754 1086 3294 3294 1970 1181 3295 3295 1971 1084 3296 3296 2074 1115 3297 3297 3546 1189 3298 3298 1977 1164 3299 3299 2606 1135 3300 3300 3524 1190 3301 3301 2607 1191 3302 3302 2595 1144 3303 3303 2606 1135 3304 3304 2594 1183 3305 3305 1972 1091 3306 3306 1985 1185 3307 3307 1749 1137 3308 3308 3546 1189 3309 3309 2072 1169 3310 3310 1743 1059 3311 3311 2594 1183 3312 3312 2607 1191 3313 3313 2593 1178 3314 3314 1749 1137 3315 3315 1987 1188 3316 3316 1748 1192 3317 3317 1408 1193 3318 3318 1744 1073 3319 3319 1409 1056 3320 3320 1741 1110 3321 3321 3546 1189 3322 3322 1743 1059 3323 3323 2604 1099 3324 3324 3522 1134 3325 3325 3521 1106 3326 3326 1745 1166 3327 3327 1986 1179 3328 3328 1754 1086 3329 3329 1395 1133 3330 3330 1748 1192 3331 3331 1408 1193 3332 3332 1406 1022 3333 3333 1743 1059 3334 3334 1407 1075 3335 3335 2037 1187 3336 3336 3523 1194 3337 3337 3522 1134 3338 3338 1748 1192 3339 3339 1990 1079 3340 3340 1744 1073 3341 3341 1395 1133 3342 3342 1394 1195 3343 3343 1390 1123 3344 3344 1996 1090 3345 3345 1846 1089 3346 3346 1764 1196 3347 3347 2028 1122 3348 3348 3524 1190 3349 3349 3523 1194 3350 3350 1989 1080 3351 3351 1745 1166 3352 3352 1742 1074 3353 3353 1387 1081 3354 3354 1394 1195 3355 3355 1392 1197 3356 3356 1391 1095 3357 3357 1383 1176 3358 3358 1385 1198 3359 3359 2584 1199 3360 3360 3526 1200 3361 3361 2602 1201 3362 3362 1393 1082 3363 3363 1377 1202 3364 3364 1378 1203 3365 3365 1376 1204 3366 3366 1392 1197 3367 3367 1394 1195 3368 3368 2608 1205 3369 3369 3526 1200 3370 3370 2609 1206 3371 3371 1376 1204 3372 3372 1408 1193 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2993 2436 7144 7144 3057 2384 7145 7145 3066 2387 7146 7146 2983 2393 7147 7147 3008 2395 7148 7148 2943 2390 7149 7149 3069 2423 7150 7150 3067 2428 7151 7151 3030 2431 7152 7152 2994 2401 7153 7153 3027 2437 7154 7154 3009 2434 7155 7155 3074 2414 7156 7156 3071 2427 7157 7157 3020 2396 7158 7158 2952 2347 7159 7159 3054 2346 7160 7160 3033 2430 7161 7161 2971 2379 7162 7162 2986 2370 7163 7163 2980 2438 7164 7164 3030 2431 7165 7165 3029 2433 7166 7166 3086 2367 7167 7167 3021 2392 7168 7168 3085 2382 7169 7169 3077 2441 7170 7170 3060 2442 7171 7171 3076 2443 7172 7172 3062 2444 7173 7173 3011 2445 7174 7174 3041 2446 7175 7175 3037 2447 7176 7176 3016 2448 7177 7177 3018 2449 7178 7178 3044 2450 7179 7179 3015 2451 7180 7180 3045 2452 7181 7181 3036 2453 7182 7182 3049 2454 7183 7183 3038 2455 7184 7184 2945 2456 7185 7185 3064 2457 7186 7186 3068 2417 7187 7187 3035 2458 7188 7188 2998 2459 7189 7189 3036 2453 7190 7190 3061 2460 7191 7191 2945 2456 7192 7192 3072 2419 7193 7193 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3122 2529 7394 7394 1158 2536 7395 7395 1162 2498 7396 7396 1161 2500 7397 7397 1060 2503 7398 7398 1284 2539 7399 7399 1164 2540 7400 7400 3267 2538 7401 7401 3126 2531 7402 7402 3125 2530 7403 7403 1137 2492 7404 7404 1159 2535 7405 7405 1140 2490 7406 7406 1127 2541 7407 7407 3242 2542 7408 7408 3270 2543 7409 7409 1274 2507 7410 7410 1272 2506 7411 7411 1273 2511 7412 7412 1125 2544 7413 7413 3242 2542 7414 7414 3124 2537 7415 7415 1277 2509 7416 7416 1275 2504 7417 7417 1274 2507 7418 7418 1124 2545 7419 7419 3124 2537 7420 7420 3183 2528 7421 7421 1164 2540 7422 7422 1278 2341 7423 7423 1163 2376 7424 7424 3150 2516 7425 7425 3111 2512 7426 7426 1273 2511 7427 7427 1126 2534 7428 7428 3126 2531 7429 7429 1127 2541 7430 7430 1124 2545 7431 7431 1279 2546 7432 7432 1164 2540 7433 7433 1272 2506 7434 7434 3150 2516 7435 7435 1273 2511 7436 7436 1158 2536 7437 7437 3181 2524 7438 7438 1126 2534 7439 7439 1279 2546 7440 7440 1276 2365 7441 7441 1278 2341 7442 7442 1272 2506 7443 7443 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3122 2529 7544 7544 3206 2588 7545 7545 3216 2576 7546 7546 3200 2578 7547 7547 3122 2529 7548 7548 3266 2567 7549 7549 3185 2571 7550 7550 3214 2579 7551 7551 3209 2589 7552 7552 3180 2580 7553 7553 3125 2530 7554 7554 3266 2567 7555 7555 3267 2538 7556 7556 3209 2589 7557 7557 3179 2590 7558 7558 3180 2580 7559 7559 3127 2523 7560 7560 3128 2566 7561 7561 3125 2530 7562 7562 3207 2573 7563 7563 3200 2578 7564 7564 3179 2590 7565 7565 3212 2527 7566 7566 3129 2591 7567 7567 3127 2523 7568 7568 3176 2564 7569 7569 3201 2557 7570 7570 3175 2592 7571 7571 3213 2593 7572 7572 3214 2579 7573 7573 3212 2527 7574 7574 3179 2590 7575 7575 3137 2577 7576 7576 3178 2570 7577 7577 3268 2594 7578 7578 3222 2583 7579 7579 3174 2584 7580 7580 3186 2585 7581 7581 3184 2565 7582 7582 3173 2563 7583 7583 3175 2592 7584 7584 3268 2594 7585 7585 3174 2584 7586 7586 3180 2580 7587 7587 3178 2570 7588 7588 3177 2569 7589 7589 3237 2581 7590 7590 3269 2595 7591 7591 3154 2582 7592 7592 3176 2564 7593 7593 3174 2584 7594 7594 3173 2563 7595 7595 3130 2561 7596 7596 3129 2591 7597 7597 3177 2569 7598 7598 3269 2595 7599 7599 3187 2596 7600 7600 3154 2582 7601 7601 3188 2586 7602 7602 3207 2573 7603 7603 3151 2575 7604 7604 3137 2577 7605 7605 3135 2597 7606 7606 3138 2572 7607 7607 3151 2575 7608 7608 3255 2598 7609 7609 3188 2586 7610 7610 3133 2599 7611 7611 3216 2576 7612 7612 3220 2600 7613 7613 3154 2582 7614 7614 3255 2598 7615 7615 3254 2601 7616 7616 3217 2587 7617 7617 3220 2600 7618 7618 3216 2576 7619 7619 3136 2602 7620 7620 3134 2603 7621 7621 3133 2599 7622 7622 3201 2557 7623 7623 3269 2595 7624 7624 3175 2592 7625 7625 3151 2575 7626 7626 3249 2532 7627 7627 3254 2601 7628 7628 3254 2601 7629 7629 3153 2518 7630 7630 3154 2582 7631 7631 3156 2604 7632 7632 3255 2598 7633 7633 3256 2605 7634 7634 3255 2598 7635 7635 3158 2606 7636 7636 3256 2605 7637 7637 3135 2597 7638 7638 3261 2607 7639 7639 3262 2608 7640 7640 3261 2607 7641 7641 3139 2609 7642 7642 3262 2608 7643 7643 3138 2572 7644 7644 3262 2608 7645 7645 3263 2552 7646 7646 3263 2552 7647 7647 3139 2609 7648 7648 3141 2558 7649 7649 3228 2568 7650 7650 3263 2552 7651 7651 3264 2554 7652 7652 3187 2596 7653 7653 3233 2610 7654 7654 3158 2606 7655 7655 3146 2611 7656 7656 3226 2612 7657 7657 3145 2613 7658 7658 3163 2614 7659 7659 3250 2615 7660 7660 3251 2616 7661 7661 3226 2612 7662 7662 3143 2559 7663 7663 3145 2613 7664 7664 3169 2617 7665 7665 3171 2618 7666 7666 3170 2619 7667 7667 3250 2615 7668 7668 3169 2617 7669 7669 3251 2616 7670 7670 3155 2620 7671 7671 3219 2621 7672 7672 3156 2604 7673 7673 3166 2622 7674 7674 3251 2616 7675 7675 3252 2623 7676 7676 3160 2624 7677 7677 3211 2625 7678 7678 3155 2620 7679 7679 3253 2626 7680 7680 3241 2627 7681 7681 3259 2628 7682 7682 3252 2623 7683 7683 3169 2617 7684 7684 3170 2619 7685 7685 3221 2629 7686 7686 3218 2630 7687 7687 3220 2600 7688 7688 3159 2631 7689 7689 3252 2623 7690 7690 3170 2619 7691 7691 3218 2630 7692 7692 3211 2625 7693 7693 3172 2632 7694 7694 3252 2623 7695 7695 3162 2633 7696 7696 3166 2622 7697 7697 3172 2632 7698 7698 3210 2634 7699 7699 3171 2618 7700 7700 3155 2620 7701 7701 3256 2605 7702 7702 3257 2635 7703 7703 3171 2618 7704 7704 3159 2631 7705 7705 3170 2619 7706 7706 3163 2614 7707 7707 3165 2636 7708 7708 3164 2637 7709 7709 3257 2635 7710 7710 3158 2606 7711 7711 3157 2638 7712 7712 3163 2614 7713 7713 3191 2639 7714 7714 3193 2640 7715 7715 3155 2620 7716 7716 3258 2641 7717 7717 3160 2624 7718 7718 3190 2642 7719 7719 3169 2617 7720 7720 3192 2643 7721 7721 3258 2641 7722 7722 3157 2638 7723 7723 3161 2644 7724 7724 3167 2645 7725 7725 3144 2646 7726 7726 3189 2647 7727 7727 3260 2648 7728 7728 3189 2647 7729 7729 3144 2646 7730 7730 3241 2627 7731 7731 3258 2641 7732 7732 3259 2628 7733 7733 3143 2559 7734 7734 3140 2649 7735 7735 3145 2613 7736 7736 3136 2602 7737 7737 3260 2648 7738 7738 3261 2607 7739 7739 3258 2641 7740 7740 3240 2650 7741 7741 3259 2628 7742 7742 3131 2651 7743 7743 3148 2652 7744 7744 3132 2653 7745 7745 3260 2648 7746 7746 3140 2649 7747 7747 3261 2607 7748 7748 3240 2650 7749 7749 3253 2626 7750 7750 3259 2628 7751 7751 3205 2654 7752 7752 3204 2655 7753 7753 3245 2656 7754 7754 3172 2632 7755 7755 3190 2642 7756 7756 3132 2653 7757 7757 3147 2657 7758 7758 3243 2658 7759 7759 3260 2648 7760 7760 3164 2637 7761 7761 3168 2659 7762 7762 3167 2645 7763 7763 3133 2599 7764 7764 3147 2657 7765 7765 3136 2602 7766 7766 3145 2613 7767 7767 3144 2646 7768 7768 3146 2611 7769 7769 3202 2660 7770 7770 3205 2654 7771 7771 3197 2661 7772 7772 3197 2661 7773 7773 3192 2643 7774 7774 3202 2660 7775 7775 3219 2621 7776 7776 3217 2587 7777 7777 3156 2604 7778 7778 3233 2610 7779 7779 3230 2662 7780 7780 3158 2606 7781 7781 3166 2622 7782 7782 3238 2663 7783 7783 3165 2636 7784 7784 3167 2645 7785 7785 3191 2639 7786 7786 3164 2637 7787 7787 3157 2638 7788 7788 3238 2663 7789 7789 3161 2644 7790 7790 3190 2642 7791 7791 3131 2651 7792 7792 3132 2653 7793 7793 3230 2662 7794 7794 3157 2638 7795 7795 3158 2606 7796 7796 3162 2633 7797 7797 3161 2644 7798 7798 3238 2663 7799 7799 3165 2636 7800 7800 3231 2664 7801 7801 3168 2659 7802 7802 3241 2627 7803 7803 3210 2634 7804 7804 3160 2624 7805 7805 3226 2612 7806 7806 3233 2610 7807 7807 3225 2555 7808 7808 3227 2665 7809 7809 3232 2666 7810 7810 3226 2612 7811 7811 3231 2664 7812 7812 3227 2665 7813 7813 3168 2659 7814 7814 3204 2655 7815 7815 3202 2660 7816 7816 3246 2667 7817 7817 3220 2600 7818 7818 3148 2652 7819 7819 3133 2599 7820 7820 3246 2667 7821 7821 3245 2656 7822 7822 3204 2655 7823 7823 3132 2653 7824 7824 3218 2630 7825 7825 3172 2632 7826 7826 3202 2660 7827 7827 3250 2615 7828 7828 3246 2667 7829 7829 3168 2659 7830 7830 3146 2611 7831 7831 3167 2645 7832 7832 3250 2615 7833 7833 3203 2668 7834 7834 3246 2667 7835 7835 1243 1951 7836 7836 1242 2669 7837 7837 1241 2670 7838 7838 1241 2670 7839 7839 1097 2671 7840 7840 1243 1951 7841 7841 1245 2672 7842 7842 1095 2673 7843 7843 1246 2674 7844 7844 1244 2675 7845 7845 1247 2676 7846 7846 1243 1951 7847 7847 1250 2677 7848 7848 1248 1997 7849 7849 1249 1999 7850 7850 1243 1951 7851 7851 1247 2676 7852 7852 1250 2677 7853 7853 1313 1998 7854 7854 1094 2678 7855 7855 1093 1996 7856 7856 1246 2674 7857 7857 1313 1998 7858 7858 1248 1997 7859 7859 1100 2679 7860 7860 1244 2675 7861 7861 1098 2680 7862 7862 1085 1968 7863 7863 1093 1996 7864 7864 1087 2681 7865 7865 1094 2678 7866 7866 1087 2681 7867 7867 1093 1996 7868 7868 1099 2682 7869 7869 1097 2671 7870 7870 1092 2683 7871 7871 1092 2683 7872 7872 1096 2684 7873 7873 1099 2682 7874 7874 1091 2000 7875 7875 1087 2681 7876 7876 1092 2683 7877 7877 1094 2678 7878 7878 1100 2679 7879 7879 1096 2684 7880 7880 1102 2685 7881 7881 1101 2686 7882 7882 1103 2687 7883 7883 1098 2680 7884 7884 1096 2684 7885 7885 1100 2679 7886 7886 1097 2671 7887 7887 1101 2686 7888 7888 1092 2683 7889 7889 1091 2000 7890 7890 1092 2683 7891 7891 1101 2686 7892 7892 1090 1973 7893 7893 1101 2686 7894 7894 1102 2685 7895 7895 1101 2686 7896 7896 1104 2688 7897 7897 1103 2687 7898 7898 1101 2686 7899 7899 1102 2685 7900 7900 1104 2688 7901 7901 1097 2671 7902 7902 1244 2675 7903 7903 1243 1951 7904 7904 1103 2687 7905 7905 1104 2688 7906 7906 1102 2685 7907 7907 1241 2670 7908 7908 1102 2685 7909 7909 1240 2689 7910 7910 1247 2676 7911 7911 1246 2674 7912 7912 1248 1997 7913 7913 1102 2685 7914 7914 1241 2670 7915 7915 1242 2669 7916 7916 1090 1973 7917 7917 1242 2669 7918 7918 1243 1951 7919 7919 2865 2690 7920 7920 2854 2691 7921 7921 2860 2692 7922 7922 2864 2131 7923 7923 2855 2693 7924 7924 2852 2116 7925 7925 2866 2130 7926 7926 2863 2694 7927 7927 2864 2131 7928 7928 2859 2695 7929 7929 2808 2696 7930 7930 2862 2697 7931 7931 2808 2696 7932 7932 2860 2692 7933 7933 2811 2698 7934 7934 2863 2694 7935 7935 2808 2696 7936 7936 2811 2698 7937 7937 2808 2696 7938 7938 2858 2699 7939 7939 2861 2700 7940 7940 2855 2693 7941 7941 2811 2698 7942 7942 2810 2701 7943 7943 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22175 22175 3876 7086 22176 22176 3906 7097 22177 22177 3905 7096 22178 22178 3877 7088 22179 22179 3900 7098 22180 22180 3906 7097 22181 22181 3908 7099 22182 22182 3878 7100 22183 22183 3879 7101 22184 22184 3908 7099 22185 22185 3845 6851 22186 22186 3907 7102 22187 22187 3844 6850 22188 22188 3907 7102 22189 22189 3845 6851 22190 22190 3909 7103 22191 22191 3878 7100 22192 22192 3907 7102 22193 22193 3843 6849 22194 22194 3909 7103 22195 22195 3844 6850 22196 22196 3910 7104 22197 22197 3880 7105 22198 22198 3909 7103 22199 22199 3843 6849 22200 22200 3911 7106 22201 22201 3910 7104 22202 22202 3910 7104 22203 22203 3882 7107 22204 22204 3881 7108 22205 22205 3912 7109 22206 22206 3842 6848 22207 22207 3841 6847 22208 22208 3883 7110 22209 22209 3911 7106 22210 22210 3912 7109 22211 22211 3840 6846 22212 22212 3912 7109 22213 22213 3841 6847 22214 22214 3913 7111 22215 22215 3883 7110 22216 22216 3912 7109 22217 22217 3914 7112 22218 22218 3840 6846 22219 22219 3839 6853 22220 22220 3885 7113 22221 22221 3913 7111 22222 22222 3914 7112 22223 22223 3885 7113 22224 22224 3908 7099 22225 22225 3879 7101 22226 22226 3838 6852 22227 22227 3914 7112 22228 22228 3839 6853 22229 22229 3915 7114 22230 22230 3879 7101 22231 22231 3878 7100 22232 22232 3847 7115 22233 22233 3916 7116 22234 22234 3915 7114 22235 22235 3880 7105 22236 22236 3915 7114 22237 22237 3878 7100 22238 22238 3917 7117 22239 22239 3847 7115 22240 22240 3915 7114 22241 22241 3881 7108 22242 22242 3917 7117 22243 22243 3880 7105 22244 22244 3918 7118 22245 22245 3848 7119 22246 22246 3917 7117 22247 22247 3882 7107 22248 22248 3918 7118 22249 22249 3881 7108 22250 22250 3919 7120 22251 22251 3849 7121 22252 22252 3918 7118 22253 22253 3883 7110 22254 22254 3919 7120 22255 22255 3882 7107 22256 22256 3920 7122 22257 22257 3850 7123 22258 22258 3919 7120 22259 22259 3883 7110 22260 22260 3921 7124 22261 22261 3920 7122 22262 22262 3920 7122 22263 22263 3852 7125 22264 22264 3851 7126 22265 22265 3922 7127 22266 22266 3884 7128 22267 22267 3885 7113 22268 22268 3853 7129 22269 22269 3921 7124 22270 22270 3922 7127 22271 22271 3885 7113 22272 22272 3916 7116 22273 22273 3922 7127 22274 22274 3922 7127 22275 22275 3846 7130 22276 22276 3853 7129 22277 22277 3846 7130 22278 22278 3923 7131 22279 22279 3853 7129 22280 22280 3924 7132 22281 22281 3899 7091 22282 22282 3923 7131 22283 22283 3923 7131 22284 22284 3852 7125 22285 22285 3853 7129 22286 22286 3899 7091 22287 22287 3925 7133 22288 22288 3923 7131 22289 22289 3852 7125 22290 22290 3926 7134 22291 22291 3851 7126 22292 22292 3925 7133 22293 22293 3902 7093 22294 22294 3926 7134 22295 22295 3926 7134 22296 22296 3850 7123 22297 22297 3851 7126 22298 22298 3902 7093 22299 22299 3927 7135 22300 22300 3926 7134 22301 22301 3849 7121 22302 22302 3927 7135 22303 22303 3928 7136 22304 22304 3928 7136 22305 22305 3903 7094 22306 22306 3904 7095 22307 22307 3849 7121 22308 22308 3929 7137 22309 22309 3848 7119 22310 22310 3928 7136 22311 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32626 315 3598 32627 32627 233 3588 32628 32628 317 3600 32629 32629 316 3599 32630 32630 317 3600 32631 32631 293 3560 32632 32632 292 3559 32633 32633 232 3585 32634 32634 318 3601 32635 32635 317 3600 32636 32636 318 3601 32637 32637 294 3561 32638 32638 293 3560 32639 32639 232 3585 32640 32640 231 3583 32641 32641 319 3602 32642 32642 318 3601 32643 32643 319 3602 32644 32644 295 3563 32645 32645 230 3581 32646 32646 320 3603 32647 32647 319 3602 32648 32648 320 3603 32649 32649 296 3562 32650 32650 295 3563 32651 32651 230 3581 32652 32652 229 3595 32653 32653 314 3597 32654 32654 314 3597 32655 32655 290 3557 32656 32656 296 3562 32657 32657 322 3604 32658 32658 321 3609 32659 32659 221 3293 32660 32660 227 3289 32661 32661 323 3605 32662 32662 322 3604 32663 32663 226 3288 32664 32664 324 7169 32665 32665 323 3605 32666 32666 325 3606 32667 32667 324 7169 32668 32668 226 3288 32669 32669 326 3607 32670 32670 325 3606 32671 32671 225 3287 32672 32672 223 3285 32673 32673 327 3608 32674 32674 326 3607 32675 32675 222 3294 32676 32676 328 7170 32677 32677 327 3608 32678 32678 321 3609 32679 32679 328 7170 32680 32680 222 3294 32681 32681 277 3538 32709 32709 250 3524 32710 32710 3614 3533 32711 32711 3855 7053 42711 42711 3861 7056 42712 42712 3862 7054 42713 42713 3861 7056 42714 42714 3860 7058 42715 42715 3864 7057 42716 42716 3860 7058 42717 42717 3859 7061 42718 42718 3865 7059 42719 42719 3858 7060 42720 42720 3866 7063 42721 42721 3865 7059 42722 42722 3857 7062 42723 42723 3867 7065 42724 42724 3866 7063 42725 42725 3856 7064 42726 42726 3868 7067 42727 42727 3867 7065 42728 42728 3854 7066 42729 42729 3869 7070 42730 42730 3868 7067 42731 42731 3863 7055 42732 42732 3869 7070 42733 42733 3854 7066 42734 42734 3866 7063 42735 42735 253 3529 42736 42736 254 3528 42737 42737 3865 7059 42738 42738 254 3528 42739 42739 255 3530 42740 42740 272 3531 42741 42741 7150 7074 42742 42742 7151 7068 42743 42743 3864 7057 42744 42744 255 3530 42745 42745 273 3534 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42837 42837 3838 6852 42838 42838 3845 6851 42839 42839 3844 6850 42840 42840 3909 7103 42841 42841 3907 7102 42842 42842 3909 7103 42843 42843 3880 7105 42844 42844 3878 7100 42845 42845 3843 6849 42846 42846 3910 7104 42847 42847 3909 7103 42848 42848 3910 7104 42849 42849 3881 7108 42850 42850 3880 7105 42851 42851 3843 6849 42852 42852 3842 6848 42853 42853 3911 7106 42854 42854 3910 7104 42855 42855 3911 7106 42856 42856 3882 7107 42857 42857 3912 7109 42858 42858 3911 7106 42859 42859 3842 6848 42860 42860 3883 7110 42861 42861 3882 7107 42862 42862 3911 7106 42863 42863 3840 6846 42864 42864 3913 7111 42865 42865 3912 7109 42866 42866 3913 7111 42867 42867 3884 7128 42868 42868 3883 7110 42869 42869 3914 7112 42870 42870 3913 7111 42871 42871 3840 6846 42872 42872 3885 7113 42873 42873 3884 7128 42874 42874 3913 7111 42875 42875 3885 7113 42876 42876 3914 7112 42877 42877 3908 7099 42878 42878 3838 6852 42879 42879 3908 7099 42880 42880 3914 7112 42881 42881 3915 7114 42882 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7116 42928 42928 3846 7130 42929 42929 3846 7130 42930 42930 3924 7132 42931 42931 3923 7131 42932 42932 3924 7132 42933 42933 3900 7098 42934 42934 3899 7091 42935 42935 3923 7131 42936 42936 3925 7133 42937 42937 3852 7125 42938 42938 3899 7091 42939 42939 3901 7092 42940 42940 3925 7133 42941 42941 3852 7125 42942 42942 3925 7133 42943 42943 3926 7134 42944 42944 3925 7133 42945 42945 3901 7092 42946 42946 3902 7093 42947 42947 3926 7134 42948 42948 3927 7135 42949 42949 3850 7123 42950 42950 3902 7093 42951 42951 3903 7094 42952 42952 3927 7135 42953 42953 3849 7121 42954 42954 3850 7123 42955 42955 3927 7135 42956 42956 3928 7136 42957 42957 3927 7135 42958 42958 3903 7094 42959 42959 3849 7121 42960 42960 3928 7136 42961 42961 3929 7137 42962 42962 3928 7136 42963 42963 3904 7095 42964 42964 3905 7096 42965 42965 3929 7137 42966 42966 3930 7138 42967 42967 3847 7115 42968 42968 3905 7096 42969 42969 3906 7097 42970 42970 3930 7138 42971 42971 3847 7115 42972 42972 3930 7138 42973 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3123 3123 1965 1126 3124 3124 1966 1128 3125 3125 3521 1106 3126 3126 2605 1129 3127 3127 2603 1113 3128 3128 1756 1130 3129 3129 2057 1131 3130 3130 2002 1132 3131 3131 1390 1123 3132 3132 1973 1092 3133 3133 1395 1133 3134 3134 3522 1134 3135 3135 2606 1135 3136 3136 2605 1129 3137 3137 2002 1132 3138 3138 2058 1136 3139 3139 1845 1127 3140 3140 1973 1092 3141 3141 1749 1137 3142 3142 1395 1133 3143 3143 1966 1128 3144 3144 2590 1138 3145 3145 1388 1105 3146 3146 2053 1139 3147 3147 2057 1131 3148 3148 2054 1140 3149 3149 1960 1141 3150 3150 1975 1142 3151 3151 1959 1143 3152 3152 2590 1138 3153 3153 2599 1111 3154 3154 2595 1144 3155 3155 2054 1140 3156 3156 2055 1078 3157 3157 2056 1077 3158 3158 1976 1145 3159 3159 1978 1146 3160 3160 1975 1142 3161 3161 1756 1130 3162 3162 1966 1128 3163 3163 1965 1126 3164 3164 2056 1077 3165 3165 2076 1147 3166 3166 2071 1148 3167 3167 1746 1149 3168 3168 1975 1142 3169 3169 1978 1146 3170 3170 2076 1147 3171 3171 1976 1145 3172 3172 1960 1141 3173 3173 1959 1143 3174 3174 1755 1150 3175 3175 1974 1151 3176 3176 1966 1128 3177 3177 3532 1124 3178 3178 3533 1152 3179 3179 2075 1153 3180 3180 2079 1154 3181 3181 2078 1116 3182 3182 1979 1155 3183 3183 1968 1156 3184 3184 1967 1102 3185 3185 1741 1110 3186 3186 1983 1157 3187 3187 1984 1158 3188 3188 3533 1152 3189 3189 2600 1159 3190 3190 2599 1111 3191 3191 2078 1116 3192 3192 1964 1076 3193 3193 1753 1160 3194 3194 1981 1161 3195 3195 1980 1085 3196 3196 1979 1155 3197 3197 2077 1117 3198 3198 1753 1160 3199 3199 1747 1093 3200 3200 1981 1161 3201 3201 1983 1157 3202 3202 1982 1162 3203 3203 2610 1112 3204 3204 3543 1163 3205 3205 3527 1107 3206 3206 2075 1153 3207 3207 1977 1164 3208 3208 1976 1145 3209 3209 2600 1159 3210 3210 3541 1165 3211 3211 2610 1112 3212 3212 1754 1086 3213 3213 1982 1162 3214 3214 1745 1166 3215 3215 3532 1124 3216 3216 3542 1167 3217 3217 2600 1159 3218 3218 2073 1168 3219 3219 2077 1117 3220 3220 2072 1169 3221 3221 1745 1166 3222 3222 1983 1157 3223 3223 1742 1074 3224 3224 2056 1077 3225 3225 2069 1170 3226 3226 2054 1140 3227 3227 2072 1169 3228 3228 1747 1093 3229 3229 1743 1059 3230 3230 3544 1171 3231 3231 3528 1172 3232 3232 2051 1173 3233 3233 2002 1132 3234 3234 2583 1174 3235 3235 1756 1130 3236 3236 1984 1158 3237 3237 1746 1149 3238 3238 1741 1110 3239 3239 2055 1078 3240 3240 1965 1126 3241 3241 1964 1076 3242 3242 2051 1173 3243 3243 2071 1148 3244 3244 3544 1171 3245 3245 1389 1104 3246 3246 2588 1175 3247 3247 1383 1176 3248 3248 1981 1161 3249 3249 1755 1150 3250 3250 1746 1149 3251 3251 1960 1141 3252 3252 2071 1148 3253 3253 2076 1147 3254 3254 1388 1105 3255 3255 2589 1177 3256 3256 1389 1104 3257 3257 1974 1151 3258 3258 1979 1155 3259 3259 1967 1102 3260 3260 1959 1143 3261 3261 3544 1171 3262 3262 1960 1141 3263 3263 2589 1177 3264 3264 2593 1178 3265 3265 2588 1175 3266 3266 1986 1179 3267 3267 1969 1180 3268 3268 1970 1181 3269 3269 1974 1151 3270 3270 3545 1182 3271 3271 1959 1143 3272 3272 2590 1138 3273 3273 2594 1183 3274 3274 2589 1177 3275 3275 1988 1184 3276 3276 1985 1185 3277 3277 1986 1179 3278 3278 1977 1164 3279 3279 3547 1186 3280 3280 1978 1146 3281 3281 2037 1187 3282 3282 2000 1096 3283 3283 1962 1114 3284 3284 1989 1080 3285 3285 1987 1188 3286 3286 1988 1184 3287 3287 1746 1149 3288 3288 3547 1186 3289 3289 1741 1110 3290 3290 2595 1144 3291 3291 2603 1113 3292 3292 2605 1129 3293 3293 1754 1086 3294 3294 1970 1181 3295 3295 1971 1084 3296 3296 2074 1115 3297 3297 3546 1189 3298 3298 1977 1164 3299 3299 2606 1135 3300 3300 3524 1190 3301 3301 2607 1191 3302 3302 2595 1144 3303 3303 2606 1135 3304 3304 2594 1183 3305 3305 1972 1091 3306 3306 1985 1185 3307 3307 1749 1137 3308 3308 3546 1189 3309 3309 2072 1169 3310 3310 1743 1059 3311 3311 2594 1183 3312 3312 2607 1191 3313 3313 2593 1178 3314 3314 1749 1137 3315 3315 1987 1188 3316 3316 1748 1192 3317 3317 1408 1193 3318 3318 1744 1073 3319 3319 1409 1056 3320 3320 1741 1110 3321 3321 3546 1189 3322 3322 1743 1059 3323 3323 2604 1099 3324 3324 3522 1134 3325 3325 3521 1106 3326 3326 1745 1166 3327 3327 1986 1179 3328 3328 1754 1086 3329 3329 1395 1133 3330 3330 1748 1192 3331 3331 1408 1193 3332 3332 1406 1022 3333 3333 1743 1059 3334 3334 1407 1075 3335 3335 2037 1187 3336 3336 3523 1194 3337 3337 3522 1134 3338 3338 1748 1192 3339 3339 1990 1079 3340 3340 1744 1073 3341 3341 1395 1133 3342 3342 1394 1195 3343 3343 1390 1123 3344 3344 1996 1090 3345 3345 1846 1089 3346 3346 1764 1196 3347 3347 2028 1122 3348 3348 3524 1190 3349 3349 3523 1194 3350 3350 1989 1080 3351 3351 1745 1166 3352 3352 1742 1074 3353 3353 1387 1081 3354 3354 1394 1195 3355 3355 1392 1197 3356 3356 1391 1095 3357 3357 1383 1176 3358 3358 1385 1198 3359 3359 2584 1199 3360 3360 3526 1200 3361 3361 2602 1201 3362 3362 1393 1082 3363 3363 1377 1202 3364 3364 1378 1203 3365 3365 1376 1204 3366 3366 1392 1197 3367 3367 1394 1195 3368 3368 2608 1205 3369 3369 3526 1200 3370 3370 2609 1206 3371 3371 1376 1204 3372 3372 1408 1193 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2993 2436 7144 7144 3057 2384 7145 7145 3066 2387 7146 7146 2983 2393 7147 7147 3008 2395 7148 7148 2943 2390 7149 7149 3069 2423 7150 7150 3067 2428 7151 7151 3030 2431 7152 7152 2994 2401 7153 7153 3027 2437 7154 7154 3009 2434 7155 7155 3074 2414 7156 7156 3071 2427 7157 7157 3020 2396 7158 7158 2952 2347 7159 7159 3054 2346 7160 7160 3033 2430 7161 7161 2971 2379 7162 7162 2986 2370 7163 7163 2980 2438 7164 7164 3030 2431 7165 7165 3029 2433 7166 7166 3086 2367 7167 7167 3021 2392 7168 7168 3085 2382 7169 7169 3077 2441 7170 7170 3060 2442 7171 7171 3076 2443 7172 7172 3062 2444 7173 7173 3011 2445 7174 7174 3041 2446 7175 7175 3037 2447 7176 7176 3016 2448 7177 7177 3018 2449 7178 7178 3044 2450 7179 7179 3015 2451 7180 7180 3045 2452 7181 7181 3036 2453 7182 7182 3049 2454 7183 7183 3038 2455 7184 7184 2945 2456 7185 7185 3064 2457 7186 7186 3068 2417 7187 7187 3035 2458 7188 7188 2998 2459 7189 7189 3036 2453 7190 7190 3061 2460 7191 7191 2945 2456 7192 7192 3072 2419 7193 7193 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3122 2529 7394 7394 1158 2536 7395 7395 1162 2498 7396 7396 1161 2500 7397 7397 1060 2503 7398 7398 1284 2539 7399 7399 1164 2540 7400 7400 3267 2538 7401 7401 3126 2531 7402 7402 3125 2530 7403 7403 1137 2492 7404 7404 1159 2535 7405 7405 1140 2490 7406 7406 1127 2541 7407 7407 3242 2542 7408 7408 3270 2543 7409 7409 1274 2507 7410 7410 1272 2506 7411 7411 1273 2511 7412 7412 1125 2544 7413 7413 3242 2542 7414 7414 3124 2537 7415 7415 1277 2509 7416 7416 1275 2504 7417 7417 1274 2507 7418 7418 1124 2545 7419 7419 3124 2537 7420 7420 3183 2528 7421 7421 1164 2540 7422 7422 1278 2341 7423 7423 1163 2376 7424 7424 3150 2516 7425 7425 3111 2512 7426 7426 1273 2511 7427 7427 1126 2534 7428 7428 3126 2531 7429 7429 1127 2541 7430 7430 1124 2545 7431 7431 1279 2546 7432 7432 1164 2540 7433 7433 1272 2506 7434 7434 3150 2516 7435 7435 1273 2511 7436 7436 1158 2536 7437 7437 3181 2524 7438 7438 1126 2534 7439 7439 1279 2546 7440 7440 1276 2365 7441 7441 1278 2341 7442 7442 1272 2506 7443 7443 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3122 2529 7544 7544 3206 2588 7545 7545 3216 2576 7546 7546 3200 2578 7547 7547 3122 2529 7548 7548 3266 2567 7549 7549 3185 2571 7550 7550 3214 2579 7551 7551 3209 2589 7552 7552 3180 2580 7553 7553 3125 2530 7554 7554 3266 2567 7555 7555 3267 2538 7556 7556 3209 2589 7557 7557 3179 2590 7558 7558 3180 2580 7559 7559 3127 2523 7560 7560 3128 2566 7561 7561 3125 2530 7562 7562 3207 2573 7563 7563 3200 2578 7564 7564 3179 2590 7565 7565 3212 2527 7566 7566 3129 2591 7567 7567 3127 2523 7568 7568 3176 2564 7569 7569 3201 2557 7570 7570 3175 2592 7571 7571 3213 2593 7572 7572 3214 2579 7573 7573 3212 2527 7574 7574 3179 2590 7575 7575 3137 2577 7576 7576 3178 2570 7577 7577 3268 2594 7578 7578 3222 2583 7579 7579 3174 2584 7580 7580 3186 2585 7581 7581 3184 2565 7582 7582 3173 2563 7583 7583 3175 2592 7584 7584 3268 2594 7585 7585 3174 2584 7586 7586 3180 2580 7587 7587 3178 2570 7588 7588 3177 2569 7589 7589 3237 2581 7590 7590 3269 2595 7591 7591 3154 2582 7592 7592 3176 2564 7593 7593 3174 2584 7594 7594 3173 2563 7595 7595 3130 2561 7596 7596 3129 2591 7597 7597 3177 2569 7598 7598 3269 2595 7599 7599 3187 2596 7600 7600 3154 2582 7601 7601 3188 2586 7602 7602 3207 2573 7603 7603 3151 2575 7604 7604 3137 2577 7605 7605 3135 2597 7606 7606 3138 2572 7607 7607 3151 2575 7608 7608 3255 2598 7609 7609 3188 2586 7610 7610 3133 2599 7611 7611 3216 2576 7612 7612 3220 2600 7613 7613 3154 2582 7614 7614 3255 2598 7615 7615 3254 2601 7616 7616 3217 2587 7617 7617 3220 2600 7618 7618 3216 2576 7619 7619 3136 2602 7620 7620 3134 2603 7621 7621 3133 2599 7622 7622 3201 2557 7623 7623 3269 2595 7624 7624 3175 2592 7625 7625 3151 2575 7626 7626 3249 2532 7627 7627 3254 2601 7628 7628 3254 2601 7629 7629 3153 2518 7630 7630 3154 2582 7631 7631 3156 2604 7632 7632 3255 2598 7633 7633 3256 2605 7634 7634 3255 2598 7635 7635 3158 2606 7636 7636 3256 2605 7637 7637 3135 2597 7638 7638 3261 2607 7639 7639 3262 2608 7640 7640 3261 2607 7641 7641 3139 2609 7642 7642 3262 2608 7643 7643 3138 2572 7644 7644 3262 2608 7645 7645 3263 2552 7646 7646 3263 2552 7647 7647 3139 2609 7648 7648 3141 2558 7649 7649 3228 2568 7650 7650 3263 2552 7651 7651 3264 2554 7652 7652 3187 2596 7653 7653 3233 2610 7654 7654 3158 2606 7655 7655 3146 2611 7656 7656 3226 2612 7657 7657 3145 2613 7658 7658 3163 2614 7659 7659 3250 2615 7660 7660 3251 2616 7661 7661 3226 2612 7662 7662 3143 2559 7663 7663 3145 2613 7664 7664 3169 2617 7665 7665 3171 2618 7666 7666 3170 2619 7667 7667 3250 2615 7668 7668 3169 2617 7669 7669 3251 2616 7670 7670 3155 2620 7671 7671 3219 2621 7672 7672 3156 2604 7673 7673 3166 2622 7674 7674 3251 2616 7675 7675 3252 2623 7676 7676 3160 2624 7677 7677 3211 2625 7678 7678 3155 2620 7679 7679 3253 2626 7680 7680 3241 2627 7681 7681 3259 2628 7682 7682 3252 2623 7683 7683 3169 2617 7684 7684 3170 2619 7685 7685 3221 2629 7686 7686 3218 2630 7687 7687 3220 2600 7688 7688 3159 2631 7689 7689 3252 2623 7690 7690 3170 2619 7691 7691 3218 2630 7692 7692 3211 2625 7693 7693 3172 2632 7694 7694 3252 2623 7695 7695 3162 2633 7696 7696 3166 2622 7697 7697 3172 2632 7698 7698 3210 2634 7699 7699 3171 2618 7700 7700 3155 2620 7701 7701 3256 2605 7702 7702 3257 2635 7703 7703 3171 2618 7704 7704 3159 2631 7705 7705 3170 2619 7706 7706 3163 2614 7707 7707 3165 2636 7708 7708 3164 2637 7709 7709 3257 2635 7710 7710 3158 2606 7711 7711 3157 2638 7712 7712 3163 2614 7713 7713 3191 2639 7714 7714 3193 2640 7715 7715 3155 2620 7716 7716 3258 2641 7717 7717 3160 2624 7718 7718 3190 2642 7719 7719 3169 2617 7720 7720 3192 2643 7721 7721 3258 2641 7722 7722 3157 2638 7723 7723 3161 2644 7724 7724 3167 2645 7725 7725 3144 2646 7726 7726 3189 2647 7727 7727 3260 2648 7728 7728 3189 2647 7729 7729 3144 2646 7730 7730 3241 2627 7731 7731 3258 2641 7732 7732 3259 2628 7733 7733 3143 2559 7734 7734 3140 2649 7735 7735 3145 2613 7736 7736 3136 2602 7737 7737 3260 2648 7738 7738 3261 2607 7739 7739 3258 2641 7740 7740 3240 2650 7741 7741 3259 2628 7742 7742 3131 2651 7743 7743 3148 2652 7744 7744 3132 2653 7745 7745 3260 2648 7746 7746 3140 2649 7747 7747 3261 2607 7748 7748 3240 2650 7749 7749 3253 2626 7750 7750 3259 2628 7751 7751 3205 2654 7752 7752 3204 2655 7753 7753 3245 2656 7754 7754 3172 2632 7755 7755 3190 2642 7756 7756 3132 2653 7757 7757 3147 2657 7758 7758 3243 2658 7759 7759 3260 2648 7760 7760 3164 2637 7761 7761 3168 2659 7762 7762 3167 2645 7763 7763 3133 2599 7764 7764 3147 2657 7765 7765 3136 2602 7766 7766 3145 2613 7767 7767 3144 2646 7768 7768 3146 2611 7769 7769 3202 2660 7770 7770 3205 2654 7771 7771 3197 2661 7772 7772 3197 2661 7773 7773 3192 2643 7774 7774 3202 2660 7775 7775 3219 2621 7776 7776 3217 2587 7777 7777 3156 2604 7778 7778 3233 2610 7779 7779 3230 2662 7780 7780 3158 2606 7781 7781 3166 2622 7782 7782 3238 2663 7783 7783 3165 2636 7784 7784 3167 2645 7785 7785 3191 2639 7786 7786 3164 2637 7787 7787 3157 2638 7788 7788 3238 2663 7789 7789 3161 2644 7790 7790 3190 2642 7791 7791 3131 2651 7792 7792 3132 2653 7793 7793 3230 2662 7794 7794 3157 2638 7795 7795 3158 2606 7796 7796 3162 2633 7797 7797 3161 2644 7798 7798 3238 2663 7799 7799 3165 2636 7800 7800 3231 2664 7801 7801 3168 2659 7802 7802 3241 2627 7803 7803 3210 2634 7804 7804 3160 2624 7805 7805 3226 2612 7806 7806 3233 2610 7807 7807 3225 2555 7808 7808 3227 2665 7809 7809 3232 2666 7810 7810 3226 2612 7811 7811 3231 2664 7812 7812 3227 2665 7813 7813 3168 2659 7814 7814 3204 2655 7815 7815 3202 2660 7816 7816 3246 2667 7817 7817 3220 2600 7818 7818 3148 2652 7819 7819 3133 2599 7820 7820 3246 2667 7821 7821 3245 2656 7822 7822 3204 2655 7823 7823 3132 2653 7824 7824 3218 2630 7825 7825 3172 2632 7826 7826 3202 2660 7827 7827 3250 2615 7828 7828 3246 2667 7829 7829 3168 2659 7830 7830 3146 2611 7831 7831 3167 2645 7832 7832 3250 2615 7833 7833 3203 2668 7834 7834 3246 2667 7835 7835 1243 1951 7836 7836 1242 2669 7837 7837 1241 2670 7838 7838 1241 2670 7839 7839 1097 2671 7840 7840 1243 1951 7841 7841 1245 2672 7842 7842 1095 2673 7843 7843 1246 2674 7844 7844 1244 2675 7845 7845 1247 2676 7846 7846 1243 1951 7847 7847 1250 2677 7848 7848 1248 1997 7849 7849 1249 1999 7850 7850 1243 1951 7851 7851 1247 2676 7852 7852 1250 2677 7853 7853 1313 1998 7854 7854 1094 2678 7855 7855 1093 1996 7856 7856 1246 2674 7857 7857 1313 1998 7858 7858 1248 1997 7859 7859 1100 2679 7860 7860 1244 2675 7861 7861 1098 2680 7862 7862 1085 1968 7863 7863 1093 1996 7864 7864 1087 2681 7865 7865 1094 2678 7866 7866 1087 2681 7867 7867 1093 1996 7868 7868 1099 2682 7869 7869 1097 2671 7870 7870 1092 2683 7871 7871 1092 2683 7872 7872 1096 2684 7873 7873 1099 2682 7874 7874 1091 2000 7875 7875 1087 2681 7876 7876 1092 2683 7877 7877 1094 2678 7878 7878 1100 2679 7879 7879 1096 2684 7880 7880 1102 2685 7881 7881 1101 2686 7882 7882 1103 2687 7883 7883 1098 2680 7884 7884 1096 2684 7885 7885 1100 2679 7886 7886 1097 2671 7887 7887 1101 2686 7888 7888 1092 2683 7889 7889 1091 2000 7890 7890 1092 2683 7891 7891 1101 2686 7892 7892 1090 1973 7893 7893 1101 2686 7894 7894 1102 2685 7895 7895 1101 2686 7896 7896 1104 2688 7897 7897 1103 2687 7898 7898 1101 2686 7899 7899 1102 2685 7900 7900 1104 2688 7901 7901 1097 2671 7902 7902 1244 2675 7903 7903 1243 1951 7904 7904 1103 2687 7905 7905 1104 2688 7906 7906 1102 2685 7907 7907 1241 2670 7908 7908 1102 2685 7909 7909 1240 2689 7910 7910 1247 2676 7911 7911 1246 2674 7912 7912 1248 1997 7913 7913 1102 2685 7914 7914 1241 2670 7915 7915 1242 2669 7916 7916 1090 1973 7917 7917 1242 2669 7918 7918 1243 1951 7919 7919 2865 2690 7920 7920 2854 2691 7921 7921 2860 2692 7922 7922 2864 2131 7923 7923 2855 2693 7924 7924 2852 2116 7925 7925 2866 2130 7926 7926 2863 2694 7927 7927 2864 2131 7928 7928 2859 2695 7929 7929 2808 2696 7930 7930 2862 2697 7931 7931 2808 2696 7932 7932 2860 2692 7933 7933 2811 2698 7934 7934 2863 2694 7935 7935 2808 2696 7936 7936 2811 2698 7937 7937 2808 2696 7938 7938 2858 2699 7939 7939 2861 2700 7940 7940 2855 2693 7941 7941 2811 2698 7942 7942 2810 2701 7943 7943 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22175 22175 3876 7086 22176 22176 3906 7097 22177 22177 3905 7096 22178 22178 3877 7088 22179 22179 3900 7098 22180 22180 3906 7097 22181 22181 3908 7099 22182 22182 3878 7100 22183 22183 3879 7101 22184 22184 3908 7099 22185 22185 3845 6851 22186 22186 3907 7102 22187 22187 3844 6850 22188 22188 3907 7102 22189 22189 3845 6851 22190 22190 3909 7103 22191 22191 3878 7100 22192 22192 3907 7102 22193 22193 3843 6849 22194 22194 3909 7103 22195 22195 3844 6850 22196 22196 3910 7104 22197 22197 3880 7105 22198 22198 3909 7103 22199 22199 3843 6849 22200 22200 3911 7106 22201 22201 3910 7104 22202 22202 3910 7104 22203 22203 3882 7107 22204 22204 3881 7108 22205 22205 3912 7109 22206 22206 3842 6848 22207 22207 3841 6847 22208 22208 3883 7110 22209 22209 3911 7106 22210 22210 3912 7109 22211 22211 3840 6846 22212 22212 3912 7109 22213 22213 3841 6847 22214 22214 3913 7111 22215 22215 3883 7110 22216 22216 3912 7109 22217 22217 3914 7112 22218 22218 3840 6846 22219 22219 3839 6853 22220 22220 3885 7113 22221 22221 3913 7111 22222 22222 3914 7112 22223 22223 3885 7113 22224 22224 3908 7099 22225 22225 3879 7101 22226 22226 3838 6852 22227 22227 3914 7112 22228 22228 3839 6853 22229 22229 3915 7114 22230 22230 3879 7101 22231 22231 3878 7100 22232 22232 3847 7115 22233 22233 3916 7116 22234 22234 3915 7114 22235 22235 3880 7105 22236 22236 3915 7114 22237 22237 3878 7100 22238 22238 3917 7117 22239 22239 3847 7115 22240 22240 3915 7114 22241 22241 3881 7108 22242 22242 3917 7117 22243 22243 3880 7105 22244 22244 3918 7118 22245 22245 3848 7119 22246 22246 3917 7117 22247 22247 3882 7107 22248 22248 3918 7118 22249 22249 3881 7108 22250 22250 3919 7120 22251 22251 3849 7121 22252 22252 3918 7118 22253 22253 3883 7110 22254 22254 3919 7120 22255 22255 3882 7107 22256 22256 3920 7122 22257 22257 3850 7123 22258 22258 3919 7120 22259 22259 3883 7110 22260 22260 3921 7124 22261 22261 3920 7122 22262 22262 3920 7122 22263 22263 3852 7125 22264 22264 3851 7126 22265 22265 3922 7127 22266 22266 3884 7128 22267 22267 3885 7113 22268 22268 3853 7129 22269 22269 3921 7124 22270 22270 3922 7127 22271 22271 3885 7113 22272 22272 3916 7116 22273 22273 3922 7127 22274 22274 3922 7127 22275 22275 3846 7130 22276 22276 3853 7129 22277 22277 3846 7130 22278 22278 3923 7131 22279 22279 3853 7129 22280 22280 3924 7132 22281 22281 3899 7091 22282 22282 3923 7131 22283 22283 3923 7131 22284 22284 3852 7125 22285 22285 3853 7129 22286 22286 3899 7091 22287 22287 3925 7133 22288 22288 3923 7131 22289 22289 3852 7125 22290 22290 3926 7134 22291 22291 3851 7126 22292 22292 3925 7133 22293 22293 3902 7093 22294 22294 3926 7134 22295 22295 3926 7134 22296 22296 3850 7123 22297 22297 3851 7126 22298 22298 3902 7093 22299 22299 3927 7135 22300 22300 3926 7134 22301 22301 3849 7121 22302 22302 3927 7135 22303 22303 3928 7136 22304 22304 3928 7136 22305 22305 3903 7094 22306 22306 3904 7095 22307 22307 3849 7121 22308 22308 3929 7137 22309 22309 3848 7119 22310 22310 3928 7136 22311 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32626 315 3598 32627 32627 233 3588 32628 32628 317 3600 32629 32629 316 3599 32630 32630 317 3600 32631 32631 293 3560 32632 32632 292 3559 32633 32633 232 3585 32634 32634 318 3601 32635 32635 317 3600 32636 32636 318 3601 32637 32637 294 3561 32638 32638 293 3560 32639 32639 232 3585 32640 32640 231 3583 32641 32641 319 3602 32642 32642 318 3601 32643 32643 319 3602 32644 32644 295 3563 32645 32645 230 3581 32646 32646 320 3603 32647 32647 319 3602 32648 32648 320 3603 32649 32649 296 3562 32650 32650 295 3563 32651 32651 230 3581 32652 32652 229 3595 32653 32653 314 3597 32654 32654 314 3597 32655 32655 290 3557 32656 32656 296 3562 32657 32657 322 3604 32658 32658 321 3609 32659 32659 221 3293 32660 32660 227 3289 32661 32661 323 3605 32662 32662 322 3604 32663 32663 226 3288 32664 32664 324 7169 32665 32665 323 3605 32666 32666 325 3606 32667 32667 324 7169 32668 32668 226 3288 32669 32669 326 3607 32670 32670 325 3606 32671 32671 225 3287 32672 32672 223 3285 32673 32673 327 3608 32674 32674 326 3607 32675 32675 222 3294 32676 32676 328 7170 32677 32677 327 3608 32678 32678 321 3609 32679 32679 328 7170 32680 32680 222 3294 32681 32681 277 3538 32709 32709 250 3524 32710 32710 3614 3533 32711 32711 3855 7053 42711 42711 3861 7056 42712 42712 3862 7054 42713 42713 3861 7056 42714 42714 3860 7058 42715 42715 3864 7057 42716 42716 3860 7058 42717 42717 3859 7061 42718 42718 3865 7059 42719 42719 3858 7060 42720 42720 3866 7063 42721 42721 3865 7059 42722 42722 3857 7062 42723 42723 3867 7065 42724 42724 3866 7063 42725 42725 3856 7064 42726 42726 3868 7067 42727 42727 3867 7065 42728 42728 3854 7066 42729 42729 3869 7070 42730 42730 3868 7067 42731 42731 3863 7055 42732 42732 3869 7070 42733 42733 3854 7066 42734 42734 3866 7063 42735 42735 253 3529 42736 42736 254 3528 42737 42737 3865 7059 42738 42738 254 3528 42739 42739 255 3530 42740 42740 272 3531 42741 42741 7150 7074 42742 42742 7151 7068 42743 42743 3864 7057 42744 42744 255 3530 42745 42745 273 3534 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42837 42837 3838 6852 42838 42838 3845 6851 42839 42839 3844 6850 42840 42840 3909 7103 42841 42841 3907 7102 42842 42842 3909 7103 42843 42843 3880 7105 42844 42844 3878 7100 42845 42845 3843 6849 42846 42846 3910 7104 42847 42847 3909 7103 42848 42848 3910 7104 42849 42849 3881 7108 42850 42850 3880 7105 42851 42851 3843 6849 42852 42852 3842 6848 42853 42853 3911 7106 42854 42854 3910 7104 42855 42855 3911 7106 42856 42856 3882 7107 42857 42857 3912 7109 42858 42858 3911 7106 42859 42859 3842 6848 42860 42860 3883 7110 42861 42861 3882 7107 42862 42862 3911 7106 42863 42863 3840 6846 42864 42864 3913 7111 42865 42865 3912 7109 42866 42866 3913 7111 42867 42867 3884 7128 42868 42868 3883 7110 42869 42869 3914 7112 42870 42870 3913 7111 42871 42871 3840 6846 42872 42872 3885 7113 42873 42873 3884 7128 42874 42874 3913 7111 42875 42875 3885 7113 42876 42876 3914 7112 42877 42877 3908 7099 42878 42878 3838 6852 42879 42879 3908 7099 42880 42880 3914 7112 42881 42881 3915 7114 42882 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7116 42928 42928 3846 7130 42929 42929 3846 7130 42930 42930 3924 7132 42931 42931 3923 7131 42932 42932 3924 7132 42933 42933 3900 7098 42934 42934 3899 7091 42935 42935 3923 7131 42936 42936 3925 7133 42937 42937 3852 7125 42938 42938 3899 7091 42939 42939 3901 7092 42940 42940 3925 7133 42941 42941 3852 7125 42942 42942 3925 7133 42943 42943 3926 7134 42944 42944 3925 7133 42945 42945 3901 7092 42946 42946 3902 7093 42947 42947 3926 7134 42948 42948 3927 7135 42949 42949 3850 7123 42950 42950 3902 7093 42951 42951 3903 7094 42952 42952 3927 7135 42953 42953 3849 7121 42954 42954 3850 7123 42955 42955 3927 7135 42956 42956 3928 7136 42957 42957 3927 7135 42958 42958 3903 7094 42959 42959 3849 7121 42960 42960 3928 7136 42961 42961 3929 7137 42962 42962 3928 7136 42963 42963 3904 7095 42964 42964 3905 7096 42965 42965 3929 7137 42966 42966 3930 7138 42967 42967 3847 7115 42968 42968 3905 7096 42969 42969 3906 7097 42970 42970 3930 7138 42971 42971 3847 7115 42972 42972 3930 7138 42973 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3123 3123 1965 1126 3124 3124 1966 1128 3125 3125 3521 1106 3126 3126 2605 1129 3127 3127 2603 1113 3128 3128 1756 1130 3129 3129 2057 1131 3130 3130 2002 1132 3131 3131 1390 1123 3132 3132 1973 1092 3133 3133 1395 1133 3134 3134 3522 1134 3135 3135 2606 1135 3136 3136 2605 1129 3137 3137 2002 1132 3138 3138 2058 1136 3139 3139 1845 1127 3140 3140 1973 1092 3141 3141 1749 1137 3142 3142 1395 1133 3143 3143 1966 1128 3144 3144 2590 1138 3145 3145 1388 1105 3146 3146 2053 1139 3147 3147 2057 1131 3148 3148 2054 1140 3149 3149 1960 1141 3150 3150 1975 1142 3151 3151 1959 1143 3152 3152 2590 1138 3153 3153 2599 1111 3154 3154 2595 1144 3155 3155 2054 1140 3156 3156 2055 1078 3157 3157 2056 1077 3158 3158 1976 1145 3159 3159 1978 1146 3160 3160 1975 1142 3161 3161 1756 1130 3162 3162 1966 1128 3163 3163 1965 1126 3164 3164 2056 1077 3165 3165 2076 1147 3166 3166 2071 1148 3167 3167 1746 1149 3168 3168 1975 1142 3169 3169 1978 1146 3170 3170 2076 1147 3171 3171 1976 1145 3172 3172 1960 1141 3173 3173 1959 1143 3174 3174 1755 1150 3175 3175 1974 1151 3176 3176 1966 1128 3177 3177 3532 1124 3178 3178 3533 1152 3179 3179 2075 1153 3180 3180 2079 1154 3181 3181 2078 1116 3182 3182 1979 1155 3183 3183 1968 1156 3184 3184 1967 1102 3185 3185 1741 1110 3186 3186 1983 1157 3187 3187 1984 1158 3188 3188 3533 1152 3189 3189 2600 1159 3190 3190 2599 1111 3191 3191 2078 1116 3192 3192 1964 1076 3193 3193 1753 1160 3194 3194 1981 1161 3195 3195 1980 1085 3196 3196 1979 1155 3197 3197 2077 1117 3198 3198 1753 1160 3199 3199 1747 1093 3200 3200 1981 1161 3201 3201 1983 1157 3202 3202 1982 1162 3203 3203 2610 1112 3204 3204 3543 1163 3205 3205 3527 1107 3206 3206 2075 1153 3207 3207 1977 1164 3208 3208 1976 1145 3209 3209 2600 1159 3210 3210 3541 1165 3211 3211 2610 1112 3212 3212 1754 1086 3213 3213 1982 1162 3214 3214 1745 1166 3215 3215 3532 1124 3216 3216 3542 1167 3217 3217 2600 1159 3218 3218 2073 1168 3219 3219 2077 1117 3220 3220 2072 1169 3221 3221 1745 1166 3222 3222 1983 1157 3223 3223 1742 1074 3224 3224 2056 1077 3225 3225 2069 1170 3226 3226 2054 1140 3227 3227 2072 1169 3228 3228 1747 1093 3229 3229 1743 1059 3230 3230 3544 1171 3231 3231 3528 1172 3232 3232 2051 1173 3233 3233 2002 1132 3234 3234 2583 1174 3235 3235 1756 1130 3236 3236 1984 1158 3237 3237 1746 1149 3238 3238 1741 1110 3239 3239 2055 1078 3240 3240 1965 1126 3241 3241 1964 1076 3242 3242 2051 1173 3243 3243 2071 1148 3244 3244 3544 1171 3245 3245 1389 1104 3246 3246 2588 1175 3247 3247 1383 1176 3248 3248 1981 1161 3249 3249 1755 1150 3250 3250 1746 1149 3251 3251 1960 1141 3252 3252 2071 1148 3253 3253 2076 1147 3254 3254 1388 1105 3255 3255 2589 1177 3256 3256 1389 1104 3257 3257 1974 1151 3258 3258 1979 1155 3259 3259 1967 1102 3260 3260 1959 1143 3261 3261 3544 1171 3262 3262 1960 1141 3263 3263 2589 1177 3264 3264 2593 1178 3265 3265 2588 1175 3266 3266 1986 1179 3267 3267 1969 1180 3268 3268 1970 1181 3269 3269 1974 1151 3270 3270 3545 1182 3271 3271 1959 1143 3272 3272 2590 1138 3273 3273 2594 1183 3274 3274 2589 1177 3275 3275 1988 1184 3276 3276 1985 1185 3277 3277 1986 1179 3278 3278 1977 1164 3279 3279 3547 1186 3280 3280 1978 1146 3281 3281 2037 1187 3282 3282 2000 1096 3283 3283 1962 1114 3284 3284 1989 1080 3285 3285 1987 1188 3286 3286 1988 1184 3287 3287 1746 1149 3288 3288 3547 1186 3289 3289 1741 1110 3290 3290 2595 1144 3291 3291 2603 1113 3292 3292 2605 1129 3293 3293 1754 1086 3294 3294 1970 1181 3295 3295 1971 1084 3296 3296 2074 1115 3297 3297 3546 1189 3298 3298 1977 1164 3299 3299 2606 1135 3300 3300 3524 1190 3301 3301 2607 1191 3302 3302 2595 1144 3303 3303 2606 1135 3304 3304 2594 1183 3305 3305 1972 1091 3306 3306 1985 1185 3307 3307 1749 1137 3308 3308 3546 1189 3309 3309 2072 1169 3310 3310 1743 1059 3311 3311 2594 1183 3312 3312 2607 1191 3313 3313 2593 1178 3314 3314 1749 1137 3315 3315 1987 1188 3316 3316 1748 1192 3317 3317 1408 1193 3318 3318 1744 1073 3319 3319 1409 1056 3320 3320 1741 1110 3321 3321 3546 1189 3322 3322 1743 1059 3323 3323 2604 1099 3324 3324 3522 1134 3325 3325 3521 1106 3326 3326 1745 1166 3327 3327 1986 1179 3328 3328 1754 1086 3329 3329 1395 1133 3330 3330 1748 1192 3331 3331 1408 1193 3332 3332 1406 1022 3333 3333 1743 1059 3334 3334 1407 1075 3335 3335 2037 1187 3336 3336 3523 1194 3337 3337 3522 1134 3338 3338 1748 1192 3339 3339 1990 1079 3340 3340 1744 1073 3341 3341 1395 1133 3342 3342 1394 1195 3343 3343 1390 1123 3344 3344 1996 1090 3345 3345 1846 1089 3346 3346 1764 1196 3347 3347 2028 1122 3348 3348 3524 1190 3349 3349 3523 1194 3350 3350 1989 1080 3351 3351 1745 1166 3352 3352 1742 1074 3353 3353 1387 1081 3354 3354 1394 1195 3355 3355 1392 1197 3356 3356 1391 1095 3357 3357 1383 1176 3358 3358 1385 1198 3359 3359 2584 1199 3360 3360 3526 1200 3361 3361 2602 1201 3362 3362 1393 1082 3363 3363 1377 1202 3364 3364 1378 1203 3365 3365 1376 1204 3366 3366 1392 1197 3367 3367 1394 1195 3368 3368 2608 1205 3369 3369 3526 1200 3370 3370 2609 1206 3371 3371 1376 1204 3372 3372 1408 1193 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2993 2436 7144 7144 3057 2384 7145 7145 3066 2387 7146 7146 2983 2393 7147 7147 3008 2395 7148 7148 2943 2390 7149 7149 3069 2423 7150 7150 3067 2428 7151 7151 3030 2431 7152 7152 2994 2401 7153 7153 3027 2437 7154 7154 3009 2434 7155 7155 3074 2414 7156 7156 3071 2427 7157 7157 3020 2396 7158 7158 2952 2347 7159 7159 3054 2346 7160 7160 3033 2430 7161 7161 2971 2379 7162 7162 2986 2370 7163 7163 2980 2438 7164 7164 3030 2431 7165 7165 3029 2433 7166 7166 3086 2367 7167 7167 3021 2392 7168 7168 3085 2382 7169 7169 3077 2441 7170 7170 3060 2442 7171 7171 3076 2443 7172 7172 3062 2444 7173 7173 3011 2445 7174 7174 3041 2446 7175 7175 3037 2447 7176 7176 3016 2448 7177 7177 3018 2449 7178 7178 3044 2450 7179 7179 3015 2451 7180 7180 3045 2452 7181 7181 3036 2453 7182 7182 3049 2454 7183 7183 3038 2455 7184 7184 2945 2456 7185 7185 3064 2457 7186 7186 3068 2417 7187 7187 3035 2458 7188 7188 2998 2459 7189 7189 3036 2453 7190 7190 3061 2460 7191 7191 2945 2456 7192 7192 3072 2419 7193 7193 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3122 2529 7394 7394 1158 2536 7395 7395 1162 2498 7396 7396 1161 2500 7397 7397 1060 2503 7398 7398 1284 2539 7399 7399 1164 2540 7400 7400 3267 2538 7401 7401 3126 2531 7402 7402 3125 2530 7403 7403 1137 2492 7404 7404 1159 2535 7405 7405 1140 2490 7406 7406 1127 2541 7407 7407 3242 2542 7408 7408 3270 2543 7409 7409 1274 2507 7410 7410 1272 2506 7411 7411 1273 2511 7412 7412 1125 2544 7413 7413 3242 2542 7414 7414 3124 2537 7415 7415 1277 2509 7416 7416 1275 2504 7417 7417 1274 2507 7418 7418 1124 2545 7419 7419 3124 2537 7420 7420 3183 2528 7421 7421 1164 2540 7422 7422 1278 2341 7423 7423 1163 2376 7424 7424 3150 2516 7425 7425 3111 2512 7426 7426 1273 2511 7427 7427 1126 2534 7428 7428 3126 2531 7429 7429 1127 2541 7430 7430 1124 2545 7431 7431 1279 2546 7432 7432 1164 2540 7433 7433 1272 2506 7434 7434 3150 2516 7435 7435 1273 2511 7436 7436 1158 2536 7437 7437 3181 2524 7438 7438 1126 2534 7439 7439 1279 2546 7440 7440 1276 2365 7441 7441 1278 2341 7442 7442 1272 2506 7443 7443 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3122 2529 7544 7544 3206 2588 7545 7545 3216 2576 7546 7546 3200 2578 7547 7547 3122 2529 7548 7548 3266 2567 7549 7549 3185 2571 7550 7550 3214 2579 7551 7551 3209 2589 7552 7552 3180 2580 7553 7553 3125 2530 7554 7554 3266 2567 7555 7555 3267 2538 7556 7556 3209 2589 7557 7557 3179 2590 7558 7558 3180 2580 7559 7559 3127 2523 7560 7560 3128 2566 7561 7561 3125 2530 7562 7562 3207 2573 7563 7563 3200 2578 7564 7564 3179 2590 7565 7565 3212 2527 7566 7566 3129 2591 7567 7567 3127 2523 7568 7568 3176 2564 7569 7569 3201 2557 7570 7570 3175 2592 7571 7571 3213 2593 7572 7572 3214 2579 7573 7573 3212 2527 7574 7574 3179 2590 7575 7575 3137 2577 7576 7576 3178 2570 7577 7577 3268 2594 7578 7578 3222 2583 7579 7579 3174 2584 7580 7580 3186 2585 7581 7581 3184 2565 7582 7582 3173 2563 7583 7583 3175 2592 7584 7584 3268 2594 7585 7585 3174 2584 7586 7586 3180 2580 7587 7587 3178 2570 7588 7588 3177 2569 7589 7589 3237 2581 7590 7590 3269 2595 7591 7591 3154 2582 7592 7592 3176 2564 7593 7593 3174 2584 7594 7594 3173 2563 7595 7595 3130 2561 7596 7596 3129 2591 7597 7597 3177 2569 7598 7598 3269 2595 7599 7599 3187 2596 7600 7600 3154 2582 7601 7601 3188 2586 7602 7602 3207 2573 7603 7603 3151 2575 7604 7604 3137 2577 7605 7605 3135 2597 7606 7606 3138 2572 7607 7607 3151 2575 7608 7608 3255 2598 7609 7609 3188 2586 7610 7610 3133 2599 7611 7611 3216 2576 7612 7612 3220 2600 7613 7613 3154 2582 7614 7614 3255 2598 7615 7615 3254 2601 7616 7616 3217 2587 7617 7617 3220 2600 7618 7618 3216 2576 7619 7619 3136 2602 7620 7620 3134 2603 7621 7621 3133 2599 7622 7622 3201 2557 7623 7623 3269 2595 7624 7624 3175 2592 7625 7625 3151 2575 7626 7626 3249 2532 7627 7627 3254 2601 7628 7628 3254 2601 7629 7629 3153 2518 7630 7630 3154 2582 7631 7631 3156 2604 7632 7632 3255 2598 7633 7633 3256 2605 7634 7634 3255 2598 7635 7635 3158 2606 7636 7636 3256 2605 7637 7637 3135 2597 7638 7638 3261 2607 7639 7639 3262 2608 7640 7640 3261 2607 7641 7641 3139 2609 7642 7642 3262 2608 7643 7643 3138 2572 7644 7644 3262 2608 7645 7645 3263 2552 7646 7646 3263 2552 7647 7647 3139 2609 7648 7648 3141 2558 7649 7649 3228 2568 7650 7650 3263 2552 7651 7651 3264 2554 7652 7652 3187 2596 7653 7653 3233 2610 7654 7654 3158 2606 7655 7655 3146 2611 7656 7656 3226 2612 7657 7657 3145 2613 7658 7658 3163 2614 7659 7659 3250 2615 7660 7660 3251 2616 7661 7661 3226 2612 7662 7662 3143 2559 7663 7663 3145 2613 7664 7664 3169 2617 7665 7665 3171 2618 7666 7666 3170 2619 7667 7667 3250 2615 7668 7668 3169 2617 7669 7669 3251 2616 7670 7670 3155 2620 7671 7671 3219 2621 7672 7672 3156 2604 7673 7673 3166 2622 7674 7674 3251 2616 7675 7675 3252 2623 7676 7676 3160 2624 7677 7677 3211 2625 7678 7678 3155 2620 7679 7679 3253 2626 7680 7680 3241 2627 7681 7681 3259 2628 7682 7682 3252 2623 7683 7683 3169 2617 7684 7684 3170 2619 7685 7685 3221 2629 7686 7686 3218 2630 7687 7687 3220 2600 7688 7688 3159 2631 7689 7689 3252 2623 7690 7690 3170 2619 7691 7691 3218 2630 7692 7692 3211 2625 7693 7693 3172 2632 7694 7694 3252 2623 7695 7695 3162 2633 7696 7696 3166 2622 7697 7697 3172 2632 7698 7698 3210 2634 7699 7699 3171 2618 7700 7700 3155 2620 7701 7701 3256 2605 7702 7702 3257 2635 7703 7703 3171 2618 7704 7704 3159 2631 7705 7705 3170 2619 7706 7706 3163 2614 7707 7707 3165 2636 7708 7708 3164 2637 7709 7709 3257 2635 7710 7710 3158 2606 7711 7711 3157 2638 7712 7712 3163 2614 7713 7713 3191 2639 7714 7714 3193 2640 7715 7715 3155 2620 7716 7716 3258 2641 7717 7717 3160 2624 7718 7718 3190 2642 7719 7719 3169 2617 7720 7720 3192 2643 7721 7721 3258 2641 7722 7722 3157 2638 7723 7723 3161 2644 7724 7724 3167 2645 7725 7725 3144 2646 7726 7726 3189 2647 7727 7727 3260 2648 7728 7728 3189 2647 7729 7729 3144 2646 7730 7730 3241 2627 7731 7731 3258 2641 7732 7732 3259 2628 7733 7733 3143 2559 7734 7734 3140 2649 7735 7735 3145 2613 7736 7736 3136 2602 7737 7737 3260 2648 7738 7738 3261 2607 7739 7739 3258 2641 7740 7740 3240 2650 7741 7741 3259 2628 7742 7742 3131 2651 7743 7743 3148 2652 7744 7744 3132 2653 7745 7745 3260 2648 7746 7746 3140 2649 7747 7747 3261 2607 7748 7748 3240 2650 7749 7749 3253 2626 7750 7750 3259 2628 7751 7751 3205 2654 7752 7752 3204 2655 7753 7753 3245 2656 7754 7754 3172 2632 7755 7755 3190 2642 7756 7756 3132 2653 7757 7757 3147 2657 7758 7758 3243 2658 7759 7759 3260 2648 7760 7760 3164 2637 7761 7761 3168 2659 7762 7762 3167 2645 7763 7763 3133 2599 7764 7764 3147 2657 7765 7765 3136 2602 7766 7766 3145 2613 7767 7767 3144 2646 7768 7768 3146 2611 7769 7769 3202 2660 7770 7770 3205 2654 7771 7771 3197 2661 7772 7772 3197 2661 7773 7773 3192 2643 7774 7774 3202 2660 7775 7775 3219 2621 7776 7776 3217 2587 7777 7777 3156 2604 7778 7778 3233 2610 7779 7779 3230 2662 7780 7780 3158 2606 7781 7781 3166 2622 7782 7782 3238 2663 7783 7783 3165 2636 7784 7784 3167 2645 7785 7785 3191 2639 7786 7786 3164 2637 7787 7787 3157 2638 7788 7788 3238 2663 7789 7789 3161 2644 7790 7790 3190 2642 7791 7791 3131 2651 7792 7792 3132 2653 7793 7793 3230 2662 7794 7794 3157 2638 7795 7795 3158 2606 7796 7796 3162 2633 7797 7797 3161 2644 7798 7798 3238 2663 7799 7799 3165 2636 7800 7800 3231 2664 7801 7801 3168 2659 7802 7802 3241 2627 7803 7803 3210 2634 7804 7804 3160 2624 7805 7805 3226 2612 7806 7806 3233 2610 7807 7807 3225 2555 7808 7808 3227 2665 7809 7809 3232 2666 7810 7810 3226 2612 7811 7811 3231 2664 7812 7812 3227 2665 7813 7813 3168 2659 7814 7814 3204 2655 7815 7815 3202 2660 7816 7816 3246 2667 7817 7817 3220 2600 7818 7818 3148 2652 7819 7819 3133 2599 7820 7820 3246 2667 7821 7821 3245 2656 7822 7822 3204 2655 7823 7823 3132 2653 7824 7824 3218 2630 7825 7825 3172 2632 7826 7826 3202 2660 7827 7827 3250 2615 7828 7828 3246 2667 7829 7829 3168 2659 7830 7830 3146 2611 7831 7831 3167 2645 7832 7832 3250 2615 7833 7833 3203 2668 7834 7834 3246 2667 7835 7835 1243 1951 7836 7836 1242 2669 7837 7837 1241 2670 7838 7838 1241 2670 7839 7839 1097 2671 7840 7840 1243 1951 7841 7841 1245 2672 7842 7842 1095 2673 7843 7843 1246 2674 7844 7844 1244 2675 7845 7845 1247 2676 7846 7846 1243 1951 7847 7847 1250 2677 7848 7848 1248 1997 7849 7849 1249 1999 7850 7850 1243 1951 7851 7851 1247 2676 7852 7852 1250 2677 7853 7853 1313 1998 7854 7854 1094 2678 7855 7855 1093 1996 7856 7856 1246 2674 7857 7857 1313 1998 7858 7858 1248 1997 7859 7859 1100 2679 7860 7860 1244 2675 7861 7861 1098 2680 7862 7862 1085 1968 7863 7863 1093 1996 7864 7864 1087 2681 7865 7865 1094 2678 7866 7866 1087 2681 7867 7867 1093 1996 7868 7868 1099 2682 7869 7869 1097 2671 7870 7870 1092 2683 7871 7871 1092 2683 7872 7872 1096 2684 7873 7873 1099 2682 7874 7874 1091 2000 7875 7875 1087 2681 7876 7876 1092 2683 7877 7877 1094 2678 7878 7878 1100 2679 7879 7879 1096 2684 7880 7880 1102 2685 7881 7881 1101 2686 7882 7882 1103 2687 7883 7883 1098 2680 7884 7884 1096 2684 7885 7885 1100 2679 7886 7886 1097 2671 7887 7887 1101 2686 7888 7888 1092 2683 7889 7889 1091 2000 7890 7890 1092 2683 7891 7891 1101 2686 7892 7892 1090 1973 7893 7893 1101 2686 7894 7894 1102 2685 7895 7895 1101 2686 7896 7896 1104 2688 7897 7897 1103 2687 7898 7898 1101 2686 7899 7899 1102 2685 7900 7900 1104 2688 7901 7901 1097 2671 7902 7902 1244 2675 7903 7903 1243 1951 7904 7904 1103 2687 7905 7905 1104 2688 7906 7906 1102 2685 7907 7907 1241 2670 7908 7908 1102 2685 7909 7909 1240 2689 7910 7910 1247 2676 7911 7911 1246 2674 7912 7912 1248 1997 7913 7913 1102 2685 7914 7914 1241 2670 7915 7915 1242 2669 7916 7916 1090 1973 7917 7917 1242 2669 7918 7918 1243 1951 7919 7919 2865 2690 7920 7920 2854 2691 7921 7921 2860 2692 7922 7922 2864 2131 7923 7923 2855 2693 7924 7924 2852 2116 7925 7925 2866 2130 7926 7926 2863 2694 7927 7927 2864 2131 7928 7928 2859 2695 7929 7929 2808 2696 7930 7930 2862 2697 7931 7931 2808 2696 7932 7932 2860 2692 7933 7933 2811 2698 7934 7934 2863 2694 7935 7935 2808 2696 7936 7936 2811 2698 7937 7937 2808 2696 7938 7938 2858 2699 7939 7939 2861 2700 7940 7940 2855 2693 7941 7941 2811 2698 7942 7942 2810 2701 7943 7943 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22175 22175 3876 7086 22176 22176 3906 7097 22177 22177 3905 7096 22178 22178 3877 7088 22179 22179 3900 7098 22180 22180 3906 7097 22181 22181 3908 7099 22182 22182 3878 7100 22183 22183 3879 7101 22184 22184 3908 7099 22185 22185 3845 6851 22186 22186 3907 7102 22187 22187 3844 6850 22188 22188 3907 7102 22189 22189 3845 6851 22190 22190 3909 7103 22191 22191 3878 7100 22192 22192 3907 7102 22193 22193 3843 6849 22194 22194 3909 7103 22195 22195 3844 6850 22196 22196 3910 7104 22197 22197 3880 7105 22198 22198 3909 7103 22199 22199 3843 6849 22200 22200 3911 7106 22201 22201 3910 7104 22202 22202 3910 7104 22203 22203 3882 7107 22204 22204 3881 7108 22205 22205 3912 7109 22206 22206 3842 6848 22207 22207 3841 6847 22208 22208 3883 7110 22209 22209 3911 7106 22210 22210 3912 7109 22211 22211 3840 6846 22212 22212 3912 7109 22213 22213 3841 6847 22214 22214 3913 7111 22215 22215 3883 7110 22216 22216 3912 7109 22217 22217 3914 7112 22218 22218 3840 6846 22219 22219 3839 6853 22220 22220 3885 7113 22221 22221 3913 7111 22222 22222 3914 7112 22223 22223 3885 7113 22224 22224 3908 7099 22225 22225 3879 7101 22226 22226 3838 6852 22227 22227 3914 7112 22228 22228 3839 6853 22229 22229 3915 7114 22230 22230 3879 7101 22231 22231 3878 7100 22232 22232 3847 7115 22233 22233 3916 7116 22234 22234 3915 7114 22235 22235 3880 7105 22236 22236 3915 7114 22237 22237 3878 7100 22238 22238 3917 7117 22239 22239 3847 7115 22240 22240 3915 7114 22241 22241 3881 7108 22242 22242 3917 7117 22243 22243 3880 7105 22244 22244 3918 7118 22245 22245 3848 7119 22246 22246 3917 7117 22247 22247 3882 7107 22248 22248 3918 7118 22249 22249 3881 7108 22250 22250 3919 7120 22251 22251 3849 7121 22252 22252 3918 7118 22253 22253 3883 7110 22254 22254 3919 7120 22255 22255 3882 7107 22256 22256 3920 7122 22257 22257 3850 7123 22258 22258 3919 7120 22259 22259 3883 7110 22260 22260 3921 7124 22261 22261 3920 7122 22262 22262 3920 7122 22263 22263 3852 7125 22264 22264 3851 7126 22265 22265 3922 7127 22266 22266 3884 7128 22267 22267 3885 7113 22268 22268 3853 7129 22269 22269 3921 7124 22270 22270 3922 7127 22271 22271 3885 7113 22272 22272 3916 7116 22273 22273 3922 7127 22274 22274 3922 7127 22275 22275 3846 7130 22276 22276 3853 7129 22277 22277 3846 7130 22278 22278 3923 7131 22279 22279 3853 7129 22280 22280 3924 7132 22281 22281 3899 7091 22282 22282 3923 7131 22283 22283 3923 7131 22284 22284 3852 7125 22285 22285 3853 7129 22286 22286 3899 7091 22287 22287 3925 7133 22288 22288 3923 7131 22289 22289 3852 7125 22290 22290 3926 7134 22291 22291 3851 7126 22292 22292 3925 7133 22293 22293 3902 7093 22294 22294 3926 7134 22295 22295 3926 7134 22296 22296 3850 7123 22297 22297 3851 7126 22298 22298 3902 7093 22299 22299 3927 7135 22300 22300 3926 7134 22301 22301 3849 7121 22302 22302 3927 7135 22303 22303 3928 7136 22304 22304 3928 7136 22305 22305 3903 7094 22306 22306 3904 7095 22307 22307 3849 7121 22308 22308 3929 7137 22309 22309 3848 7119 22310 22310 3928 7136 22311 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32626 315 3598 32627 32627 233 3588 32628 32628 317 3600 32629 32629 316 3599 32630 32630 317 3600 32631 32631 293 3560 32632 32632 292 3559 32633 32633 232 3585 32634 32634 318 3601 32635 32635 317 3600 32636 32636 318 3601 32637 32637 294 3561 32638 32638 293 3560 32639 32639 232 3585 32640 32640 231 3583 32641 32641 319 3602 32642 32642 318 3601 32643 32643 319 3602 32644 32644 295 3563 32645 32645 230 3581 32646 32646 320 3603 32647 32647 319 3602 32648 32648 320 3603 32649 32649 296 3562 32650 32650 295 3563 32651 32651 230 3581 32652 32652 229 3595 32653 32653 314 3597 32654 32654 314 3597 32655 32655 290 3557 32656 32656 296 3562 32657 32657 322 3604 32658 32658 321 3609 32659 32659 221 3293 32660 32660 227 3289 32661 32661 323 3605 32662 32662 322 3604 32663 32663 226 3288 32664 32664 324 7169 32665 32665 323 3605 32666 32666 325 3606 32667 32667 324 7169 32668 32668 226 3288 32669 32669 326 3607 32670 32670 325 3606 32671 32671 225 3287 32672 32672 223 3285 32673 32673 327 3608 32674 32674 326 3607 32675 32675 222 3294 32676 32676 328 7170 32677 32677 327 3608 32678 32678 321 3609 32679 32679 328 7170 32680 32680 222 3294 32681 32681 277 3538 32709 32709 250 3524 32710 32710 3614 3533 32711 32711 3855 7053 42711 42711 3861 7056 42712 42712 3862 7054 42713 42713 3861 7056 42714 42714 3860 7058 42715 42715 3864 7057 42716 42716 3860 7058 42717 42717 3859 7061 42718 42718 3865 7059 42719 42719 3858 7060 42720 42720 3866 7063 42721 42721 3865 7059 42722 42722 3857 7062 42723 42723 3867 7065 42724 42724 3866 7063 42725 42725 3856 7064 42726 42726 3868 7067 42727 42727 3867 7065 42728 42728 3854 7066 42729 42729 3869 7070 42730 42730 3868 7067 42731 42731 3863 7055 42732 42732 3869 7070 42733 42733 3854 7066 42734 42734 3866 7063 42735 42735 253 3529 42736 42736 254 3528 42737 42737 3865 7059 42738 42738 254 3528 42739 42739 255 3530 42740 42740 272 3531 42741 42741 7150 7074 42742 42742 7151 7068 42743 42743 3864 7057 42744 42744 255 3530 42745 42745 273 3534 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42837 42837 3838 6852 42838 42838 3845 6851 42839 42839 3844 6850 42840 42840 3909 7103 42841 42841 3907 7102 42842 42842 3909 7103 42843 42843 3880 7105 42844 42844 3878 7100 42845 42845 3843 6849 42846 42846 3910 7104 42847 42847 3909 7103 42848 42848 3910 7104 42849 42849 3881 7108 42850 42850 3880 7105 42851 42851 3843 6849 42852 42852 3842 6848 42853 42853 3911 7106 42854 42854 3910 7104 42855 42855 3911 7106 42856 42856 3882 7107 42857 42857 3912 7109 42858 42858 3911 7106 42859 42859 3842 6848 42860 42860 3883 7110 42861 42861 3882 7107 42862 42862 3911 7106 42863 42863 3840 6846 42864 42864 3913 7111 42865 42865 3912 7109 42866 42866 3913 7111 42867 42867 3884 7128 42868 42868 3883 7110 42869 42869 3914 7112 42870 42870 3913 7111 42871 42871 3840 6846 42872 42872 3885 7113 42873 42873 3884 7128 42874 42874 3913 7111 42875 42875 3885 7113 42876 42876 3914 7112 42877 42877 3908 7099 42878 42878 3838 6852 42879 42879 3908 7099 42880 42880 3914 7112 42881 42881 3915 7114 42882 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7116 42928 42928 3846 7130 42929 42929 3846 7130 42930 42930 3924 7132 42931 42931 3923 7131 42932 42932 3924 7132 42933 42933 3900 7098 42934 42934 3899 7091 42935 42935 3923 7131 42936 42936 3925 7133 42937 42937 3852 7125 42938 42938 3899 7091 42939 42939 3901 7092 42940 42940 3925 7133 42941 42941 3852 7125 42942 42942 3925 7133 42943 42943 3926 7134 42944 42944 3925 7133 42945 42945 3901 7092 42946 42946 3902 7093 42947 42947 3926 7134 42948 42948 3927 7135 42949 42949 3850 7123 42950 42950 3902 7093 42951 42951 3903 7094 42952 42952 3927 7135 42953 42953 3849 7121 42954 42954 3850 7123 42955 42955 3927 7135 42956 42956 3928 7136 42957 42957 3927 7135 42958 42958 3903 7094 42959 42959 3849 7121 42960 42960 3928 7136 42961 42961 3929 7137 42962 42962 3928 7136 42963 42963 3904 7095 42964 42964 3905 7096 42965 42965 3929 7137 42966 42966 3930 7138 42967 42967 3847 7115 42968 42968 3905 7096 42969 42969 3906 7097 42970 42970 3930 7138 42971 42971 3847 7115 42972 42972 3930 7138 42973 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3123 3123 1965 1126 3124 3124 1966 1128 3125 3125 3521 1106 3126 3126 2605 1129 3127 3127 2603 1113 3128 3128 1756 1130 3129 3129 2057 1131 3130 3130 2002 1132 3131 3131 1390 1123 3132 3132 1973 1092 3133 3133 1395 1133 3134 3134 3522 1134 3135 3135 2606 1135 3136 3136 2605 1129 3137 3137 2002 1132 3138 3138 2058 1136 3139 3139 1845 1127 3140 3140 1973 1092 3141 3141 1749 1137 3142 3142 1395 1133 3143 3143 1966 1128 3144 3144 2590 1138 3145 3145 1388 1105 3146 3146 2053 1139 3147 3147 2057 1131 3148 3148 2054 1140 3149 3149 1960 1141 3150 3150 1975 1142 3151 3151 1959 1143 3152 3152 2590 1138 3153 3153 2599 1111 3154 3154 2595 1144 3155 3155 2054 1140 3156 3156 2055 1078 3157 3157 2056 1077 3158 3158 1976 1145 3159 3159 1978 1146 3160 3160 1975 1142 3161 3161 1756 1130 3162 3162 1966 1128 3163 3163 1965 1126 3164 3164 2056 1077 3165 3165 2076 1147 3166 3166 2071 1148 3167 3167 1746 1149 3168 3168 1975 1142 3169 3169 1978 1146 3170 3170 2076 1147 3171 3171 1976 1145 3172 3172 1960 1141 3173 3173 1959 1143 3174 3174 1755 1150 3175 3175 1974 1151 3176 3176 1966 1128 3177 3177 3532 1124 3178 3178 3533 1152 3179 3179 2075 1153 3180 3180 2079 1154 3181 3181 2078 1116 3182 3182 1979 1155 3183 3183 1968 1156 3184 3184 1967 1102 3185 3185 1741 1110 3186 3186 1983 1157 3187 3187 1984 1158 3188 3188 3533 1152 3189 3189 2600 1159 3190 3190 2599 1111 3191 3191 2078 1116 3192 3192 1964 1076 3193 3193 1753 1160 3194 3194 1981 1161 3195 3195 1980 1085 3196 3196 1979 1155 3197 3197 2077 1117 3198 3198 1753 1160 3199 3199 1747 1093 3200 3200 1981 1161 3201 3201 1983 1157 3202 3202 1982 1162 3203 3203 2610 1112 3204 3204 3543 1163 3205 3205 3527 1107 3206 3206 2075 1153 3207 3207 1977 1164 3208 3208 1976 1145 3209 3209 2600 1159 3210 3210 3541 1165 3211 3211 2610 1112 3212 3212 1754 1086 3213 3213 1982 1162 3214 3214 1745 1166 3215 3215 3532 1124 3216 3216 3542 1167 3217 3217 2600 1159 3218 3218 2073 1168 3219 3219 2077 1117 3220 3220 2072 1169 3221 3221 1745 1166 3222 3222 1983 1157 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3138 2572 7644 7644 3262 2608 7645 7645 3263 2552 7646 7646 3263 2552 7647 7647 3139 2609 7648 7648 3141 2558 7649 7649 3228 2568 7650 7650 3263 2552 7651 7651 3264 2554 7652 7652 3187 2596 7653 7653 3233 2610 7654 7654 3158 2606 7655 7655 3146 2611 7656 7656 3226 2612 7657 7657 3145 2613 7658 7658 3163 2614 7659 7659 3250 2615 7660 7660 3251 2616 7661 7661 3226 2612 7662 7662 3143 2559 7663 7663 3145 2613 7664 7664 3169 2617 7665 7665 3171 2618 7666 7666 3170 2619 7667 7667 3250 2615 7668 7668 3169 2617 7669 7669 3251 2616 7670 7670 3155 2620 7671 7671 3219 2621 7672 7672 3156 2604 7673 7673 3166 2622 7674 7674 3251 2616 7675 7675 3252 2623 7676 7676 3160 2624 7677 7677 3211 2625 7678 7678 3155 2620 7679 7679 3253 2626 7680 7680 3241 2627 7681 7681 3259 2628 7682 7682 3252 2623 7683 7683 3169 2617 7684 7684 3170 2619 7685 7685 3221 2629 7686 7686 3218 2630 7687 7687 3220 2600 7688 7688 3159 2631 7689 7689 3252 2623 7690 7690 3170 2619 7691 7691 3218 2630 7692 7692 3211 2625 7693 7693 3172 2632 7694 7694 3252 2623 7695 7695 3162 2633 7696 7696 3166 2622 7697 7697 3172 2632 7698 7698 3210 2634 7699 7699 3171 2618 7700 7700 3155 2620 7701 7701 3256 2605 7702 7702 3257 2635 7703 7703 3171 2618 7704 7704 3159 2631 7705 7705 3170 2619 7706 7706 3163 2614 7707 7707 3165 2636 7708 7708 3164 2637 7709 7709 3257 2635 7710 7710 3158 2606 7711 7711 3157 2638 7712 7712 3163 2614 7713 7713 3191 2639 7714 7714 3193 2640 7715 7715 3155 2620 7716 7716 3258 2641 7717 7717 3160 2624 7718 7718 3190 2642 7719 7719 3169 2617 7720 7720 3192 2643 7721 7721 3258 2641 7722 7722 3157 2638 7723 7723 3161 2644 7724 7724 3167 2645 7725 7725 3144 2646 7726 7726 3189 2647 7727 7727 3260 2648 7728 7728 3189 2647 7729 7729 3144 2646 7730 7730 3241 2627 7731 7731 3258 2641 7732 7732 3259 2628 7733 7733 3143 2559 7734 7734 3140 2649 7735 7735 3145 2613 7736 7736 3136 2602 7737 7737 3260 2648 7738 7738 3261 2607 7739 7739 3258 2641 7740 7740 3240 2650 7741 7741 3259 2628 7742 7742 3131 2651 7743 7743 3148 2652 7744 7744 3132 2653 7745 7745 3260 2648 7746 7746 3140 2649 7747 7747 3261 2607 7748 7748 3240 2650 7749 7749 3253 2626 7750 7750 3259 2628 7751 7751 3205 2654 7752 7752 3204 2655 7753 7753 3245 2656 7754 7754 3172 2632 7755 7755 3190 2642 7756 7756 3132 2653 7757 7757 3147 2657 7758 7758 3243 2658 7759 7759 3260 2648 7760 7760 3164 2637 7761 7761 3168 2659 7762 7762 3167 2645 7763 7763 3133 2599 7764 7764 3147 2657 7765 7765 3136 2602 7766 7766 3145 2613 7767 7767 3144 2646 7768 7768 3146 2611 7769 7769 3202 2660 7770 7770 3205 2654 7771 7771 3197 2661 7772 7772 3197 2661 7773 7773 3192 2643 7774 7774 3202 2660 7775 7775 3219 2621 7776 7776 3217 2587 7777 7777 3156 2604 7778 7778 3233 2610 7779 7779 3230 2662 7780 7780 3158 2606 7781 7781 3166 2622 7782 7782 3238 2663 7783 7783 3165 2636 7784 7784 3167 2645 7785 7785 3191 2639 7786 7786 3164 2637 7787 7787 3157 2638 7788 7788 3238 2663 7789 7789 3161 2644 7790 7790 3190 2642 7791 7791 3131 2651 7792 7792 3132 2653 7793 7793 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1246 2674 7844 7844 1244 2675 7845 7845 1247 2676 7846 7846 1243 1951 7847 7847 1250 2677 7848 7848 1248 1997 7849 7849 1249 1999 7850 7850 1243 1951 7851 7851 1247 2676 7852 7852 1250 2677 7853 7853 1313 1998 7854 7854 1094 2678 7855 7855 1093 1996 7856 7856 1246 2674 7857 7857 1313 1998 7858 7858 1248 1997 7859 7859 1100 2679 7860 7860 1244 2675 7861 7861 1098 2680 7862 7862 1085 1968 7863 7863 1093 1996 7864 7864 1087 2681 7865 7865 1094 2678 7866 7866 1087 2681 7867 7867 1093 1996 7868 7868 1099 2682 7869 7869 1097 2671 7870 7870 1092 2683 7871 7871 1092 2683 7872 7872 1096 2684 7873 7873 1099 2682 7874 7874 1091 2000 7875 7875 1087 2681 7876 7876 1092 2683 7877 7877 1094 2678 7878 7878 1100 2679 7879 7879 1096 2684 7880 7880 1102 2685 7881 7881 1101 2686 7882 7882 1103 2687 7883 7883 1098 2680 7884 7884 1096 2684 7885 7885 1100 2679 7886 7886 1097 2671 7887 7887 1101 2686 7888 7888 1092 2683 7889 7889 1091 2000 7890 7890 1092 2683 7891 7891 1101 2686 7892 7892 1090 1973 7893 7893 1101 2686 7894 7894 1102 2685 7895 7895 1101 2686 7896 7896 1104 2688 7897 7897 1103 2687 7898 7898 1101 2686 7899 7899 1102 2685 7900 7900 1104 2688 7901 7901 1097 2671 7902 7902 1244 2675 7903 7903 1243 1951 7904 7904 1103 2687 7905 7905 1104 2688 7906 7906 1102 2685 7907 7907 1241 2670 7908 7908 1102 2685 7909 7909 1240 2689 7910 7910 1247 2676 7911 7911 1246 2674 7912 7912 1248 1997 7913 7913 1102 2685 7914 7914 1241 2670 7915 7915 1242 2669 7916 7916 1090 1973 7917 7917 1242 2669 7918 7918 1243 1951 7919 7919 2865 2690 7920 7920 2854 2691 7921 7921 2860 2692 7922 7922 2864 2131 7923 7923 2855 2693 7924 7924 2852 2116 7925 7925 2866 2130 7926 7926 2863 2694 7927 7927 2864 2131 7928 7928 2859 2695 7929 7929 2808 2696 7930 7930 2862 2697 7931 7931 2808 2696 7932 7932 2860 2692 7933 7933 2811 2698 7934 7934 2863 2694 7935 7935 2808 2696 7936 7936 2811 2698 7937 7937 2808 2696 7938 7938 2858 2699 7939 7939 2861 2700 7940 7940 2855 2693 7941 7941 2811 2698 7942 7942 2810 2701 7943 7943 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127 3396 32003 32003 113 3387 32004 32004 127 3396 32005 32005 128 3397 32006 32006 125 3398 32007 32007 129 3417 32008 32008 130 3399 32009 32009 117 3392 32010 32010 130 3399 32011 32011 131 3400 32012 32012 131 3400 32013 32013 132 3401 32014 32014 102 3368 32015 32015 132 3401 32016 32016 133 3406 32017 32017 77 3369 32018 32018 135 3402 32019 32019 134 3405 32020 32020 87 3403 32021 32021 88 3352 32022 32022 136 3404 32023 32023 135 3402 32024 32024 75 3339 32025 32025 137 3407 32026 32026 136 3404 32027 32027 134 3405 32028 32028 138 3412 32029 32029 89 3351 32030 32030 133 3406 32031 32031 139 3408 32032 32032 76 3342 32033 32033 76 3342 32034 32034 139 3408 32035 32035 137 3407 32036 32036 139 3408 32037 32037 140 3429 32038 32038 141 3409 32039 32039 142 3410 32040 32040 140 3429 32041 32041 139 3408 32042 32042 144 3411 32043 32043 143 3427 32044 32044 138 3412 32045 32045 137 3407 32046 32046 141 3409 32047 32047 145 3413 32048 32048 136 3404 32049 32049 145 3413 32050 32050 146 3414 32051 32051 146 3414 32052 32052 144 3411 32053 32053 134 3405 32054 32054 147 3415 32055 32055 142 3410 32056 32056 133 3406 32057 32057 131 3400 32058 32058 148 3416 32059 32059 147 3415 32060 32060 130 3399 32061 32061 149 3418 32062 32062 148 3416 32063 32063 129 3417 32064 32064 150 3420 32065 32065 149 3418 32066 32066 151 3419 32067 32067 152 3421 32068 32068 149 3418 32069 32069 152 3421 32070 32070 153 7167 32071 32071 148 3416 32072 32072 148 3416 32073 32073 153 7167 32074 32074 154 3422 32075 32075 147 3415 32076 32076 154 3422 32077 32077 155 3423 32078 32078 156 3424 32079 32079 157 3426 32080 32080 144 3411 32081 32081 145 3413 32082 32082 158 3425 32083 32083 156 3424 32084 32084 141 3409 32085 32085 159 3430 32086 32086 158 3425 32087 32087 157 3426 32088 32088 160 3610 32089 32089 143 3427 32090 32090 142 3410 32091 32091 155 3423 32092 32092 161 3428 32093 32093 140 3429 32094 32094 161 3428 32095 32095 159 3430 32096 32096 3631 3431 32097 32097 162 7168 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + DEF-spine DEF-spine_001 DEF-spine_002 DEF-spine_003 DEF-spine_004 DEF-spine_005 DEF-spine_006 DEF-pelvis_L DEF-pelvis_R DEF-thigh_L DEF-thigh_L_001 DEF-shin_L DEF-shin_L_001 DEF-foot_L DEF-toe_L DEF-thigh_R DEF-thigh_R_001 DEF-shin_R DEF-shin_R_001 DEF-foot_R DEF-toe_R DEF-shoulder_L DEF-upper_arm_L DEF-upper_arm_L_001 DEF-forearm_L DEF-forearm_L_001 DEF-hand_L DEF-f_index_01_L DEF-f_index_02_L DEF-f_index_03_L DEF-thumb_01_L DEF-thumb_02_L DEF-thumb_03_L DEF-palm_01_L DEF-f_middle_01_L DEF-f_middle_02_L DEF-f_middle_03_L DEF-palm_02_L DEF-f_ring_01_L DEF-f_ring_02_L DEF-f_ring_03_L DEF-palm_03_L DEF-f_pinky_01_L DEF-f_pinky_02_L DEF-f_pinky_03_L DEF-palm_04_L DEF-shoulder_R DEF-upper_arm_R DEF-upper_arm_R_001 DEF-forearm_R DEF-forearm_R_001 DEF-hand_R DEF-f_index_01_R DEF-f_index_02_R DEF-f_index_03_R DEF-thumb_01_R DEF-thumb_02_R DEF-thumb_03_R DEF-palm_01_R DEF-f_middle_01_R DEF-f_middle_02_R DEF-f_middle_03_R DEF-palm_02_R 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3123 3123 1965 1126 3124 3124 1966 1128 3125 3125 3521 1106 3126 3126 2605 1129 3127 3127 2603 1113 3128 3128 1756 1130 3129 3129 2057 1131 3130 3130 2002 1132 3131 3131 1390 1123 3132 3132 1973 1092 3133 3133 1395 1133 3134 3134 3522 1134 3135 3135 2606 1135 3136 3136 2605 1129 3137 3137 2002 1132 3138 3138 2058 1136 3139 3139 1845 1127 3140 3140 1973 1092 3141 3141 1749 1137 3142 3142 1395 1133 3143 3143 1966 1128 3144 3144 2590 1138 3145 3145 1388 1105 3146 3146 2053 1139 3147 3147 2057 1131 3148 3148 2054 1140 3149 3149 1960 1141 3150 3150 1975 1142 3151 3151 1959 1143 3152 3152 2590 1138 3153 3153 2599 1111 3154 3154 2595 1144 3155 3155 2054 1140 3156 3156 2055 1078 3157 3157 2056 1077 3158 3158 1976 1145 3159 3159 1978 1146 3160 3160 1975 1142 3161 3161 1756 1130 3162 3162 1966 1128 3163 3163 1965 1126 3164 3164 2056 1077 3165 3165 2076 1147 3166 3166 2071 1148 3167 3167 1746 1149 3168 3168 1975 1142 3169 3169 1978 1146 3170 3170 2076 1147 3171 3171 1976 1145 3172 3172 1960 1141 3173 3173 1959 1143 3174 3174 1755 1150 3175 3175 1974 1151 3176 3176 1966 1128 3177 3177 3532 1124 3178 3178 3533 1152 3179 3179 2075 1153 3180 3180 2079 1154 3181 3181 2078 1116 3182 3182 1979 1155 3183 3183 1968 1156 3184 3184 1967 1102 3185 3185 1741 1110 3186 3186 1983 1157 3187 3187 1984 1158 3188 3188 3533 1152 3189 3189 2600 1159 3190 3190 2599 1111 3191 3191 2078 1116 3192 3192 1964 1076 3193 3193 1753 1160 3194 3194 1981 1161 3195 3195 1980 1085 3196 3196 1979 1155 3197 3197 2077 1117 3198 3198 1753 1160 3199 3199 1747 1093 3200 3200 1981 1161 3201 3201 1983 1157 3202 3202 1982 1162 3203 3203 2610 1112 3204 3204 3543 1163 3205 3205 3527 1107 3206 3206 2075 1153 3207 3207 1977 1164 3208 3208 1976 1145 3209 3209 2600 1159 3210 3210 3541 1165 3211 3211 2610 1112 3212 3212 1754 1086 3213 3213 1982 1162 3214 3214 1745 1166 3215 3215 3532 1124 3216 3216 3542 1167 3217 3217 2600 1159 3218 3218 2073 1168 3219 3219 2077 1117 3220 3220 2072 1169 3221 3221 1745 1166 3222 3222 1983 1157 3223 3223 1742 1074 3224 3224 2056 1077 3225 3225 2069 1170 3226 3226 2054 1140 3227 3227 2072 1169 3228 3228 1747 1093 3229 3229 1743 1059 3230 3230 3544 1171 3231 3231 3528 1172 3232 3232 2051 1173 3233 3233 2002 1132 3234 3234 2583 1174 3235 3235 1756 1130 3236 3236 1984 1158 3237 3237 1746 1149 3238 3238 1741 1110 3239 3239 2055 1078 3240 3240 1965 1126 3241 3241 1964 1076 3242 3242 2051 1173 3243 3243 2071 1148 3244 3244 3544 1171 3245 3245 1389 1104 3246 3246 2588 1175 3247 3247 1383 1176 3248 3248 1981 1161 3249 3249 1755 1150 3250 3250 1746 1149 3251 3251 1960 1141 3252 3252 2071 1148 3253 3253 2076 1147 3254 3254 1388 1105 3255 3255 2589 1177 3256 3256 1389 1104 3257 3257 1974 1151 3258 3258 1979 1155 3259 3259 1967 1102 3260 3260 1959 1143 3261 3261 3544 1171 3262 3262 1960 1141 3263 3263 2589 1177 3264 3264 2593 1178 3265 3265 2588 1175 3266 3266 1986 1179 3267 3267 1969 1180 3268 3268 1970 1181 3269 3269 1974 1151 3270 3270 3545 1182 3271 3271 1959 1143 3272 3272 2590 1138 3273 3273 2594 1183 3274 3274 2589 1177 3275 3275 1988 1184 3276 3276 1985 1185 3277 3277 1986 1179 3278 3278 1977 1164 3279 3279 3547 1186 3280 3280 1978 1146 3281 3281 2037 1187 3282 3282 2000 1096 3283 3283 1962 1114 3284 3284 1989 1080 3285 3285 1987 1188 3286 3286 1988 1184 3287 3287 1746 1149 3288 3288 3547 1186 3289 3289 1741 1110 3290 3290 2595 1144 3291 3291 2603 1113 3292 3292 2605 1129 3293 3293 1754 1086 3294 3294 1970 1181 3295 3295 1971 1084 3296 3296 2074 1115 3297 3297 3546 1189 3298 3298 1977 1164 3299 3299 2606 1135 3300 3300 3524 1190 3301 3301 2607 1191 3302 3302 2595 1144 3303 3303 2606 1135 3304 3304 2594 1183 3305 3305 1972 1091 3306 3306 1985 1185 3307 3307 1749 1137 3308 3308 3546 1189 3309 3309 2072 1169 3310 3310 1743 1059 3311 3311 2594 1183 3312 3312 2607 1191 3313 3313 2593 1178 3314 3314 1749 1137 3315 3315 1987 1188 3316 3316 1748 1192 3317 3317 1408 1193 3318 3318 1744 1073 3319 3319 1409 1056 3320 3320 1741 1110 3321 3321 3546 1189 3322 3322 1743 1059 3323 3323 2604 1099 3324 3324 3522 1134 3325 3325 3521 1106 3326 3326 1745 1166 3327 3327 1986 1179 3328 3328 1754 1086 3329 3329 1395 1133 3330 3330 1748 1192 3331 3331 1408 1193 3332 3332 1406 1022 3333 3333 1743 1059 3334 3334 1407 1075 3335 3335 2037 1187 3336 3336 3523 1194 3337 3337 3522 1134 3338 3338 1748 1192 3339 3339 1990 1079 3340 3340 1744 1073 3341 3341 1395 1133 3342 3342 1394 1195 3343 3343 1390 1123 3344 3344 1996 1090 3345 3345 1846 1089 3346 3346 1764 1196 3347 3347 2028 1122 3348 3348 3524 1190 3349 3349 3523 1194 3350 3350 1989 1080 3351 3351 1745 1166 3352 3352 1742 1074 3353 3353 1387 1081 3354 3354 1394 1195 3355 3355 1392 1197 3356 3356 1391 1095 3357 3357 1383 1176 3358 3358 1385 1198 3359 3359 2584 1199 3360 3360 3526 1200 3361 3361 2602 1201 3362 3362 1393 1082 3363 3363 1377 1202 3364 3364 1378 1203 3365 3365 1376 1204 3366 3366 1392 1197 3367 3367 1394 1195 3368 3368 2608 1205 3369 3369 3526 1200 3370 3370 2609 1206 3371 3371 1376 1204 3372 3372 1408 1193 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2993 2436 7144 7144 3057 2384 7145 7145 3066 2387 7146 7146 2983 2393 7147 7147 3008 2395 7148 7148 2943 2390 7149 7149 3069 2423 7150 7150 3067 2428 7151 7151 3030 2431 7152 7152 2994 2401 7153 7153 3027 2437 7154 7154 3009 2434 7155 7155 3074 2414 7156 7156 3071 2427 7157 7157 3020 2396 7158 7158 2952 2347 7159 7159 3054 2346 7160 7160 3033 2430 7161 7161 2971 2379 7162 7162 2986 2370 7163 7163 2980 2438 7164 7164 3030 2431 7165 7165 3029 2433 7166 7166 3086 2367 7167 7167 3021 2392 7168 7168 3085 2382 7169 7169 3077 2441 7170 7170 3060 2442 7171 7171 3076 2443 7172 7172 3062 2444 7173 7173 3011 2445 7174 7174 3041 2446 7175 7175 3037 2447 7176 7176 3016 2448 7177 7177 3018 2449 7178 7178 3044 2450 7179 7179 3015 2451 7180 7180 3045 2452 7181 7181 3036 2453 7182 7182 3049 2454 7183 7183 3038 2455 7184 7184 2945 2456 7185 7185 3064 2457 7186 7186 3068 2417 7187 7187 3035 2458 7188 7188 2998 2459 7189 7189 3036 2453 7190 7190 3061 2460 7191 7191 2945 2456 7192 7192 3072 2419 7193 7193 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3122 2529 7394 7394 1158 2536 7395 7395 1162 2498 7396 7396 1161 2500 7397 7397 1060 2503 7398 7398 1284 2539 7399 7399 1164 2540 7400 7400 3267 2538 7401 7401 3126 2531 7402 7402 3125 2530 7403 7403 1137 2492 7404 7404 1159 2535 7405 7405 1140 2490 7406 7406 1127 2541 7407 7407 3242 2542 7408 7408 3270 2543 7409 7409 1274 2507 7410 7410 1272 2506 7411 7411 1273 2511 7412 7412 1125 2544 7413 7413 3242 2542 7414 7414 3124 2537 7415 7415 1277 2509 7416 7416 1275 2504 7417 7417 1274 2507 7418 7418 1124 2545 7419 7419 3124 2537 7420 7420 3183 2528 7421 7421 1164 2540 7422 7422 1278 2341 7423 7423 1163 2376 7424 7424 3150 2516 7425 7425 3111 2512 7426 7426 1273 2511 7427 7427 1126 2534 7428 7428 3126 2531 7429 7429 1127 2541 7430 7430 1124 2545 7431 7431 1279 2546 7432 7432 1164 2540 7433 7433 1272 2506 7434 7434 3150 2516 7435 7435 1273 2511 7436 7436 1158 2536 7437 7437 3181 2524 7438 7438 1126 2534 7439 7439 1279 2546 7440 7440 1276 2365 7441 7441 1278 2341 7442 7442 1272 2506 7443 7443 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3122 2529 7544 7544 3206 2588 7545 7545 3216 2576 7546 7546 3200 2578 7547 7547 3122 2529 7548 7548 3266 2567 7549 7549 3185 2571 7550 7550 3214 2579 7551 7551 3209 2589 7552 7552 3180 2580 7553 7553 3125 2530 7554 7554 3266 2567 7555 7555 3267 2538 7556 7556 3209 2589 7557 7557 3179 2590 7558 7558 3180 2580 7559 7559 3127 2523 7560 7560 3128 2566 7561 7561 3125 2530 7562 7562 3207 2573 7563 7563 3200 2578 7564 7564 3179 2590 7565 7565 3212 2527 7566 7566 3129 2591 7567 7567 3127 2523 7568 7568 3176 2564 7569 7569 3201 2557 7570 7570 3175 2592 7571 7571 3213 2593 7572 7572 3214 2579 7573 7573 3212 2527 7574 7574 3179 2590 7575 7575 3137 2577 7576 7576 3178 2570 7577 7577 3268 2594 7578 7578 3222 2583 7579 7579 3174 2584 7580 7580 3186 2585 7581 7581 3184 2565 7582 7582 3173 2563 7583 7583 3175 2592 7584 7584 3268 2594 7585 7585 3174 2584 7586 7586 3180 2580 7587 7587 3178 2570 7588 7588 3177 2569 7589 7589 3237 2581 7590 7590 3269 2595 7591 7591 3154 2582 7592 7592 3176 2564 7593 7593 3174 2584 7594 7594 3173 2563 7595 7595 3130 2561 7596 7596 3129 2591 7597 7597 3177 2569 7598 7598 3269 2595 7599 7599 3187 2596 7600 7600 3154 2582 7601 7601 3188 2586 7602 7602 3207 2573 7603 7603 3151 2575 7604 7604 3137 2577 7605 7605 3135 2597 7606 7606 3138 2572 7607 7607 3151 2575 7608 7608 3255 2598 7609 7609 3188 2586 7610 7610 3133 2599 7611 7611 3216 2576 7612 7612 3220 2600 7613 7613 3154 2582 7614 7614 3255 2598 7615 7615 3254 2601 7616 7616 3217 2587 7617 7617 3220 2600 7618 7618 3216 2576 7619 7619 3136 2602 7620 7620 3134 2603 7621 7621 3133 2599 7622 7622 3201 2557 7623 7623 3269 2595 7624 7624 3175 2592 7625 7625 3151 2575 7626 7626 3249 2532 7627 7627 3254 2601 7628 7628 3254 2601 7629 7629 3153 2518 7630 7630 3154 2582 7631 7631 3156 2604 7632 7632 3255 2598 7633 7633 3256 2605 7634 7634 3255 2598 7635 7635 3158 2606 7636 7636 3256 2605 7637 7637 3135 2597 7638 7638 3261 2607 7639 7639 3262 2608 7640 7640 3261 2607 7641 7641 3139 2609 7642 7642 3262 2608 7643 7643 3138 2572 7644 7644 3262 2608 7645 7645 3263 2552 7646 7646 3263 2552 7647 7647 3139 2609 7648 7648 3141 2558 7649 7649 3228 2568 7650 7650 3263 2552 7651 7651 3264 2554 7652 7652 3187 2596 7653 7653 3233 2610 7654 7654 3158 2606 7655 7655 3146 2611 7656 7656 3226 2612 7657 7657 3145 2613 7658 7658 3163 2614 7659 7659 3250 2615 7660 7660 3251 2616 7661 7661 3226 2612 7662 7662 3143 2559 7663 7663 3145 2613 7664 7664 3169 2617 7665 7665 3171 2618 7666 7666 3170 2619 7667 7667 3250 2615 7668 7668 3169 2617 7669 7669 3251 2616 7670 7670 3155 2620 7671 7671 3219 2621 7672 7672 3156 2604 7673 7673 3166 2622 7674 7674 3251 2616 7675 7675 3252 2623 7676 7676 3160 2624 7677 7677 3211 2625 7678 7678 3155 2620 7679 7679 3253 2626 7680 7680 3241 2627 7681 7681 3259 2628 7682 7682 3252 2623 7683 7683 3169 2617 7684 7684 3170 2619 7685 7685 3221 2629 7686 7686 3218 2630 7687 7687 3220 2600 7688 7688 3159 2631 7689 7689 3252 2623 7690 7690 3170 2619 7691 7691 3218 2630 7692 7692 3211 2625 7693 7693 3172 2632 7694 7694 3252 2623 7695 7695 3162 2633 7696 7696 3166 2622 7697 7697 3172 2632 7698 7698 3210 2634 7699 7699 3171 2618 7700 7700 3155 2620 7701 7701 3256 2605 7702 7702 3257 2635 7703 7703 3171 2618 7704 7704 3159 2631 7705 7705 3170 2619 7706 7706 3163 2614 7707 7707 3165 2636 7708 7708 3164 2637 7709 7709 3257 2635 7710 7710 3158 2606 7711 7711 3157 2638 7712 7712 3163 2614 7713 7713 3191 2639 7714 7714 3193 2640 7715 7715 3155 2620 7716 7716 3258 2641 7717 7717 3160 2624 7718 7718 3190 2642 7719 7719 3169 2617 7720 7720 3192 2643 7721 7721 3258 2641 7722 7722 3157 2638 7723 7723 3161 2644 7724 7724 3167 2645 7725 7725 3144 2646 7726 7726 3189 2647 7727 7727 3260 2648 7728 7728 3189 2647 7729 7729 3144 2646 7730 7730 3241 2627 7731 7731 3258 2641 7732 7732 3259 2628 7733 7733 3143 2559 7734 7734 3140 2649 7735 7735 3145 2613 7736 7736 3136 2602 7737 7737 3260 2648 7738 7738 3261 2607 7739 7739 3258 2641 7740 7740 3240 2650 7741 7741 3259 2628 7742 7742 3131 2651 7743 7743 3148 2652 7744 7744 3132 2653 7745 7745 3260 2648 7746 7746 3140 2649 7747 7747 3261 2607 7748 7748 3240 2650 7749 7749 3253 2626 7750 7750 3259 2628 7751 7751 3205 2654 7752 7752 3204 2655 7753 7753 3245 2656 7754 7754 3172 2632 7755 7755 3190 2642 7756 7756 3132 2653 7757 7757 3147 2657 7758 7758 3243 2658 7759 7759 3260 2648 7760 7760 3164 2637 7761 7761 3168 2659 7762 7762 3167 2645 7763 7763 3133 2599 7764 7764 3147 2657 7765 7765 3136 2602 7766 7766 3145 2613 7767 7767 3144 2646 7768 7768 3146 2611 7769 7769 3202 2660 7770 7770 3205 2654 7771 7771 3197 2661 7772 7772 3197 2661 7773 7773 3192 2643 7774 7774 3202 2660 7775 7775 3219 2621 7776 7776 3217 2587 7777 7777 3156 2604 7778 7778 3233 2610 7779 7779 3230 2662 7780 7780 3158 2606 7781 7781 3166 2622 7782 7782 3238 2663 7783 7783 3165 2636 7784 7784 3167 2645 7785 7785 3191 2639 7786 7786 3164 2637 7787 7787 3157 2638 7788 7788 3238 2663 7789 7789 3161 2644 7790 7790 3190 2642 7791 7791 3131 2651 7792 7792 3132 2653 7793 7793 3230 2662 7794 7794 3157 2638 7795 7795 3158 2606 7796 7796 3162 2633 7797 7797 3161 2644 7798 7798 3238 2663 7799 7799 3165 2636 7800 7800 3231 2664 7801 7801 3168 2659 7802 7802 3241 2627 7803 7803 3210 2634 7804 7804 3160 2624 7805 7805 3226 2612 7806 7806 3233 2610 7807 7807 3225 2555 7808 7808 3227 2665 7809 7809 3232 2666 7810 7810 3226 2612 7811 7811 3231 2664 7812 7812 3227 2665 7813 7813 3168 2659 7814 7814 3204 2655 7815 7815 3202 2660 7816 7816 3246 2667 7817 7817 3220 2600 7818 7818 3148 2652 7819 7819 3133 2599 7820 7820 3246 2667 7821 7821 3245 2656 7822 7822 3204 2655 7823 7823 3132 2653 7824 7824 3218 2630 7825 7825 3172 2632 7826 7826 3202 2660 7827 7827 3250 2615 7828 7828 3246 2667 7829 7829 3168 2659 7830 7830 3146 2611 7831 7831 3167 2645 7832 7832 3250 2615 7833 7833 3203 2668 7834 7834 3246 2667 7835 7835 1243 1951 7836 7836 1242 2669 7837 7837 1241 2670 7838 7838 1241 2670 7839 7839 1097 2671 7840 7840 1243 1951 7841 7841 1245 2672 7842 7842 1095 2673 7843 7843 1246 2674 7844 7844 1244 2675 7845 7845 1247 2676 7846 7846 1243 1951 7847 7847 1250 2677 7848 7848 1248 1997 7849 7849 1249 1999 7850 7850 1243 1951 7851 7851 1247 2676 7852 7852 1250 2677 7853 7853 1313 1998 7854 7854 1094 2678 7855 7855 1093 1996 7856 7856 1246 2674 7857 7857 1313 1998 7858 7858 1248 1997 7859 7859 1100 2679 7860 7860 1244 2675 7861 7861 1098 2680 7862 7862 1085 1968 7863 7863 1093 1996 7864 7864 1087 2681 7865 7865 1094 2678 7866 7866 1087 2681 7867 7867 1093 1996 7868 7868 1099 2682 7869 7869 1097 2671 7870 7870 1092 2683 7871 7871 1092 2683 7872 7872 1096 2684 7873 7873 1099 2682 7874 7874 1091 2000 7875 7875 1087 2681 7876 7876 1092 2683 7877 7877 1094 2678 7878 7878 1100 2679 7879 7879 1096 2684 7880 7880 1102 2685 7881 7881 1101 2686 7882 7882 1103 2687 7883 7883 1098 2680 7884 7884 1096 2684 7885 7885 1100 2679 7886 7886 1097 2671 7887 7887 1101 2686 7888 7888 1092 2683 7889 7889 1091 2000 7890 7890 1092 2683 7891 7891 1101 2686 7892 7892 1090 1973 7893 7893 1101 2686 7894 7894 1102 2685 7895 7895 1101 2686 7896 7896 1104 2688 7897 7897 1103 2687 7898 7898 1101 2686 7899 7899 1102 2685 7900 7900 1104 2688 7901 7901 1097 2671 7902 7902 1244 2675 7903 7903 1243 1951 7904 7904 1103 2687 7905 7905 1104 2688 7906 7906 1102 2685 7907 7907 1241 2670 7908 7908 1102 2685 7909 7909 1240 2689 7910 7910 1247 2676 7911 7911 1246 2674 7912 7912 1248 1997 7913 7913 1102 2685 7914 7914 1241 2670 7915 7915 1242 2669 7916 7916 1090 1973 7917 7917 1242 2669 7918 7918 1243 1951 7919 7919 2865 2690 7920 7920 2854 2691 7921 7921 2860 2692 7922 7922 2864 2131 7923 7923 2855 2693 7924 7924 2852 2116 7925 7925 2866 2130 7926 7926 2863 2694 7927 7927 2864 2131 7928 7928 2859 2695 7929 7929 2808 2696 7930 7930 2862 2697 7931 7931 2808 2696 7932 7932 2860 2692 7933 7933 2811 2698 7934 7934 2863 2694 7935 7935 2808 2696 7936 7936 2811 2698 7937 7937 2808 2696 7938 7938 2858 2699 7939 7939 2861 2700 7940 7940 2855 2693 7941 7941 2811 2698 7942 7942 2810 2701 7943 7943 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22175 22175 3876 7086 22176 22176 3906 7097 22177 22177 3905 7096 22178 22178 3877 7088 22179 22179 3900 7098 22180 22180 3906 7097 22181 22181 3908 7099 22182 22182 3878 7100 22183 22183 3879 7101 22184 22184 3908 7099 22185 22185 3845 6851 22186 22186 3907 7102 22187 22187 3844 6850 22188 22188 3907 7102 22189 22189 3845 6851 22190 22190 3909 7103 22191 22191 3878 7100 22192 22192 3907 7102 22193 22193 3843 6849 22194 22194 3909 7103 22195 22195 3844 6850 22196 22196 3910 7104 22197 22197 3880 7105 22198 22198 3909 7103 22199 22199 3843 6849 22200 22200 3911 7106 22201 22201 3910 7104 22202 22202 3910 7104 22203 22203 3882 7107 22204 22204 3881 7108 22205 22205 3912 7109 22206 22206 3842 6848 22207 22207 3841 6847 22208 22208 3883 7110 22209 22209 3911 7106 22210 22210 3912 7109 22211 22211 3840 6846 22212 22212 3912 7109 22213 22213 3841 6847 22214 22214 3913 7111 22215 22215 3883 7110 22216 22216 3912 7109 22217 22217 3914 7112 22218 22218 3840 6846 22219 22219 3839 6853 22220 22220 3885 7113 22221 22221 3913 7111 22222 22222 3914 7112 22223 22223 3885 7113 22224 22224 3908 7099 22225 22225 3879 7101 22226 22226 3838 6852 22227 22227 3914 7112 22228 22228 3839 6853 22229 22229 3915 7114 22230 22230 3879 7101 22231 22231 3878 7100 22232 22232 3847 7115 22233 22233 3916 7116 22234 22234 3915 7114 22235 22235 3880 7105 22236 22236 3915 7114 22237 22237 3878 7100 22238 22238 3917 7117 22239 22239 3847 7115 22240 22240 3915 7114 22241 22241 3881 7108 22242 22242 3917 7117 22243 22243 3880 7105 22244 22244 3918 7118 22245 22245 3848 7119 22246 22246 3917 7117 22247 22247 3882 7107 22248 22248 3918 7118 22249 22249 3881 7108 22250 22250 3919 7120 22251 22251 3849 7121 22252 22252 3918 7118 22253 22253 3883 7110 22254 22254 3919 7120 22255 22255 3882 7107 22256 22256 3920 7122 22257 22257 3850 7123 22258 22258 3919 7120 22259 22259 3883 7110 22260 22260 3921 7124 22261 22261 3920 7122 22262 22262 3920 7122 22263 22263 3852 7125 22264 22264 3851 7126 22265 22265 3922 7127 22266 22266 3884 7128 22267 22267 3885 7113 22268 22268 3853 7129 22269 22269 3921 7124 22270 22270 3922 7127 22271 22271 3885 7113 22272 22272 3916 7116 22273 22273 3922 7127 22274 22274 3922 7127 22275 22275 3846 7130 22276 22276 3853 7129 22277 22277 3846 7130 22278 22278 3923 7131 22279 22279 3853 7129 22280 22280 3924 7132 22281 22281 3899 7091 22282 22282 3923 7131 22283 22283 3923 7131 22284 22284 3852 7125 22285 22285 3853 7129 22286 22286 3899 7091 22287 22287 3925 7133 22288 22288 3923 7131 22289 22289 3852 7125 22290 22290 3926 7134 22291 22291 3851 7126 22292 22292 3925 7133 22293 22293 3902 7093 22294 22294 3926 7134 22295 22295 3926 7134 22296 22296 3850 7123 22297 22297 3851 7126 22298 22298 3902 7093 22299 22299 3927 7135 22300 22300 3926 7134 22301 22301 3849 7121 22302 22302 3927 7135 22303 22303 3928 7136 22304 22304 3928 7136 22305 22305 3903 7094 22306 22306 3904 7095 22307 22307 3849 7121 22308 22308 3929 7137 22309 22309 3848 7119 22310 22310 3928 7136 22311 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32626 315 3598 32627 32627 233 3588 32628 32628 317 3600 32629 32629 316 3599 32630 32630 317 3600 32631 32631 293 3560 32632 32632 292 3559 32633 32633 232 3585 32634 32634 318 3601 32635 32635 317 3600 32636 32636 318 3601 32637 32637 294 3561 32638 32638 293 3560 32639 32639 232 3585 32640 32640 231 3583 32641 32641 319 3602 32642 32642 318 3601 32643 32643 319 3602 32644 32644 295 3563 32645 32645 230 3581 32646 32646 320 3603 32647 32647 319 3602 32648 32648 320 3603 32649 32649 296 3562 32650 32650 295 3563 32651 32651 230 3581 32652 32652 229 3595 32653 32653 314 3597 32654 32654 314 3597 32655 32655 290 3557 32656 32656 296 3562 32657 32657 322 3604 32658 32658 321 3609 32659 32659 221 3293 32660 32660 227 3289 32661 32661 323 3605 32662 32662 322 3604 32663 32663 226 3288 32664 32664 324 7169 32665 32665 323 3605 32666 32666 325 3606 32667 32667 324 7169 32668 32668 226 3288 32669 32669 326 3607 32670 32670 325 3606 32671 32671 225 3287 32672 32672 223 3285 32673 32673 327 3608 32674 32674 326 3607 32675 32675 222 3294 32676 32676 328 7170 32677 32677 327 3608 32678 32678 321 3609 32679 32679 328 7170 32680 32680 222 3294 32681 32681 277 3538 32709 32709 250 3524 32710 32710 3614 3533 32711 32711 3855 7053 42711 42711 3861 7056 42712 42712 3862 7054 42713 42713 3861 7056 42714 42714 3860 7058 42715 42715 3864 7057 42716 42716 3860 7058 42717 42717 3859 7061 42718 42718 3865 7059 42719 42719 3858 7060 42720 42720 3866 7063 42721 42721 3865 7059 42722 42722 3857 7062 42723 42723 3867 7065 42724 42724 3866 7063 42725 42725 3856 7064 42726 42726 3868 7067 42727 42727 3867 7065 42728 42728 3854 7066 42729 42729 3869 7070 42730 42730 3868 7067 42731 42731 3863 7055 42732 42732 3869 7070 42733 42733 3854 7066 42734 42734 3866 7063 42735 42735 253 3529 42736 42736 254 3528 42737 42737 3865 7059 42738 42738 254 3528 42739 42739 255 3530 42740 42740 272 3531 42741 42741 7150 7074 42742 42742 7151 7068 42743 42743 3864 7057 42744 42744 255 3530 42745 42745 273 3534 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42837 42837 3838 6852 42838 42838 3845 6851 42839 42839 3844 6850 42840 42840 3909 7103 42841 42841 3907 7102 42842 42842 3909 7103 42843 42843 3880 7105 42844 42844 3878 7100 42845 42845 3843 6849 42846 42846 3910 7104 42847 42847 3909 7103 42848 42848 3910 7104 42849 42849 3881 7108 42850 42850 3880 7105 42851 42851 3843 6849 42852 42852 3842 6848 42853 42853 3911 7106 42854 42854 3910 7104 42855 42855 3911 7106 42856 42856 3882 7107 42857 42857 3912 7109 42858 42858 3911 7106 42859 42859 3842 6848 42860 42860 3883 7110 42861 42861 3882 7107 42862 42862 3911 7106 42863 42863 3840 6846 42864 42864 3913 7111 42865 42865 3912 7109 42866 42866 3913 7111 42867 42867 3884 7128 42868 42868 3883 7110 42869 42869 3914 7112 42870 42870 3913 7111 42871 42871 3840 6846 42872 42872 3885 7113 42873 42873 3884 7128 42874 42874 3913 7111 42875 42875 3885 7113 42876 42876 3914 7112 42877 42877 3908 7099 42878 42878 3838 6852 42879 42879 3908 7099 42880 42880 3914 7112 42881 42881 3915 7114 42882 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7116 42928 42928 3846 7130 42929 42929 3846 7130 42930 42930 3924 7132 42931 42931 3923 7131 42932 42932 3924 7132 42933 42933 3900 7098 42934 42934 3899 7091 42935 42935 3923 7131 42936 42936 3925 7133 42937 42937 3852 7125 42938 42938 3899 7091 42939 42939 3901 7092 42940 42940 3925 7133 42941 42941 3852 7125 42942 42942 3925 7133 42943 42943 3926 7134 42944 42944 3925 7133 42945 42945 3901 7092 42946 42946 3902 7093 42947 42947 3926 7134 42948 42948 3927 7135 42949 42949 3850 7123 42950 42950 3902 7093 42951 42951 3903 7094 42952 42952 3927 7135 42953 42953 3849 7121 42954 42954 3850 7123 42955 42955 3927 7135 42956 42956 3928 7136 42957 42957 3927 7135 42958 42958 3903 7094 42959 42959 3849 7121 42960 42960 3928 7136 42961 42961 3929 7137 42962 42962 3928 7136 42963 42963 3904 7095 42964 42964 3905 7096 42965 42965 3929 7137 42966 42966 3930 7138 42967 42967 3847 7115 42968 42968 3905 7096 42969 42969 3906 7097 42970 42970 3930 7138 42971 42971 3847 7115 42972 42972 3930 7138 42973 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3123 3123 1965 1126 3124 3124 1966 1128 3125 3125 3521 1106 3126 3126 2605 1129 3127 3127 2603 1113 3128 3128 1756 1130 3129 3129 2057 1131 3130 3130 2002 1132 3131 3131 1390 1123 3132 3132 1973 1092 3133 3133 1395 1133 3134 3134 3522 1134 3135 3135 2606 1135 3136 3136 2605 1129 3137 3137 2002 1132 3138 3138 2058 1136 3139 3139 1845 1127 3140 3140 1973 1092 3141 3141 1749 1137 3142 3142 1395 1133 3143 3143 1966 1128 3144 3144 2590 1138 3145 3145 1388 1105 3146 3146 2053 1139 3147 3147 2057 1131 3148 3148 2054 1140 3149 3149 1960 1141 3150 3150 1975 1142 3151 3151 1959 1143 3152 3152 2590 1138 3153 3153 2599 1111 3154 3154 2595 1144 3155 3155 2054 1140 3156 3156 2055 1078 3157 3157 2056 1077 3158 3158 1976 1145 3159 3159 1978 1146 3160 3160 1975 1142 3161 3161 1756 1130 3162 3162 1966 1128 3163 3163 1965 1126 3164 3164 2056 1077 3165 3165 2076 1147 3166 3166 2071 1148 3167 3167 1746 1149 3168 3168 1975 1142 3169 3169 1978 1146 3170 3170 2076 1147 3171 3171 1976 1145 3172 3172 1960 1141 3173 3173 1959 1143 3174 3174 1755 1150 3175 3175 1974 1151 3176 3176 1966 1128 3177 3177 3532 1124 3178 3178 3533 1152 3179 3179 2075 1153 3180 3180 2079 1154 3181 3181 2078 1116 3182 3182 1979 1155 3183 3183 1968 1156 3184 3184 1967 1102 3185 3185 1741 1110 3186 3186 1983 1157 3187 3187 1984 1158 3188 3188 3533 1152 3189 3189 2600 1159 3190 3190 2599 1111 3191 3191 2078 1116 3192 3192 1964 1076 3193 3193 1753 1160 3194 3194 1981 1161 3195 3195 1980 1085 3196 3196 1979 1155 3197 3197 2077 1117 3198 3198 1753 1160 3199 3199 1747 1093 3200 3200 1981 1161 3201 3201 1983 1157 3202 3202 1982 1162 3203 3203 2610 1112 3204 3204 3543 1163 3205 3205 3527 1107 3206 3206 2075 1153 3207 3207 1977 1164 3208 3208 1976 1145 3209 3209 2600 1159 3210 3210 3541 1165 3211 3211 2610 1112 3212 3212 1754 1086 3213 3213 1982 1162 3214 3214 1745 1166 3215 3215 3532 1124 3216 3216 3542 1167 3217 3217 2600 1159 3218 3218 2073 1168 3219 3219 2077 1117 3220 3220 2072 1169 3221 3221 1745 1166 3222 3222 1983 1157 3223 3223 1742 1074 3224 3224 2056 1077 3225 3225 2069 1170 3226 3226 2054 1140 3227 3227 2072 1169 3228 3228 1747 1093 3229 3229 1743 1059 3230 3230 3544 1171 3231 3231 3528 1172 3232 3232 2051 1173 3233 3233 2002 1132 3234 3234 2583 1174 3235 3235 1756 1130 3236 3236 1984 1158 3237 3237 1746 1149 3238 3238 1741 1110 3239 3239 2055 1078 3240 3240 1965 1126 3241 3241 1964 1076 3242 3242 2051 1173 3243 3243 2071 1148 3244 3244 3544 1171 3245 3245 1389 1104 3246 3246 2588 1175 3247 3247 1383 1176 3248 3248 1981 1161 3249 3249 1755 1150 3250 3250 1746 1149 3251 3251 1960 1141 3252 3252 2071 1148 3253 3253 2076 1147 3254 3254 1388 1105 3255 3255 2589 1177 3256 3256 1389 1104 3257 3257 1974 1151 3258 3258 1979 1155 3259 3259 1967 1102 3260 3260 1959 1143 3261 3261 3544 1171 3262 3262 1960 1141 3263 3263 2589 1177 3264 3264 2593 1178 3265 3265 2588 1175 3266 3266 1986 1179 3267 3267 1969 1180 3268 3268 1970 1181 3269 3269 1974 1151 3270 3270 3545 1182 3271 3271 1959 1143 3272 3272 2590 1138 3273 3273 2594 1183 3274 3274 2589 1177 3275 3275 1988 1184 3276 3276 1985 1185 3277 3277 1986 1179 3278 3278 1977 1164 3279 3279 3547 1186 3280 3280 1978 1146 3281 3281 2037 1187 3282 3282 2000 1096 3283 3283 1962 1114 3284 3284 1989 1080 3285 3285 1987 1188 3286 3286 1988 1184 3287 3287 1746 1149 3288 3288 3547 1186 3289 3289 1741 1110 3290 3290 2595 1144 3291 3291 2603 1113 3292 3292 2605 1129 3293 3293 1754 1086 3294 3294 1970 1181 3295 3295 1971 1084 3296 3296 2074 1115 3297 3297 3546 1189 3298 3298 1977 1164 3299 3299 2606 1135 3300 3300 3524 1190 3301 3301 2607 1191 3302 3302 2595 1144 3303 3303 2606 1135 3304 3304 2594 1183 3305 3305 1972 1091 3306 3306 1985 1185 3307 3307 1749 1137 3308 3308 3546 1189 3309 3309 2072 1169 3310 3310 1743 1059 3311 3311 2594 1183 3312 3312 2607 1191 3313 3313 2593 1178 3314 3314 1749 1137 3315 3315 1987 1188 3316 3316 1748 1192 3317 3317 1408 1193 3318 3318 1744 1073 3319 3319 1409 1056 3320 3320 1741 1110 3321 3321 3546 1189 3322 3322 1743 1059 3323 3323 2604 1099 3324 3324 3522 1134 3325 3325 3521 1106 3326 3326 1745 1166 3327 3327 1986 1179 3328 3328 1754 1086 3329 3329 1395 1133 3330 3330 1748 1192 3331 3331 1408 1193 3332 3332 1406 1022 3333 3333 1743 1059 3334 3334 1407 1075 3335 3335 2037 1187 3336 3336 3523 1194 3337 3337 3522 1134 3338 3338 1748 1192 3339 3339 1990 1079 3340 3340 1744 1073 3341 3341 1395 1133 3342 3342 1394 1195 3343 3343 1390 1123 3344 3344 1996 1090 3345 3345 1846 1089 3346 3346 1764 1196 3347 3347 2028 1122 3348 3348 3524 1190 3349 3349 3523 1194 3350 3350 1989 1080 3351 3351 1745 1166 3352 3352 1742 1074 3353 3353 1387 1081 3354 3354 1394 1195 3355 3355 1392 1197 3356 3356 1391 1095 3357 3357 1383 1176 3358 3358 1385 1198 3359 3359 2584 1199 3360 3360 3526 1200 3361 3361 2602 1201 3362 3362 1393 1082 3363 3363 1377 1202 3364 3364 1378 1203 3365 3365 1376 1204 3366 3366 1392 1197 3367 3367 1394 1195 3368 3368 2608 1205 3369 3369 3526 1200 3370 3370 2609 1206 3371 3371 1376 1204 3372 3372 1408 1193 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2993 2436 7144 7144 3057 2384 7145 7145 3066 2387 7146 7146 2983 2393 7147 7147 3008 2395 7148 7148 2943 2390 7149 7149 3069 2423 7150 7150 3067 2428 7151 7151 3030 2431 7152 7152 2994 2401 7153 7153 3027 2437 7154 7154 3009 2434 7155 7155 3074 2414 7156 7156 3071 2427 7157 7157 3020 2396 7158 7158 2952 2347 7159 7159 3054 2346 7160 7160 3033 2430 7161 7161 2971 2379 7162 7162 2986 2370 7163 7163 2980 2438 7164 7164 3030 2431 7165 7165 3029 2433 7166 7166 3086 2367 7167 7167 3021 2392 7168 7168 3085 2382 7169 7169 3077 2441 7170 7170 3060 2442 7171 7171 3076 2443 7172 7172 3062 2444 7173 7173 3011 2445 7174 7174 3041 2446 7175 7175 3037 2447 7176 7176 3016 2448 7177 7177 3018 2449 7178 7178 3044 2450 7179 7179 3015 2451 7180 7180 3045 2452 7181 7181 3036 2453 7182 7182 3049 2454 7183 7183 3038 2455 7184 7184 2945 2456 7185 7185 3064 2457 7186 7186 3068 2417 7187 7187 3035 2458 7188 7188 2998 2459 7189 7189 3036 2453 7190 7190 3061 2460 7191 7191 2945 2456 7192 7192 3072 2419 7193 7193 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3122 2529 7394 7394 1158 2536 7395 7395 1162 2498 7396 7396 1161 2500 7397 7397 1060 2503 7398 7398 1284 2539 7399 7399 1164 2540 7400 7400 3267 2538 7401 7401 3126 2531 7402 7402 3125 2530 7403 7403 1137 2492 7404 7404 1159 2535 7405 7405 1140 2490 7406 7406 1127 2541 7407 7407 3242 2542 7408 7408 3270 2543 7409 7409 1274 2507 7410 7410 1272 2506 7411 7411 1273 2511 7412 7412 1125 2544 7413 7413 3242 2542 7414 7414 3124 2537 7415 7415 1277 2509 7416 7416 1275 2504 7417 7417 1274 2507 7418 7418 1124 2545 7419 7419 3124 2537 7420 7420 3183 2528 7421 7421 1164 2540 7422 7422 1278 2341 7423 7423 1163 2376 7424 7424 3150 2516 7425 7425 3111 2512 7426 7426 1273 2511 7427 7427 1126 2534 7428 7428 3126 2531 7429 7429 1127 2541 7430 7430 1124 2545 7431 7431 1279 2546 7432 7432 1164 2540 7433 7433 1272 2506 7434 7434 3150 2516 7435 7435 1273 2511 7436 7436 1158 2536 7437 7437 3181 2524 7438 7438 1126 2534 7439 7439 1279 2546 7440 7440 1276 2365 7441 7441 1278 2341 7442 7442 1272 2506 7443 7443 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3122 2529 7544 7544 3206 2588 7545 7545 3216 2576 7546 7546 3200 2578 7547 7547 3122 2529 7548 7548 3266 2567 7549 7549 3185 2571 7550 7550 3214 2579 7551 7551 3209 2589 7552 7552 3180 2580 7553 7553 3125 2530 7554 7554 3266 2567 7555 7555 3267 2538 7556 7556 3209 2589 7557 7557 3179 2590 7558 7558 3180 2580 7559 7559 3127 2523 7560 7560 3128 2566 7561 7561 3125 2530 7562 7562 3207 2573 7563 7563 3200 2578 7564 7564 3179 2590 7565 7565 3212 2527 7566 7566 3129 2591 7567 7567 3127 2523 7568 7568 3176 2564 7569 7569 3201 2557 7570 7570 3175 2592 7571 7571 3213 2593 7572 7572 3214 2579 7573 7573 3212 2527 7574 7574 3179 2590 7575 7575 3137 2577 7576 7576 3178 2570 7577 7577 3268 2594 7578 7578 3222 2583 7579 7579 3174 2584 7580 7580 3186 2585 7581 7581 3184 2565 7582 7582 3173 2563 7583 7583 3175 2592 7584 7584 3268 2594 7585 7585 3174 2584 7586 7586 3180 2580 7587 7587 3178 2570 7588 7588 3177 2569 7589 7589 3237 2581 7590 7590 3269 2595 7591 7591 3154 2582 7592 7592 3176 2564 7593 7593 3174 2584 7594 7594 3173 2563 7595 7595 3130 2561 7596 7596 3129 2591 7597 7597 3177 2569 7598 7598 3269 2595 7599 7599 3187 2596 7600 7600 3154 2582 7601 7601 3188 2586 7602 7602 3207 2573 7603 7603 3151 2575 7604 7604 3137 2577 7605 7605 3135 2597 7606 7606 3138 2572 7607 7607 3151 2575 7608 7608 3255 2598 7609 7609 3188 2586 7610 7610 3133 2599 7611 7611 3216 2576 7612 7612 3220 2600 7613 7613 3154 2582 7614 7614 3255 2598 7615 7615 3254 2601 7616 7616 3217 2587 7617 7617 3220 2600 7618 7618 3216 2576 7619 7619 3136 2602 7620 7620 3134 2603 7621 7621 3133 2599 7622 7622 3201 2557 7623 7623 3269 2595 7624 7624 3175 2592 7625 7625 3151 2575 7626 7626 3249 2532 7627 7627 3254 2601 7628 7628 3254 2601 7629 7629 3153 2518 7630 7630 3154 2582 7631 7631 3156 2604 7632 7632 3255 2598 7633 7633 3256 2605 7634 7634 3255 2598 7635 7635 3158 2606 7636 7636 3256 2605 7637 7637 3135 2597 7638 7638 3261 2607 7639 7639 3262 2608 7640 7640 3261 2607 7641 7641 3139 2609 7642 7642 3262 2608 7643 7643 3138 2572 7644 7644 3262 2608 7645 7645 3263 2552 7646 7646 3263 2552 7647 7647 3139 2609 7648 7648 3141 2558 7649 7649 3228 2568 7650 7650 3263 2552 7651 7651 3264 2554 7652 7652 3187 2596 7653 7653 3233 2610 7654 7654 3158 2606 7655 7655 3146 2611 7656 7656 3226 2612 7657 7657 3145 2613 7658 7658 3163 2614 7659 7659 3250 2615 7660 7660 3251 2616 7661 7661 3226 2612 7662 7662 3143 2559 7663 7663 3145 2613 7664 7664 3169 2617 7665 7665 3171 2618 7666 7666 3170 2619 7667 7667 3250 2615 7668 7668 3169 2617 7669 7669 3251 2616 7670 7670 3155 2620 7671 7671 3219 2621 7672 7672 3156 2604 7673 7673 3166 2622 7674 7674 3251 2616 7675 7675 3252 2623 7676 7676 3160 2624 7677 7677 3211 2625 7678 7678 3155 2620 7679 7679 3253 2626 7680 7680 3241 2627 7681 7681 3259 2628 7682 7682 3252 2623 7683 7683 3169 2617 7684 7684 3170 2619 7685 7685 3221 2629 7686 7686 3218 2630 7687 7687 3220 2600 7688 7688 3159 2631 7689 7689 3252 2623 7690 7690 3170 2619 7691 7691 3218 2630 7692 7692 3211 2625 7693 7693 3172 2632 7694 7694 3252 2623 7695 7695 3162 2633 7696 7696 3166 2622 7697 7697 3172 2632 7698 7698 3210 2634 7699 7699 3171 2618 7700 7700 3155 2620 7701 7701 3256 2605 7702 7702 3257 2635 7703 7703 3171 2618 7704 7704 3159 2631 7705 7705 3170 2619 7706 7706 3163 2614 7707 7707 3165 2636 7708 7708 3164 2637 7709 7709 3257 2635 7710 7710 3158 2606 7711 7711 3157 2638 7712 7712 3163 2614 7713 7713 3191 2639 7714 7714 3193 2640 7715 7715 3155 2620 7716 7716 3258 2641 7717 7717 3160 2624 7718 7718 3190 2642 7719 7719 3169 2617 7720 7720 3192 2643 7721 7721 3258 2641 7722 7722 3157 2638 7723 7723 3161 2644 7724 7724 3167 2645 7725 7725 3144 2646 7726 7726 3189 2647 7727 7727 3260 2648 7728 7728 3189 2647 7729 7729 3144 2646 7730 7730 3241 2627 7731 7731 3258 2641 7732 7732 3259 2628 7733 7733 3143 2559 7734 7734 3140 2649 7735 7735 3145 2613 7736 7736 3136 2602 7737 7737 3260 2648 7738 7738 3261 2607 7739 7739 3258 2641 7740 7740 3240 2650 7741 7741 3259 2628 7742 7742 3131 2651 7743 7743 3148 2652 7744 7744 3132 2653 7745 7745 3260 2648 7746 7746 3140 2649 7747 7747 3261 2607 7748 7748 3240 2650 7749 7749 3253 2626 7750 7750 3259 2628 7751 7751 3205 2654 7752 7752 3204 2655 7753 7753 3245 2656 7754 7754 3172 2632 7755 7755 3190 2642 7756 7756 3132 2653 7757 7757 3147 2657 7758 7758 3243 2658 7759 7759 3260 2648 7760 7760 3164 2637 7761 7761 3168 2659 7762 7762 3167 2645 7763 7763 3133 2599 7764 7764 3147 2657 7765 7765 3136 2602 7766 7766 3145 2613 7767 7767 3144 2646 7768 7768 3146 2611 7769 7769 3202 2660 7770 7770 3205 2654 7771 7771 3197 2661 7772 7772 3197 2661 7773 7773 3192 2643 7774 7774 3202 2660 7775 7775 3219 2621 7776 7776 3217 2587 7777 7777 3156 2604 7778 7778 3233 2610 7779 7779 3230 2662 7780 7780 3158 2606 7781 7781 3166 2622 7782 7782 3238 2663 7783 7783 3165 2636 7784 7784 3167 2645 7785 7785 3191 2639 7786 7786 3164 2637 7787 7787 3157 2638 7788 7788 3238 2663 7789 7789 3161 2644 7790 7790 3190 2642 7791 7791 3131 2651 7792 7792 3132 2653 7793 7793 3230 2662 7794 7794 3157 2638 7795 7795 3158 2606 7796 7796 3162 2633 7797 7797 3161 2644 7798 7798 3238 2663 7799 7799 3165 2636 7800 7800 3231 2664 7801 7801 3168 2659 7802 7802 3241 2627 7803 7803 3210 2634 7804 7804 3160 2624 7805 7805 3226 2612 7806 7806 3233 2610 7807 7807 3225 2555 7808 7808 3227 2665 7809 7809 3232 2666 7810 7810 3226 2612 7811 7811 3231 2664 7812 7812 3227 2665 7813 7813 3168 2659 7814 7814 3204 2655 7815 7815 3202 2660 7816 7816 3246 2667 7817 7817 3220 2600 7818 7818 3148 2652 7819 7819 3133 2599 7820 7820 3246 2667 7821 7821 3245 2656 7822 7822 3204 2655 7823 7823 3132 2653 7824 7824 3218 2630 7825 7825 3172 2632 7826 7826 3202 2660 7827 7827 3250 2615 7828 7828 3246 2667 7829 7829 3168 2659 7830 7830 3146 2611 7831 7831 3167 2645 7832 7832 3250 2615 7833 7833 3203 2668 7834 7834 3246 2667 7835 7835 1243 1951 7836 7836 1242 2669 7837 7837 1241 2670 7838 7838 1241 2670 7839 7839 1097 2671 7840 7840 1243 1951 7841 7841 1245 2672 7842 7842 1095 2673 7843 7843 1246 2674 7844 7844 1244 2675 7845 7845 1247 2676 7846 7846 1243 1951 7847 7847 1250 2677 7848 7848 1248 1997 7849 7849 1249 1999 7850 7850 1243 1951 7851 7851 1247 2676 7852 7852 1250 2677 7853 7853 1313 1998 7854 7854 1094 2678 7855 7855 1093 1996 7856 7856 1246 2674 7857 7857 1313 1998 7858 7858 1248 1997 7859 7859 1100 2679 7860 7860 1244 2675 7861 7861 1098 2680 7862 7862 1085 1968 7863 7863 1093 1996 7864 7864 1087 2681 7865 7865 1094 2678 7866 7866 1087 2681 7867 7867 1093 1996 7868 7868 1099 2682 7869 7869 1097 2671 7870 7870 1092 2683 7871 7871 1092 2683 7872 7872 1096 2684 7873 7873 1099 2682 7874 7874 1091 2000 7875 7875 1087 2681 7876 7876 1092 2683 7877 7877 1094 2678 7878 7878 1100 2679 7879 7879 1096 2684 7880 7880 1102 2685 7881 7881 1101 2686 7882 7882 1103 2687 7883 7883 1098 2680 7884 7884 1096 2684 7885 7885 1100 2679 7886 7886 1097 2671 7887 7887 1101 2686 7888 7888 1092 2683 7889 7889 1091 2000 7890 7890 1092 2683 7891 7891 1101 2686 7892 7892 1090 1973 7893 7893 1101 2686 7894 7894 1102 2685 7895 7895 1101 2686 7896 7896 1104 2688 7897 7897 1103 2687 7898 7898 1101 2686 7899 7899 1102 2685 7900 7900 1104 2688 7901 7901 1097 2671 7902 7902 1244 2675 7903 7903 1243 1951 7904 7904 1103 2687 7905 7905 1104 2688 7906 7906 1102 2685 7907 7907 1241 2670 7908 7908 1102 2685 7909 7909 1240 2689 7910 7910 1247 2676 7911 7911 1246 2674 7912 7912 1248 1997 7913 7913 1102 2685 7914 7914 1241 2670 7915 7915 1242 2669 7916 7916 1090 1973 7917 7917 1242 2669 7918 7918 1243 1951 7919 7919 2865 2690 7920 7920 2854 2691 7921 7921 2860 2692 7922 7922 2864 2131 7923 7923 2855 2693 7924 7924 2852 2116 7925 7925 2866 2130 7926 7926 2863 2694 7927 7927 2864 2131 7928 7928 2859 2695 7929 7929 2808 2696 7930 7930 2862 2697 7931 7931 2808 2696 7932 7932 2860 2692 7933 7933 2811 2698 7934 7934 2863 2694 7935 7935 2808 2696 7936 7936 2811 2698 7937 7937 2808 2696 7938 7938 2858 2699 7939 7939 2861 2700 7940 7940 2855 2693 7941 7941 2811 2698 7942 7942 2810 2701 7943 7943 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22175 22175 3876 7086 22176 22176 3906 7097 22177 22177 3905 7096 22178 22178 3877 7088 22179 22179 3900 7098 22180 22180 3906 7097 22181 22181 3908 7099 22182 22182 3878 7100 22183 22183 3879 7101 22184 22184 3908 7099 22185 22185 3845 6851 22186 22186 3907 7102 22187 22187 3844 6850 22188 22188 3907 7102 22189 22189 3845 6851 22190 22190 3909 7103 22191 22191 3878 7100 22192 22192 3907 7102 22193 22193 3843 6849 22194 22194 3909 7103 22195 22195 3844 6850 22196 22196 3910 7104 22197 22197 3880 7105 22198 22198 3909 7103 22199 22199 3843 6849 22200 22200 3911 7106 22201 22201 3910 7104 22202 22202 3910 7104 22203 22203 3882 7107 22204 22204 3881 7108 22205 22205 3912 7109 22206 22206 3842 6848 22207 22207 3841 6847 22208 22208 3883 7110 22209 22209 3911 7106 22210 22210 3912 7109 22211 22211 3840 6846 22212 22212 3912 7109 22213 22213 3841 6847 22214 22214 3913 7111 22215 22215 3883 7110 22216 22216 3912 7109 22217 22217 3914 7112 22218 22218 3840 6846 22219 22219 3839 6853 22220 22220 3885 7113 22221 22221 3913 7111 22222 22222 3914 7112 22223 22223 3885 7113 22224 22224 3908 7099 22225 22225 3879 7101 22226 22226 3838 6852 22227 22227 3914 7112 22228 22228 3839 6853 22229 22229 3915 7114 22230 22230 3879 7101 22231 22231 3878 7100 22232 22232 3847 7115 22233 22233 3916 7116 22234 22234 3915 7114 22235 22235 3880 7105 22236 22236 3915 7114 22237 22237 3878 7100 22238 22238 3917 7117 22239 22239 3847 7115 22240 22240 3915 7114 22241 22241 3881 7108 22242 22242 3917 7117 22243 22243 3880 7105 22244 22244 3918 7118 22245 22245 3848 7119 22246 22246 3917 7117 22247 22247 3882 7107 22248 22248 3918 7118 22249 22249 3881 7108 22250 22250 3919 7120 22251 22251 3849 7121 22252 22252 3918 7118 22253 22253 3883 7110 22254 22254 3919 7120 22255 22255 3882 7107 22256 22256 3920 7122 22257 22257 3850 7123 22258 22258 3919 7120 22259 22259 3883 7110 22260 22260 3921 7124 22261 22261 3920 7122 22262 22262 3920 7122 22263 22263 3852 7125 22264 22264 3851 7126 22265 22265 3922 7127 22266 22266 3884 7128 22267 22267 3885 7113 22268 22268 3853 7129 22269 22269 3921 7124 22270 22270 3922 7127 22271 22271 3885 7113 22272 22272 3916 7116 22273 22273 3922 7127 22274 22274 3922 7127 22275 22275 3846 7130 22276 22276 3853 7129 22277 22277 3846 7130 22278 22278 3923 7131 22279 22279 3853 7129 22280 22280 3924 7132 22281 22281 3899 7091 22282 22282 3923 7131 22283 22283 3923 7131 22284 22284 3852 7125 22285 22285 3853 7129 22286 22286 3899 7091 22287 22287 3925 7133 22288 22288 3923 7131 22289 22289 3852 7125 22290 22290 3926 7134 22291 22291 3851 7126 22292 22292 3925 7133 22293 22293 3902 7093 22294 22294 3926 7134 22295 22295 3926 7134 22296 22296 3850 7123 22297 22297 3851 7126 22298 22298 3902 7093 22299 22299 3927 7135 22300 22300 3926 7134 22301 22301 3849 7121 22302 22302 3927 7135 22303 22303 3928 7136 22304 22304 3928 7136 22305 22305 3903 7094 22306 22306 3904 7095 22307 22307 3849 7121 22308 22308 3929 7137 22309 22309 3848 7119 22310 22310 3928 7136 22311 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32626 315 3598 32627 32627 233 3588 32628 32628 317 3600 32629 32629 316 3599 32630 32630 317 3600 32631 32631 293 3560 32632 32632 292 3559 32633 32633 232 3585 32634 32634 318 3601 32635 32635 317 3600 32636 32636 318 3601 32637 32637 294 3561 32638 32638 293 3560 32639 32639 232 3585 32640 32640 231 3583 32641 32641 319 3602 32642 32642 318 3601 32643 32643 319 3602 32644 32644 295 3563 32645 32645 230 3581 32646 32646 320 3603 32647 32647 319 3602 32648 32648 320 3603 32649 32649 296 3562 32650 32650 295 3563 32651 32651 230 3581 32652 32652 229 3595 32653 32653 314 3597 32654 32654 314 3597 32655 32655 290 3557 32656 32656 296 3562 32657 32657 322 3604 32658 32658 321 3609 32659 32659 221 3293 32660 32660 227 3289 32661 32661 323 3605 32662 32662 322 3604 32663 32663 226 3288 32664 32664 324 7169 32665 32665 323 3605 32666 32666 325 3606 32667 32667 324 7169 32668 32668 226 3288 32669 32669 326 3607 32670 32670 325 3606 32671 32671 225 3287 32672 32672 223 3285 32673 32673 327 3608 32674 32674 326 3607 32675 32675 222 3294 32676 32676 328 7170 32677 32677 327 3608 32678 32678 321 3609 32679 32679 328 7170 32680 32680 222 3294 32681 32681 277 3538 32709 32709 250 3524 32710 32710 3614 3533 32711 32711 3855 7053 42711 42711 3861 7056 42712 42712 3862 7054 42713 42713 3861 7056 42714 42714 3860 7058 42715 42715 3864 7057 42716 42716 3860 7058 42717 42717 3859 7061 42718 42718 3865 7059 42719 42719 3858 7060 42720 42720 3866 7063 42721 42721 3865 7059 42722 42722 3857 7062 42723 42723 3867 7065 42724 42724 3866 7063 42725 42725 3856 7064 42726 42726 3868 7067 42727 42727 3867 7065 42728 42728 3854 7066 42729 42729 3869 7070 42730 42730 3868 7067 42731 42731 3863 7055 42732 42732 3869 7070 42733 42733 3854 7066 42734 42734 3866 7063 42735 42735 253 3529 42736 42736 254 3528 42737 42737 3865 7059 42738 42738 254 3528 42739 42739 255 3530 42740 42740 272 3531 42741 42741 7150 7074 42742 42742 7151 7068 42743 42743 3864 7057 42744 42744 255 3530 42745 42745 273 3534 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42837 42837 3838 6852 42838 42838 3845 6851 42839 42839 3844 6850 42840 42840 3909 7103 42841 42841 3907 7102 42842 42842 3909 7103 42843 42843 3880 7105 42844 42844 3878 7100 42845 42845 3843 6849 42846 42846 3910 7104 42847 42847 3909 7103 42848 42848 3910 7104 42849 42849 3881 7108 42850 42850 3880 7105 42851 42851 3843 6849 42852 42852 3842 6848 42853 42853 3911 7106 42854 42854 3910 7104 42855 42855 3911 7106 42856 42856 3882 7107 42857 42857 3912 7109 42858 42858 3911 7106 42859 42859 3842 6848 42860 42860 3883 7110 42861 42861 3882 7107 42862 42862 3911 7106 42863 42863 3840 6846 42864 42864 3913 7111 42865 42865 3912 7109 42866 42866 3913 7111 42867 42867 3884 7128 42868 42868 3883 7110 42869 42869 3914 7112 42870 42870 3913 7111 42871 42871 3840 6846 42872 42872 3885 7113 42873 42873 3884 7128 42874 42874 3913 7111 42875 42875 3885 7113 42876 42876 3914 7112 42877 42877 3908 7099 42878 42878 3838 6852 42879 42879 3908 7099 42880 42880 3914 7112 42881 42881 3915 7114 42882 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7116 42928 42928 3846 7130 42929 42929 3846 7130 42930 42930 3924 7132 42931 42931 3923 7131 42932 42932 3924 7132 42933 42933 3900 7098 42934 42934 3899 7091 42935 42935 3923 7131 42936 42936 3925 7133 42937 42937 3852 7125 42938 42938 3899 7091 42939 42939 3901 7092 42940 42940 3925 7133 42941 42941 3852 7125 42942 42942 3925 7133 42943 42943 3926 7134 42944 42944 3925 7133 42945 42945 3901 7092 42946 42946 3902 7093 42947 42947 3926 7134 42948 42948 3927 7135 42949 42949 3850 7123 42950 42950 3902 7093 42951 42951 3903 7094 42952 42952 3927 7135 42953 42953 3849 7121 42954 42954 3850 7123 42955 42955 3927 7135 42956 42956 3928 7136 42957 42957 3927 7135 42958 42958 3903 7094 42959 42959 3849 7121 42960 42960 3928 7136 42961 42961 3929 7137 42962 42962 3928 7136 42963 42963 3904 7095 42964 42964 3905 7096 42965 42965 3929 7137 42966 42966 3930 7138 42967 42967 3847 7115 42968 42968 3905 7096 42969 42969 3906 7097 42970 42970 3930 7138 42971 42971 3847 7115 42972 42972 3930 7138 42973 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3123 3123 1965 1126 3124 3124 1966 1128 3125 3125 3521 1106 3126 3126 2605 1129 3127 3127 2603 1113 3128 3128 1756 1130 3129 3129 2057 1131 3130 3130 2002 1132 3131 3131 1390 1123 3132 3132 1973 1092 3133 3133 1395 1133 3134 3134 3522 1134 3135 3135 2606 1135 3136 3136 2605 1129 3137 3137 2002 1132 3138 3138 2058 1136 3139 3139 1845 1127 3140 3140 1973 1092 3141 3141 1749 1137 3142 3142 1395 1133 3143 3143 1966 1128 3144 3144 2590 1138 3145 3145 1388 1105 3146 3146 2053 1139 3147 3147 2057 1131 3148 3148 2054 1140 3149 3149 1960 1141 3150 3150 1975 1142 3151 3151 1959 1143 3152 3152 2590 1138 3153 3153 2599 1111 3154 3154 2595 1144 3155 3155 2054 1140 3156 3156 2055 1078 3157 3157 2056 1077 3158 3158 1976 1145 3159 3159 1978 1146 3160 3160 1975 1142 3161 3161 1756 1130 3162 3162 1966 1128 3163 3163 1965 1126 3164 3164 2056 1077 3165 3165 2076 1147 3166 3166 2071 1148 3167 3167 1746 1149 3168 3168 1975 1142 3169 3169 1978 1146 3170 3170 2076 1147 3171 3171 1976 1145 3172 3172 1960 1141 3173 3173 1959 1143 3174 3174 1755 1150 3175 3175 1974 1151 3176 3176 1966 1128 3177 3177 3532 1124 3178 3178 3533 1152 3179 3179 2075 1153 3180 3180 2079 1154 3181 3181 2078 1116 3182 3182 1979 1155 3183 3183 1968 1156 3184 3184 1967 1102 3185 3185 1741 1110 3186 3186 1983 1157 3187 3187 1984 1158 3188 3188 3533 1152 3189 3189 2600 1159 3190 3190 2599 1111 3191 3191 2078 1116 3192 3192 1964 1076 3193 3193 1753 1160 3194 3194 1981 1161 3195 3195 1980 1085 3196 3196 1979 1155 3197 3197 2077 1117 3198 3198 1753 1160 3199 3199 1747 1093 3200 3200 1981 1161 3201 3201 1983 1157 3202 3202 1982 1162 3203 3203 2610 1112 3204 3204 3543 1163 3205 3205 3527 1107 3206 3206 2075 1153 3207 3207 1977 1164 3208 3208 1976 1145 3209 3209 2600 1159 3210 3210 3541 1165 3211 3211 2610 1112 3212 3212 1754 1086 3213 3213 1982 1162 3214 3214 1745 1166 3215 3215 3532 1124 3216 3216 3542 1167 3217 3217 2600 1159 3218 3218 2073 1168 3219 3219 2077 1117 3220 3220 2072 1169 3221 3221 1745 1166 3222 3222 1983 1157 3223 3223 1742 1074 3224 3224 2056 1077 3225 3225 2069 1170 3226 3226 2054 1140 3227 3227 2072 1169 3228 3228 1747 1093 3229 3229 1743 1059 3230 3230 3544 1171 3231 3231 3528 1172 3232 3232 2051 1173 3233 3233 2002 1132 3234 3234 2583 1174 3235 3235 1756 1130 3236 3236 1984 1158 3237 3237 1746 1149 3238 3238 1741 1110 3239 3239 2055 1078 3240 3240 1965 1126 3241 3241 1964 1076 3242 3242 2051 1173 3243 3243 2071 1148 3244 3244 3544 1171 3245 3245 1389 1104 3246 3246 2588 1175 3247 3247 1383 1176 3248 3248 1981 1161 3249 3249 1755 1150 3250 3250 1746 1149 3251 3251 1960 1141 3252 3252 2071 1148 3253 3253 2076 1147 3254 3254 1388 1105 3255 3255 2589 1177 3256 3256 1389 1104 3257 3257 1974 1151 3258 3258 1979 1155 3259 3259 1967 1102 3260 3260 1959 1143 3261 3261 3544 1171 3262 3262 1960 1141 3263 3263 2589 1177 3264 3264 2593 1178 3265 3265 2588 1175 3266 3266 1986 1179 3267 3267 1969 1180 3268 3268 1970 1181 3269 3269 1974 1151 3270 3270 3545 1182 3271 3271 1959 1143 3272 3272 2590 1138 3273 3273 2594 1183 3274 3274 2589 1177 3275 3275 1988 1184 3276 3276 1985 1185 3277 3277 1986 1179 3278 3278 1977 1164 3279 3279 3547 1186 3280 3280 1978 1146 3281 3281 2037 1187 3282 3282 2000 1096 3283 3283 1962 1114 3284 3284 1989 1080 3285 3285 1987 1188 3286 3286 1988 1184 3287 3287 1746 1149 3288 3288 3547 1186 3289 3289 1741 1110 3290 3290 2595 1144 3291 3291 2603 1113 3292 3292 2605 1129 3293 3293 1754 1086 3294 3294 1970 1181 3295 3295 1971 1084 3296 3296 2074 1115 3297 3297 3546 1189 3298 3298 1977 1164 3299 3299 2606 1135 3300 3300 3524 1190 3301 3301 2607 1191 3302 3302 2595 1144 3303 3303 2606 1135 3304 3304 2594 1183 3305 3305 1972 1091 3306 3306 1985 1185 3307 3307 1749 1137 3308 3308 3546 1189 3309 3309 2072 1169 3310 3310 1743 1059 3311 3311 2594 1183 3312 3312 2607 1191 3313 3313 2593 1178 3314 3314 1749 1137 3315 3315 1987 1188 3316 3316 1748 1192 3317 3317 1408 1193 3318 3318 1744 1073 3319 3319 1409 1056 3320 3320 1741 1110 3321 3321 3546 1189 3322 3322 1743 1059 3323 3323 2604 1099 3324 3324 3522 1134 3325 3325 3521 1106 3326 3326 1745 1166 3327 3327 1986 1179 3328 3328 1754 1086 3329 3329 1395 1133 3330 3330 1748 1192 3331 3331 1408 1193 3332 3332 1406 1022 3333 3333 1743 1059 3334 3334 1407 1075 3335 3335 2037 1187 3336 3336 3523 1194 3337 3337 3522 1134 3338 3338 1748 1192 3339 3339 1990 1079 3340 3340 1744 1073 3341 3341 1395 1133 3342 3342 1394 1195 3343 3343 1390 1123 3344 3344 1996 1090 3345 3345 1846 1089 3346 3346 1764 1196 3347 3347 2028 1122 3348 3348 3524 1190 3349 3349 3523 1194 3350 3350 1989 1080 3351 3351 1745 1166 3352 3352 1742 1074 3353 3353 1387 1081 3354 3354 1394 1195 3355 3355 1392 1197 3356 3356 1391 1095 3357 3357 1383 1176 3358 3358 1385 1198 3359 3359 2584 1199 3360 3360 3526 1200 3361 3361 2602 1201 3362 3362 1393 1082 3363 3363 1377 1202 3364 3364 1378 1203 3365 3365 1376 1204 3366 3366 1392 1197 3367 3367 1394 1195 3368 3368 2608 1205 3369 3369 3526 1200 3370 3370 2609 1206 3371 3371 1376 1204 3372 3372 1408 1193 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2993 2436 7144 7144 3057 2384 7145 7145 3066 2387 7146 7146 2983 2393 7147 7147 3008 2395 7148 7148 2943 2390 7149 7149 3069 2423 7150 7150 3067 2428 7151 7151 3030 2431 7152 7152 2994 2401 7153 7153 3027 2437 7154 7154 3009 2434 7155 7155 3074 2414 7156 7156 3071 2427 7157 7157 3020 2396 7158 7158 2952 2347 7159 7159 3054 2346 7160 7160 3033 2430 7161 7161 2971 2379 7162 7162 2986 2370 7163 7163 2980 2438 7164 7164 3030 2431 7165 7165 3029 2433 7166 7166 3086 2367 7167 7167 3021 2392 7168 7168 3085 2382 7169 7169 3077 2441 7170 7170 3060 2442 7171 7171 3076 2443 7172 7172 3062 2444 7173 7173 3011 2445 7174 7174 3041 2446 7175 7175 3037 2447 7176 7176 3016 2448 7177 7177 3018 2449 7178 7178 3044 2450 7179 7179 3015 2451 7180 7180 3045 2452 7181 7181 3036 2453 7182 7182 3049 2454 7183 7183 3038 2455 7184 7184 2945 2456 7185 7185 3064 2457 7186 7186 3068 2417 7187 7187 3035 2458 7188 7188 2998 2459 7189 7189 3036 2453 7190 7190 3061 2460 7191 7191 2945 2456 7192 7192 3072 2419 7193 7193 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3122 2529 7394 7394 1158 2536 7395 7395 1162 2498 7396 7396 1161 2500 7397 7397 1060 2503 7398 7398 1284 2539 7399 7399 1164 2540 7400 7400 3267 2538 7401 7401 3126 2531 7402 7402 3125 2530 7403 7403 1137 2492 7404 7404 1159 2535 7405 7405 1140 2490 7406 7406 1127 2541 7407 7407 3242 2542 7408 7408 3270 2543 7409 7409 1274 2507 7410 7410 1272 2506 7411 7411 1273 2511 7412 7412 1125 2544 7413 7413 3242 2542 7414 7414 3124 2537 7415 7415 1277 2509 7416 7416 1275 2504 7417 7417 1274 2507 7418 7418 1124 2545 7419 7419 3124 2537 7420 7420 3183 2528 7421 7421 1164 2540 7422 7422 1278 2341 7423 7423 1163 2376 7424 7424 3150 2516 7425 7425 3111 2512 7426 7426 1273 2511 7427 7427 1126 2534 7428 7428 3126 2531 7429 7429 1127 2541 7430 7430 1124 2545 7431 7431 1279 2546 7432 7432 1164 2540 7433 7433 1272 2506 7434 7434 3150 2516 7435 7435 1273 2511 7436 7436 1158 2536 7437 7437 3181 2524 7438 7438 1126 2534 7439 7439 1279 2546 7440 7440 1276 2365 7441 7441 1278 2341 7442 7442 1272 2506 7443 7443 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3122 2529 7544 7544 3206 2588 7545 7545 3216 2576 7546 7546 3200 2578 7547 7547 3122 2529 7548 7548 3266 2567 7549 7549 3185 2571 7550 7550 3214 2579 7551 7551 3209 2589 7552 7552 3180 2580 7553 7553 3125 2530 7554 7554 3266 2567 7555 7555 3267 2538 7556 7556 3209 2589 7557 7557 3179 2590 7558 7558 3180 2580 7559 7559 3127 2523 7560 7560 3128 2566 7561 7561 3125 2530 7562 7562 3207 2573 7563 7563 3200 2578 7564 7564 3179 2590 7565 7565 3212 2527 7566 7566 3129 2591 7567 7567 3127 2523 7568 7568 3176 2564 7569 7569 3201 2557 7570 7570 3175 2592 7571 7571 3213 2593 7572 7572 3214 2579 7573 7573 3212 2527 7574 7574 3179 2590 7575 7575 3137 2577 7576 7576 3178 2570 7577 7577 3268 2594 7578 7578 3222 2583 7579 7579 3174 2584 7580 7580 3186 2585 7581 7581 3184 2565 7582 7582 3173 2563 7583 7583 3175 2592 7584 7584 3268 2594 7585 7585 3174 2584 7586 7586 3180 2580 7587 7587 3178 2570 7588 7588 3177 2569 7589 7589 3237 2581 7590 7590 3269 2595 7591 7591 3154 2582 7592 7592 3176 2564 7593 7593 3174 2584 7594 7594 3173 2563 7595 7595 3130 2561 7596 7596 3129 2591 7597 7597 3177 2569 7598 7598 3269 2595 7599 7599 3187 2596 7600 7600 3154 2582 7601 7601 3188 2586 7602 7602 3207 2573 7603 7603 3151 2575 7604 7604 3137 2577 7605 7605 3135 2597 7606 7606 3138 2572 7607 7607 3151 2575 7608 7608 3255 2598 7609 7609 3188 2586 7610 7610 3133 2599 7611 7611 3216 2576 7612 7612 3220 2600 7613 7613 3154 2582 7614 7614 3255 2598 7615 7615 3254 2601 7616 7616 3217 2587 7617 7617 3220 2600 7618 7618 3216 2576 7619 7619 3136 2602 7620 7620 3134 2603 7621 7621 3133 2599 7622 7622 3201 2557 7623 7623 3269 2595 7624 7624 3175 2592 7625 7625 3151 2575 7626 7626 3249 2532 7627 7627 3254 2601 7628 7628 3254 2601 7629 7629 3153 2518 7630 7630 3154 2582 7631 7631 3156 2604 7632 7632 3255 2598 7633 7633 3256 2605 7634 7634 3255 2598 7635 7635 3158 2606 7636 7636 3256 2605 7637 7637 3135 2597 7638 7638 3261 2607 7639 7639 3262 2608 7640 7640 3261 2607 7641 7641 3139 2609 7642 7642 3262 2608 7643 7643 3138 2572 7644 7644 3262 2608 7645 7645 3263 2552 7646 7646 3263 2552 7647 7647 3139 2609 7648 7648 3141 2558 7649 7649 3228 2568 7650 7650 3263 2552 7651 7651 3264 2554 7652 7652 3187 2596 7653 7653 3233 2610 7654 7654 3158 2606 7655 7655 3146 2611 7656 7656 3226 2612 7657 7657 3145 2613 7658 7658 3163 2614 7659 7659 3250 2615 7660 7660 3251 2616 7661 7661 3226 2612 7662 7662 3143 2559 7663 7663 3145 2613 7664 7664 3169 2617 7665 7665 3171 2618 7666 7666 3170 2619 7667 7667 3250 2615 7668 7668 3169 2617 7669 7669 3251 2616 7670 7670 3155 2620 7671 7671 3219 2621 7672 7672 3156 2604 7673 7673 3166 2622 7674 7674 3251 2616 7675 7675 3252 2623 7676 7676 3160 2624 7677 7677 3211 2625 7678 7678 3155 2620 7679 7679 3253 2626 7680 7680 3241 2627 7681 7681 3259 2628 7682 7682 3252 2623 7683 7683 3169 2617 7684 7684 3170 2619 7685 7685 3221 2629 7686 7686 3218 2630 7687 7687 3220 2600 7688 7688 3159 2631 7689 7689 3252 2623 7690 7690 3170 2619 7691 7691 3218 2630 7692 7692 3211 2625 7693 7693 3172 2632 7694 7694 3252 2623 7695 7695 3162 2633 7696 7696 3166 2622 7697 7697 3172 2632 7698 7698 3210 2634 7699 7699 3171 2618 7700 7700 3155 2620 7701 7701 3256 2605 7702 7702 3257 2635 7703 7703 3171 2618 7704 7704 3159 2631 7705 7705 3170 2619 7706 7706 3163 2614 7707 7707 3165 2636 7708 7708 3164 2637 7709 7709 3257 2635 7710 7710 3158 2606 7711 7711 3157 2638 7712 7712 3163 2614 7713 7713 3191 2639 7714 7714 3193 2640 7715 7715 3155 2620 7716 7716 3258 2641 7717 7717 3160 2624 7718 7718 3190 2642 7719 7719 3169 2617 7720 7720 3192 2643 7721 7721 3258 2641 7722 7722 3157 2638 7723 7723 3161 2644 7724 7724 3167 2645 7725 7725 3144 2646 7726 7726 3189 2647 7727 7727 3260 2648 7728 7728 3189 2647 7729 7729 3144 2646 7730 7730 3241 2627 7731 7731 3258 2641 7732 7732 3259 2628 7733 7733 3143 2559 7734 7734 3140 2649 7735 7735 3145 2613 7736 7736 3136 2602 7737 7737 3260 2648 7738 7738 3261 2607 7739 7739 3258 2641 7740 7740 3240 2650 7741 7741 3259 2628 7742 7742 3131 2651 7743 7743 3148 2652 7744 7744 3132 2653 7745 7745 3260 2648 7746 7746 3140 2649 7747 7747 3261 2607 7748 7748 3240 2650 7749 7749 3253 2626 7750 7750 3259 2628 7751 7751 3205 2654 7752 7752 3204 2655 7753 7753 3245 2656 7754 7754 3172 2632 7755 7755 3190 2642 7756 7756 3132 2653 7757 7757 3147 2657 7758 7758 3243 2658 7759 7759 3260 2648 7760 7760 3164 2637 7761 7761 3168 2659 7762 7762 3167 2645 7763 7763 3133 2599 7764 7764 3147 2657 7765 7765 3136 2602 7766 7766 3145 2613 7767 7767 3144 2646 7768 7768 3146 2611 7769 7769 3202 2660 7770 7770 3205 2654 7771 7771 3197 2661 7772 7772 3197 2661 7773 7773 3192 2643 7774 7774 3202 2660 7775 7775 3219 2621 7776 7776 3217 2587 7777 7777 3156 2604 7778 7778 3233 2610 7779 7779 3230 2662 7780 7780 3158 2606 7781 7781 3166 2622 7782 7782 3238 2663 7783 7783 3165 2636 7784 7784 3167 2645 7785 7785 3191 2639 7786 7786 3164 2637 7787 7787 3157 2638 7788 7788 3238 2663 7789 7789 3161 2644 7790 7790 3190 2642 7791 7791 3131 2651 7792 7792 3132 2653 7793 7793 3230 2662 7794 7794 3157 2638 7795 7795 3158 2606 7796 7796 3162 2633 7797 7797 3161 2644 7798 7798 3238 2663 7799 7799 3165 2636 7800 7800 3231 2664 7801 7801 3168 2659 7802 7802 3241 2627 7803 7803 3210 2634 7804 7804 3160 2624 7805 7805 3226 2612 7806 7806 3233 2610 7807 7807 3225 2555 7808 7808 3227 2665 7809 7809 3232 2666 7810 7810 3226 2612 7811 7811 3231 2664 7812 7812 3227 2665 7813 7813 3168 2659 7814 7814 3204 2655 7815 7815 3202 2660 7816 7816 3246 2667 7817 7817 3220 2600 7818 7818 3148 2652 7819 7819 3133 2599 7820 7820 3246 2667 7821 7821 3245 2656 7822 7822 3204 2655 7823 7823 3132 2653 7824 7824 3218 2630 7825 7825 3172 2632 7826 7826 3202 2660 7827 7827 3250 2615 7828 7828 3246 2667 7829 7829 3168 2659 7830 7830 3146 2611 7831 7831 3167 2645 7832 7832 3250 2615 7833 7833 3203 2668 7834 7834 3246 2667 7835 7835 1243 1951 7836 7836 1242 2669 7837 7837 1241 2670 7838 7838 1241 2670 7839 7839 1097 2671 7840 7840 1243 1951 7841 7841 1245 2672 7842 7842 1095 2673 7843 7843 1246 2674 7844 7844 1244 2675 7845 7845 1247 2676 7846 7846 1243 1951 7847 7847 1250 2677 7848 7848 1248 1997 7849 7849 1249 1999 7850 7850 1243 1951 7851 7851 1247 2676 7852 7852 1250 2677 7853 7853 1313 1998 7854 7854 1094 2678 7855 7855 1093 1996 7856 7856 1246 2674 7857 7857 1313 1998 7858 7858 1248 1997 7859 7859 1100 2679 7860 7860 1244 2675 7861 7861 1098 2680 7862 7862 1085 1968 7863 7863 1093 1996 7864 7864 1087 2681 7865 7865 1094 2678 7866 7866 1087 2681 7867 7867 1093 1996 7868 7868 1099 2682 7869 7869 1097 2671 7870 7870 1092 2683 7871 7871 1092 2683 7872 7872 1096 2684 7873 7873 1099 2682 7874 7874 1091 2000 7875 7875 1087 2681 7876 7876 1092 2683 7877 7877 1094 2678 7878 7878 1100 2679 7879 7879 1096 2684 7880 7880 1102 2685 7881 7881 1101 2686 7882 7882 1103 2687 7883 7883 1098 2680 7884 7884 1096 2684 7885 7885 1100 2679 7886 7886 1097 2671 7887 7887 1101 2686 7888 7888 1092 2683 7889 7889 1091 2000 7890 7890 1092 2683 7891 7891 1101 2686 7892 7892 1090 1973 7893 7893 1101 2686 7894 7894 1102 2685 7895 7895 1101 2686 7896 7896 1104 2688 7897 7897 1103 2687 7898 7898 1101 2686 7899 7899 1102 2685 7900 7900 1104 2688 7901 7901 1097 2671 7902 7902 1244 2675 7903 7903 1243 1951 7904 7904 1103 2687 7905 7905 1104 2688 7906 7906 1102 2685 7907 7907 1241 2670 7908 7908 1102 2685 7909 7909 1240 2689 7910 7910 1247 2676 7911 7911 1246 2674 7912 7912 1248 1997 7913 7913 1102 2685 7914 7914 1241 2670 7915 7915 1242 2669 7916 7916 1090 1973 7917 7917 1242 2669 7918 7918 1243 1951 7919 7919 2865 2690 7920 7920 2854 2691 7921 7921 2860 2692 7922 7922 2864 2131 7923 7923 2855 2693 7924 7924 2852 2116 7925 7925 2866 2130 7926 7926 2863 2694 7927 7927 2864 2131 7928 7928 2859 2695 7929 7929 2808 2696 7930 7930 2862 2697 7931 7931 2808 2696 7932 7932 2860 2692 7933 7933 2811 2698 7934 7934 2863 2694 7935 7935 2808 2696 7936 7936 2811 2698 7937 7937 2808 2696 7938 7938 2858 2699 7939 7939 2861 2700 7940 7940 2855 2693 7941 7941 2811 2698 7942 7942 2810 2701 7943 7943 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22175 22175 3876 7086 22176 22176 3906 7097 22177 22177 3905 7096 22178 22178 3877 7088 22179 22179 3900 7098 22180 22180 3906 7097 22181 22181 3908 7099 22182 22182 3878 7100 22183 22183 3879 7101 22184 22184 3908 7099 22185 22185 3845 6851 22186 22186 3907 7102 22187 22187 3844 6850 22188 22188 3907 7102 22189 22189 3845 6851 22190 22190 3909 7103 22191 22191 3878 7100 22192 22192 3907 7102 22193 22193 3843 6849 22194 22194 3909 7103 22195 22195 3844 6850 22196 22196 3910 7104 22197 22197 3880 7105 22198 22198 3909 7103 22199 22199 3843 6849 22200 22200 3911 7106 22201 22201 3910 7104 22202 22202 3910 7104 22203 22203 3882 7107 22204 22204 3881 7108 22205 22205 3912 7109 22206 22206 3842 6848 22207 22207 3841 6847 22208 22208 3883 7110 22209 22209 3911 7106 22210 22210 3912 7109 22211 22211 3840 6846 22212 22212 3912 7109 22213 22213 3841 6847 22214 22214 3913 7111 22215 22215 3883 7110 22216 22216 3912 7109 22217 22217 3914 7112 22218 22218 3840 6846 22219 22219 3839 6853 22220 22220 3885 7113 22221 22221 3913 7111 22222 22222 3914 7112 22223 22223 3885 7113 22224 22224 3908 7099 22225 22225 3879 7101 22226 22226 3838 6852 22227 22227 3914 7112 22228 22228 3839 6853 22229 22229 3915 7114 22230 22230 3879 7101 22231 22231 3878 7100 22232 22232 3847 7115 22233 22233 3916 7116 22234 22234 3915 7114 22235 22235 3880 7105 22236 22236 3915 7114 22237 22237 3878 7100 22238 22238 3917 7117 22239 22239 3847 7115 22240 22240 3915 7114 22241 22241 3881 7108 22242 22242 3917 7117 22243 22243 3880 7105 22244 22244 3918 7118 22245 22245 3848 7119 22246 22246 3917 7117 22247 22247 3882 7107 22248 22248 3918 7118 22249 22249 3881 7108 22250 22250 3919 7120 22251 22251 3849 7121 22252 22252 3918 7118 22253 22253 3883 7110 22254 22254 3919 7120 22255 22255 3882 7107 22256 22256 3920 7122 22257 22257 3850 7123 22258 22258 3919 7120 22259 22259 3883 7110 22260 22260 3921 7124 22261 22261 3920 7122 22262 22262 3920 7122 22263 22263 3852 7125 22264 22264 3851 7126 22265 22265 3922 7127 22266 22266 3884 7128 22267 22267 3885 7113 22268 22268 3853 7129 22269 22269 3921 7124 22270 22270 3922 7127 22271 22271 3885 7113 22272 22272 3916 7116 22273 22273 3922 7127 22274 22274 3922 7127 22275 22275 3846 7130 22276 22276 3853 7129 22277 22277 3846 7130 22278 22278 3923 7131 22279 22279 3853 7129 22280 22280 3924 7132 22281 22281 3899 7091 22282 22282 3923 7131 22283 22283 3923 7131 22284 22284 3852 7125 22285 22285 3853 7129 22286 22286 3899 7091 22287 22287 3925 7133 22288 22288 3923 7131 22289 22289 3852 7125 22290 22290 3926 7134 22291 22291 3851 7126 22292 22292 3925 7133 22293 22293 3902 7093 22294 22294 3926 7134 22295 22295 3926 7134 22296 22296 3850 7123 22297 22297 3851 7126 22298 22298 3902 7093 22299 22299 3927 7135 22300 22300 3926 7134 22301 22301 3849 7121 22302 22302 3927 7135 22303 22303 3928 7136 22304 22304 3928 7136 22305 22305 3903 7094 22306 22306 3904 7095 22307 22307 3849 7121 22308 22308 3929 7137 22309 22309 3848 7119 22310 22310 3928 7136 22311 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32626 315 3598 32627 32627 233 3588 32628 32628 317 3600 32629 32629 316 3599 32630 32630 317 3600 32631 32631 293 3560 32632 32632 292 3559 32633 32633 232 3585 32634 32634 318 3601 32635 32635 317 3600 32636 32636 318 3601 32637 32637 294 3561 32638 32638 293 3560 32639 32639 232 3585 32640 32640 231 3583 32641 32641 319 3602 32642 32642 318 3601 32643 32643 319 3602 32644 32644 295 3563 32645 32645 230 3581 32646 32646 320 3603 32647 32647 319 3602 32648 32648 320 3603 32649 32649 296 3562 32650 32650 295 3563 32651 32651 230 3581 32652 32652 229 3595 32653 32653 314 3597 32654 32654 314 3597 32655 32655 290 3557 32656 32656 296 3562 32657 32657 322 3604 32658 32658 321 3609 32659 32659 221 3293 32660 32660 227 3289 32661 32661 323 3605 32662 32662 322 3604 32663 32663 226 3288 32664 32664 324 7169 32665 32665 323 3605 32666 32666 325 3606 32667 32667 324 7169 32668 32668 226 3288 32669 32669 326 3607 32670 32670 325 3606 32671 32671 225 3287 32672 32672 223 3285 32673 32673 327 3608 32674 32674 326 3607 32675 32675 222 3294 32676 32676 328 7170 32677 32677 327 3608 32678 32678 321 3609 32679 32679 328 7170 32680 32680 222 3294 32681 32681 277 3538 32709 32709 250 3524 32710 32710 3614 3533 32711 32711 3855 7053 42711 42711 3861 7056 42712 42712 3862 7054 42713 42713 3861 7056 42714 42714 3860 7058 42715 42715 3864 7057 42716 42716 3860 7058 42717 42717 3859 7061 42718 42718 3865 7059 42719 42719 3858 7060 42720 42720 3866 7063 42721 42721 3865 7059 42722 42722 3857 7062 42723 42723 3867 7065 42724 42724 3866 7063 42725 42725 3856 7064 42726 42726 3868 7067 42727 42727 3867 7065 42728 42728 3854 7066 42729 42729 3869 7070 42730 42730 3868 7067 42731 42731 3863 7055 42732 42732 3869 7070 42733 42733 3854 7066 42734 42734 3866 7063 42735 42735 253 3529 42736 42736 254 3528 42737 42737 3865 7059 42738 42738 254 3528 42739 42739 255 3530 42740 42740 272 3531 42741 42741 7150 7074 42742 42742 7151 7068 42743 42743 3864 7057 42744 42744 255 3530 42745 42745 273 3534 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42837 42837 3838 6852 42838 42838 3845 6851 42839 42839 3844 6850 42840 42840 3909 7103 42841 42841 3907 7102 42842 42842 3909 7103 42843 42843 3880 7105 42844 42844 3878 7100 42845 42845 3843 6849 42846 42846 3910 7104 42847 42847 3909 7103 42848 42848 3910 7104 42849 42849 3881 7108 42850 42850 3880 7105 42851 42851 3843 6849 42852 42852 3842 6848 42853 42853 3911 7106 42854 42854 3910 7104 42855 42855 3911 7106 42856 42856 3882 7107 42857 42857 3912 7109 42858 42858 3911 7106 42859 42859 3842 6848 42860 42860 3883 7110 42861 42861 3882 7107 42862 42862 3911 7106 42863 42863 3840 6846 42864 42864 3913 7111 42865 42865 3912 7109 42866 42866 3913 7111 42867 42867 3884 7128 42868 42868 3883 7110 42869 42869 3914 7112 42870 42870 3913 7111 42871 42871 3840 6846 42872 42872 3885 7113 42873 42873 3884 7128 42874 42874 3913 7111 42875 42875 3885 7113 42876 42876 3914 7112 42877 42877 3908 7099 42878 42878 3838 6852 42879 42879 3908 7099 42880 42880 3914 7112 42881 42881 3915 7114 42882 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7116 42928 42928 3846 7130 42929 42929 3846 7130 42930 42930 3924 7132 42931 42931 3923 7131 42932 42932 3924 7132 42933 42933 3900 7098 42934 42934 3899 7091 42935 42935 3923 7131 42936 42936 3925 7133 42937 42937 3852 7125 42938 42938 3899 7091 42939 42939 3901 7092 42940 42940 3925 7133 42941 42941 3852 7125 42942 42942 3925 7133 42943 42943 3926 7134 42944 42944 3925 7133 42945 42945 3901 7092 42946 42946 3902 7093 42947 42947 3926 7134 42948 42948 3927 7135 42949 42949 3850 7123 42950 42950 3902 7093 42951 42951 3903 7094 42952 42952 3927 7135 42953 42953 3849 7121 42954 42954 3850 7123 42955 42955 3927 7135 42956 42956 3928 7136 42957 42957 3927 7135 42958 42958 3903 7094 42959 42959 3849 7121 42960 42960 3928 7136 42961 42961 3929 7137 42962 42962 3928 7136 42963 42963 3904 7095 42964 42964 3905 7096 42965 42965 3929 7137 42966 42966 3930 7138 42967 42967 3847 7115 42968 42968 3905 7096 42969 42969 3906 7097 42970 42970 3930 7138 42971 42971 3847 7115 42972 42972 3930 7138 42973 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-0.2289328 -0.9727015 -0.03796491 -0.01898155 -0.9644964 0.2213811 0.1440036 -0.7736845 -0.1316678 0.06958417 -0.9888486 1.379469 0 0 0 1 + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + #rig_deform_DEF-spine + #rig_deform_DEF-spine_001 + #rig_deform_DEF-spine_002 + #rig_deform_DEF-spine_003 + #rig_deform_DEF-spine_004 + #rig_deform_DEF-spine_005 + #rig_deform_DEF-spine_006 + #rig_deform_DEF-pelvis_L + #rig_deform_DEF-pelvis_R + #rig_deform_DEF-thigh_L + #rig_deform_DEF-thigh_L_001 + #rig_deform_DEF-shin_L + #rig_deform_DEF-shin_L_001 + #rig_deform_DEF-foot_L + #rig_deform_DEF-toe_L + #rig_deform_DEF-thigh_R + #rig_deform_DEF-thigh_R_001 + #rig_deform_DEF-shin_R + #rig_deform_DEF-shin_R_001 + #rig_deform_DEF-foot_R + #rig_deform_DEF-toe_R + #rig_deform_DEF-shoulder_L + #rig_deform_DEF-upper_arm_L + #rig_deform_DEF-upper_arm_L_001 + #rig_deform_DEF-forearm_L + #rig_deform_DEF-forearm_L_001 + #rig_deform_DEF-hand_L + #rig_deform_DEF-f_index_01_L + #rig_deform_DEF-f_index_02_L + #rig_deform_DEF-f_index_03_L + #rig_deform_DEF-thumb_01_L + #rig_deform_DEF-thumb_02_L + #rig_deform_DEF-thumb_03_L + #rig_deform_DEF-palm_01_L + #rig_deform_DEF-f_middle_01_L + #rig_deform_DEF-f_middle_02_L + #rig_deform_DEF-f_middle_03_L + #rig_deform_DEF-palm_02_L + #rig_deform_DEF-f_ring_01_L + #rig_deform_DEF-f_ring_02_L + #rig_deform_DEF-f_ring_03_L + #rig_deform_DEF-palm_03_L + #rig_deform_DEF-f_pinky_01_L + #rig_deform_DEF-f_pinky_02_L + #rig_deform_DEF-f_pinky_03_L + #rig_deform_DEF-palm_04_L + #rig_deform_DEF-shoulder_R + #rig_deform_DEF-upper_arm_R + #rig_deform_DEF-upper_arm_R_001 + #rig_deform_DEF-forearm_R + #rig_deform_DEF-forearm_R_001 + #rig_deform_DEF-hand_R + #rig_deform_DEF-f_index_01_R + #rig_deform_DEF-f_index_02_R + #rig_deform_DEF-f_index_03_R + #rig_deform_DEF-thumb_01_R + #rig_deform_DEF-thumb_02_R + #rig_deform_DEF-thumb_03_R + #rig_deform_DEF-palm_01_R + #rig_deform_DEF-f_middle_01_R + #rig_deform_DEF-f_middle_02_R + #rig_deform_DEF-f_middle_03_R + #rig_deform_DEF-palm_02_R + #rig_deform_DEF-f_ring_01_R + #rig_deform_DEF-f_ring_02_R + #rig_deform_DEF-f_ring_03_R + #rig_deform_DEF-palm_03_R + #rig_deform_DEF-f_pinky_01_R + #rig_deform_DEF-f_pinky_02_R + #rig_deform_DEF-f_pinky_03_R + #rig_deform_DEF-palm_04_R + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/ign_world/launch/gazebo_controller_launch.py b/src/ign_world/launch/gazebo_controller_launch.py index 4eaaa54..8ca236e 100644 --- a/src/ign_world/launch/gazebo_controller_launch.py +++ b/src/ign_world/launch/gazebo_controller_launch.py @@ -1,16 +1,30 @@ import os from ament_index_python import get_package_share_directory from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler from launch.event_handlers import OnProcessExit from launch_ros.actions import Node, SetParameter from launch.launch_description_sources import PythonLaunchDescriptionSource from moveit_configs_utils import MoveItConfigsBuilder -import xacro +from launch.substitutions import LaunchConfiguration, TextSubstitution +from launch.conditions import LaunchConfigurationEquals +import xacro + def generate_launch_description(): + scene_launch_arg = DeclareLaunchArgument( + "scene", default_value=TextSubstitution(text="Coex") + ) + + worldFile = open('/tmp/gazebo_world.sdf', 'w') + worldFile.write(xacro.process(os.path.join(get_package_share_directory('ign_world'), 'world', 'world.sdf'))) + worldFile.flush() + worldFile.close() + + scene = LaunchConfiguration('scene') + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() - + load_joint_state_broadcaster = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster'], output='screen' @@ -31,7 +45,7 @@ def generate_launch_description(): ], output='screen' ) - + btree = Node( package='btree', executable='tree', @@ -39,8 +53,8 @@ def generate_launch_description(): parameters=[ { "trees": [ - get_package_share_directory('btree')+'/trees/actorTreeCoex.xml', - get_package_share_directory('btree')+'/trees/robotTreeCoex.xml' + [get_package_share_directory('btree'), '/trees/actorTree', scene, '.xml'], + [get_package_share_directory('btree'), '/trees/robotTree', scene, '.xml'], ], "areas": [ "safeArea", @@ -79,21 +93,24 @@ def generate_launch_description(): ) return LaunchDescription([ + scene_launch_arg, + IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')), - launch_arguments={'gz_args': '-v 4 -r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(), + launch_arguments={'gz_args': '-v 4 -r /tmp/gazebo_world.sdf'}.items(), ), - + Node( package='ros_gz_sim', executable='create', arguments=[ - '-name', 'office', + '-name', 'conveyor', '-allow_renaming', 'true', '-string', xacro.process(os.path.join(get_package_share_directory('ign_world'), 'world', 'conveyor.sdf')), - #'-file', 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo', + # '-file', 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo', ], - output='screen' + output='screen', + condition=LaunchConfigurationEquals('scene', 'Coop') ), Node( @@ -111,7 +128,7 @@ def generate_launch_description(): output='both', emulate_tty=True, ), - + btree, IncludeLaunchDescription( @@ -132,7 +149,7 @@ def generate_launch_description(): on_exit=[load_joint_state_broadcaster], ) ), - + RegisterEventHandler( event_handler=OnProcessExit( target_action=load_joint_state_broadcaster, @@ -141,4 +158,4 @@ def generate_launch_description(): ), ignition_spawn_entity, - ]) \ No newline at end of file + ]) diff --git a/src/ign_world/launch/moveit_launch.py b/src/ign_world/launch/moveit_launch.py deleted file mode 100644 index 3c9ee52..0000000 --- a/src/ign_world/launch/moveit_launch.py +++ /dev/null @@ -1,311 +0,0 @@ -import os -import subprocess -import yaml - -from launch import LaunchDescription -from launch_ros.actions import Node, SetParameter -from launch.actions import IncludeLaunchDescription, RegisterEventHandler, LogInfo, ExecuteProcess, ExecuteLocal, TimerAction -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import PathJoinSubstitution -from launch.launch_description_sources import PythonLaunchDescriptionSource -from ament_index_python.packages import get_package_share_directory -from launch.event_handlers import OnProcessExit -from launch.launch_description_entity import LaunchDescriptionEntity -from pathlib import Path - - -def load_file(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, 'r') as file: - print("Opened file") - return file.read() - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available - print("ERROR: load_file " + package_name + " | " + file_path + " -> " + absolute_file_path) - return None - - -def load_xacro(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - process = subprocess.run(["xacro", absolute_file_path], capture_output=True) - if process.returncode != 0: - print(process.stderr) - return process.stdout.decode("UTF-8") - - -def load_yaml(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, 'r') as file: - print("Opened file") - return yaml.safe_load(file) - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available - print("ERROR: load_yaml " + package_name + " | " + file_path + " -> " + absolute_file_path) - - return None - - -def launch_chain(nodes: list[ExecuteLocal]): - generatedNodes: list[LaunchDescriptionEntity] = [] - for index in range(1, len(nodes)): - generatedNodes.append(RegisterEventHandler( - OnProcessExit( - target_action=nodes[index-1], - on_exit=nodes[index] - ) - )) - generatedNodes.append(nodes[0]) - return generatedNodes - - -def generate_launch_description(): - - robot_description_config = load_xacro('iisy_config', 'urdf/iisy.urdf') - robot_description = {'robot_description': robot_description_config} - - robot_description_semantic_config = load_file('iisy_config', 'srdf/iisy.srdf') - robot_description_semantic = {'robot_description_semantic': robot_description_semantic_config} - - kinematics_yaml = load_yaml('iisy_config', 'config/kinematics.yml') - robot_description_kinematics = {'robot_description_kinematics': kinematics_yaml} - - controllers = { - "moveit_simple_controller_manager": load_yaml("iisy_config", "config/iisy_controllers.yml"), - "moveit_controller_manager": "moveit_ros_control_interface/Ros2ControlMultiManager", - } - - ompl_planning_pipeline_config = { - 'move_group': { - 'planning_plugin': 'ompl_interface/OMPLPlanner', - 'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", - 'start_state_max_bounds_error': 0.1 - } - } - ompl_planning_yaml = load_yaml('iisy_config', 'config/ompl_planning.yml') - ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml) - - robot_description_planning = { - "robot_description_planning": PathJoinSubstitution( - [ - FindPackageShare("iisy_config"), - "config/joint_limits.yml" - ] - ) - } - - trajectory_execution = { - 'moveit_manage_controllers': False, - 'trajectory_execution.allowed_execution_duration_scaling': 1.2, - 'trajectory_execution.allowed_goal_duration_margin': 0.5, - 'trajectory_execution.allowed_start_tolerance': 0.01 - } - - planning_scene_monitor_parameters = { - "publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True - } - - planning = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": "default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints", - "start_state_max_bounds_error": 0.1 - } - } - - spawn_robot = Node( - package='ros_gz_sim', - executable='create', - arguments=['-world', 'default', '-string', robot_description_config], - output='screen' - ) - - rviz = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(get_package_share_directory("ign_world"), 'rviz', 'iisy.rviz')], - parameters=[ - robot_description, - robot_description_semantic, - robot_description_planning, - ompl_planning_pipeline_config, - robot_description_kinematics, - planning, - trajectory_execution, - controllers, - planning_scene_monitor_parameters, - ], - ) - - controller_manager = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[ - robot_description, - str(Path(get_package_share_directory("iisy_config")+"/config/iisy_controllers.yaml")), - ], - ) - - load_joint_state_broadcaster = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'joint_state_broadcaster'], - output='both' - ) - - load_joint_trajectory_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'joint_trajectory_controller'], - output='both' - ) - - move_group = Node( - package='moveit_ros_move_group', - executable='move_group', - # prefix='xterm -fs 10 -e gdb --ex run --args', - output='both', - parameters=[ - robot_description, - robot_description_semantic, - robot_description_planning, - ompl_planning_pipeline_config, - robot_description_kinematics, - planning, - trajectory_execution, - controllers, - planning_scene_monitor_parameters, - # octomap_config, - # octomap_updater_config - ] - ) - - test = Node( - package='moveit_test', - executable='move', - output='both', - parameters=[ - robot_description, - robot_description_semantic, - robot_description_planning, - ompl_planning_pipeline_config, - robot_description_kinematics, - planning, - trajectory_execution, - controllers, - planning_scene_monitor_parameters, - # octomap_config, - # octomap_updater_config - ], - ) - - # octomap_config = {'octomap_frame': 'camera_rgb_optical_frame', - # 'octomap_resolution': 0.05, - # 'max_range': 5.0} - - # octomap_updater_config = load_yaml('moveit_tutorials', 'config/sensors_3d.yaml') - - pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim') - - return LaunchDescription([ - - #IncludeLaunchDescription( - # PythonLaunchDescriptionSource(os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')), - # launch_arguments={'gz_args': '-r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(), - #), - - Node( - package='ros_gz_bridge', - executable='parameter_bridge', - arguments=["/clock[rosgraph_msgs/msg/Clock@ignition.msgs.Clock"], - output='both', - ), - - SetParameter(name="use_sim_time", value=True), - - move_group, - - #RegisterEventHandler( - # OnProcessExit( - # target_action=spawn_robot, - # on_exit=[load_joint_state_broadcaster] - # ) - #), - - controller_manager, - - RegisterEventHandler( - OnProcessExit( - target_action=load_joint_state_broadcaster, - on_exit=[load_joint_trajectory_controller] - ) - ), - RegisterEventHandler( - OnProcessExit( - target_action=load_joint_trajectory_controller, - on_exit=TimerAction(period=10.0,actions=[test]) - ) - ), - - #spawn_robot, - load_joint_state_broadcaster, - #load_joint_trajectory_controller, - rviz, - - Node( - package='ros_actor_action_server', - executable='ros_actor_action_server'), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='lidar_1_broadcaster', - arguments=[ - "--x", "1", - "--y", "-1.9", - "--z", "1", - "--roll", "1.5707963267949", - "--pitch", "0", - "--yaw", "0", - "--frame-id", "world", - "--child-frame-id", "lidar_1_link"] - ), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - name='lidar_2_broadcaster', - arguments=[ - "--x", "-1.9", - "--y", "1", - "--z", "1", - "--roll", "0", - "--pitch", "0", - "--yaw", "0", - "--frame-id", "world", - "--child-frame-id", "lidar_2_link"] - ), - - #Node( - # package='ros_gz_bridge', - # executable='parameter_bridge', - # arguments=["/world/default/model/iisy/joint_state[sensor_msgs/msg/JointState@ignition.msgs.Model"], - # output='both', - # remappings=[ - # ('/world/default/model/iisy/joint_state', '/joint_states'), - # ] - #), - - Node( - package='robot_state_publisher', - executable='robot_state_publisher', - output='both', - parameters=[robot_description] - ), - ]) diff --git a/src/ign_world/launch/new_launch.py b/src/ign_world/launch/new_launch.py deleted file mode 100644 index c0b2964..0000000 --- a/src/ign_world/launch/new_launch.py +++ /dev/null @@ -1,55 +0,0 @@ -import os -from ament_index_python import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch_ros.actions import Node, SetParameter -from launch.launch_description_sources import PythonLaunchDescriptionSource -from moveit_configs_utils import MoveItConfigsBuilder -from xacro import process as xacro_process - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() - - return LaunchDescription([ - SetParameter(name="use_sim_time", value=True), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')), - launch_arguments={'gz_args': '-v 4 -r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(), - ), - - Node( - package='ros_gz_bridge', - executable='parameter_bridge', - arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"], - output='both', - ), - - #Node( - # package='ros_gz_bridge', - # executable='parameter_bridge', - # arguments=["/world/default/dynamic_pose/info@tf2_msgs/msg/TFMessage]ignition.msgs.Pose_V"], - # output='both', - # remappings=[ - # ('/world/default/dynamic_pose/info', '/tf'), - # ] - #), - - Node( - package='ros_actor_action_server', - executable='ros_actor_action_server' - ), - - #Node( - # package='ros_gz_sim', - # executable='create', - # arguments=['-world', 'default', '-string', xacro_process(os.path.join(get_package_share_directory('iisy_config'), 'config', 'iisy_xacro.urdf'))], - # output='screen' - #), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - str(moveit_config.package_path / "launch/demo.launch.py") - ), - ), - ]) \ No newline at end of file diff --git a/src/ign_world/model/conveyor.stl b/src/ign_world/model/conveyor.stl index 4c8fb83b8517a61c9dafa71af2e8ecf790406bfa..0207876561be0870779a13031933e1da5dfa4cef 100644 GIT binary patch literal 16084 zcmbVTYm8OZ6+TvoEeg>{(>7YASgj_N(mH_B!ZBJLjICmP%M?RZM0t!-eBk)FMX7HF zDy^C(dVD0tJ}{Mn&zVCh;8ekw)?%x+(Kx0-6BUv+m9|dTx7Ys8TIZa5$D7_CW^vc| zt#7Zr*Is*{JI5KBSd~o42HU(YO;9UcC6Ci^hDR}v8l#A7BS|(k%bY5hWg9Q!8ly=bk&$dfmSmWXh_-ei zk0uPFRGW-OI_IpB>qaLtCo^t!e)M~?$%Be#coe@U7VE%|s_QJmPBwbGJ%*xu9z#Pn zO2+!Zs_i%Ww)Ce*pBC2n$~SILH?KS;*vq!uncg^gmSBft5QRv+kKCRdh)5Ryx zjw?7{7<>Bb3`1qP*-$xl&(d`0{x$v3pa&K1?LSXknU4R_Sy5xxM@!Q`Wp#$3vK;nd zf$`0qyVqT`Wp4WD>|H^F9%zsOo4ZRh|GhAdKEKW|R2CSGuxr72?d=)qwoAs#x|_$x 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0.01 - 0.001 - - -0.5 0.1 -0.9 - - - - - 2 - 2 - 180 - - - /home/ros/walk.dae - 1.0 - - - /home/ros/walk.dae - true - - - /home/ros/standing_extend_arm.dae - - - /home/ros/standing_retract_arm.dae - - - - - 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 - - - - - - \ No newline at end of file diff --git a/src/ign_world/world/world.sdf b/src/ign_world/world/world.sdf new file mode 100644 index 0000000..867372c --- /dev/null +++ b/src/ign_world/world/world.sdf @@ -0,0 +1,109 @@ + + + + 0.001 + 1.0 + + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + + 2 + 2 + 180 + + + $(find ign_actor_plugin)/animation/walk.dae + 1.0 + + + + $(find ign_actor_plugin)/animation/standing_walk.dae + + + $(find ign_actor_plugin)/animation/standing_extend_arm.dae + + + $(find ign_actor_plugin)/animation/standing_retract_arm.dae + + + $(find ign_actor_plugin)/animation/standing_to_low.dae + + + + $(find ign_actor_plugin)/animation/low_to_standing.dae + + + $(find ign_actor_plugin)/animation/low_grab.dae + + + $(find ign_actor_plugin)/animation/low_inspect.dae + + + $(find ign_actor_plugin)/animation/low_put_back.dae + + + + + true + + + + + file://$(find ign_world)/model/room.stl + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 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 + + + + + + \ No newline at end of file