245 lines
155 KiB
Plaintext
245 lines
155 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# Lowlevel Simulation"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"source": [
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"from Go2Py.sim.mujoco import Go2Sim\n",
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"import numpy as np"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {},
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"outputs": [],
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"source": [
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"robot = Go2Sim(mode='lowlevel')"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/plain": [
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"<matplotlib.image.AxesImage at 0x7d4b807ef0d0>"
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]
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},
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"execution_count": 3,
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"metadata": {},
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"output_type": "execute_result"
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},
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{
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"data": {
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"image/png": 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2NvzCL/wC3vnOd+Khhx7C+vo6br31VhwdHdlr7rjjDjz22GO4//778f73vx8f/ehH8YM/+IPj52LaNG6cmU+CG1cswBwS3chSIZYGap9p5lciDSv7GiSXSSnHTgZjDO973/vw7d/+7QAAKSWuv/56/OiP/ij+5b/8lwCA7e1tnDlzBu9+97vxXd/1XfiTP/kT3HjjjfjEJz6Bm2++GQDwwQ9+EN/8zd+Mv/zLv8T1118/9Lk7OzvY2trCja98DYJWe5yUj/GbCWj0ikI1iW90kQ1joTLXhMzUQNJOiwXKSprqstbgQp170sd7YNzv4bO/91+xvb2Nzc3Nwuum6tT6xBNP4NKlSzh//rz9bGtrC7fccgsuXrwIALh48SKOHz9ulREAOH/+PDjneOihh3Lv2+12sbOz4/1NxpxrscHtveGJrydUpMQ4ULuZAQ0u1IYoI6MwVafWS5cuAQDOnDnjfX7mzBn73aVLl3D69Gk/EWGIkydP2mvS3HvvvXjzm988zaRi8sIdcWY4rbqsZEI664aYzVSVYmIuRdxgOeizMBkhUMfarF+KJqayLNW/LBux7feee+7B9va2/XvqqaeqThKaULnEeFDNEssItftFphm1O1ULydmzZwEAly9fxnXXXWc/v3z5Mr76q7/aXnPlyhXvd1EU4ZlnnrG/T9PpdNDpdKaZ1Ckxi0oeMj+fZbuqzB2gqs5SnOFmdN+EJnhyLBtNa0ODWazcDKXS7C5ZWTtM1ULy3Oc+F2fPnsUDDzxgP9vZ2cFDDz2Ec+fOAQDOnTuHq1ev4pFHHrHXfPjDH4YQArfccss0k9NQ5rchbeaPnvOOtdGZZYbnW2hVp5T+Jqk91CC1083NXKhNdpegrOfEyBaSvb09fP7zn7fvn3jiCTz66KM4efIkbrjhBrz+9a/Hv//3/x7Pf/7z8dznPhc/+ZM/ieuvv97uxHnhC1+Ib/qmb8IP/MAP4J3vfCf6/T7uuusufNd3fVepHTbEqEjUYv5ck2Q0Cyq05WC5B6GxqE2R1SYhC8HICsknP/lJ/IN/8A/s+7vvvhsAcOedd+Ld7343/tW/+lfY39/HD/7gD+Lq1av4hm/4Bnzwgx/EysqK/c2v/dqv4a677sIrXvEKcM5x++234xd+4RdGTryUEhPsWgagti4vPrPsNCOUX9V9t5FVXXWhEUQOjWqWjUps7Zh0jB3lHhPFIakKE4fkhd/4z8aMQ+KzHErJLGlI+TUkmQRRexozajQmobVkWupB3O/hT+7/b0PjkDT7LJspMU2dbDmVm3l2+gnKtwmyaRmbD+HThHY6EQufwUppoI3BQgrJlJl2Y1hOBWcQdexsU6yjOmaPaDDUoOpOkxWIadOIOCTLDDVWgiCIxYTku0/DLSTLUZmzbLRkgZkGy9EOCWIZIaVhUspvZ14ACwk1lkmgzkYQBJEPycdJGa38Gm4hMUyz0SyfxWDenY6sMgRBjAMpCPOgujJeAAvJtKEGP2tIqBAEMSokN+ZBtWXcbAtJ2aWpkSfks6oUsgwYqhYuZKUhiNGous8SLjWpi7LJKHldsxWSssyi7sYaz0jRqQuLIlxJsao/i9LWiHGoUd3XKClF0JLNuNSqcmuVGGKO0GBXb6h+lpka1X2NkjKIhltI8tZs5jhjpLPPiBogpSRLSQ0hZYSoBXNvhnkPLJeIhiskecxZS6jJuXXza3U08NURGvwIoiw17Cs1TNJ4TJaRBVRIgBo5jUxGLXWMOvQcUooIopnUQX6MQMOSOxrzy1zZJ5EPCbHgnY4gCGIMSC7OnUZbSMoHpC1P8dy7Nmszs2HenW+iLDdFUtSgXokloSl9YgKWIItZ5p/pKou50QoJgKn7tM66MvKTN88mUJNBss7CZWpFVOdMEkQO1GRLUG0h1b6KJkjg4i3Z1Ly2ap48AqBKIpYTave1p/ZVNGECF08hAWpfa6RfEwRBNJHq5GftJfcUEtjwJZsBXiSZj6dkh5/SbebRuKrxhxlGTZaMhlH73l8hDanCXKheF4D6VWL9UjSAqSV2lBstbRySIqZUC4W3maKUbpDSU0Q9laFBNHmUnTN1rUJiyjSropuV2gKmmonmlchiLtlUQvMqf5ZQaRAEMS9I3qRpZokskYVkHszaCgPMZCY/I+NAHbtE8yw3dWKRrEhU3+OyVCU3k8wuVQmOBCkkjWMGjXnoLec4EM34UcssCiYv2mUuPR8qiRkyt8KlWqwbtGRDlIA67iJAtTgdqBwJYjaQQkKUhMQwQRCLAsmzOtLwJZtpBY9fpLXxWTKHTjzWI2pQfzVIQhlIDC8RtajsWiSCGJtp1d8ybPud2mE2BTeZ+iDTkFGrcdRA6E09CdRWlo8atGOiIUy5rcy66ZW8Py3ZDILkA1EZ1PiWC6pvoiJq1PQabSEpMpBMdW4570A1M5sY04y7edRIUhAEkWJG/bPB3b4o6WWz1GiFpIhqw7JPyMwSX6UyVNmDCIJYKOY0WjdYKSiiCVmiJZsxaULl1hcqPYIgRoXkxrg0peRIISEIgiAIonIavmQztW02JcguM1StdU594WOuGRrjYbVa6alVYgiiBFVLLIcaJWUe1DO780zVMmz7nStVNKnBg17dGvnMh+haZXjGiSF9Z/moVftuNs0ryualeBbQkk2toUa6tFDVLxdU30sMVb6h2RaSaa/Y1HJWWrfGuljn5dayyg1NLFBi4Vi8Zrh4OZo60y6ikvdrtkKSq5FMMMRU3U5rPToaqi6kUWnWshdBNA/qRVOn0UWal/hyGVrAJZsG12SDk15fqFAJYnZQ/5o6jS7SyRLfcAtJEVXV6BRMHHVrjI2w2gyjboVKEERtWEjx0MxMLaCFpEqa2QgGsoBZIgiCALCg8q25mVpQC0mV1LExTGjmqGOWyrIQFh6CqClNlg1TYekLYKqQhYRYbEheEARBNAKykCwFTRyVp2jaaGL2CWLpoI667DRbIZFS/Y0DI1t+vSHhVAy13eZC7ZpoKOOOtSP8ttEKyURx0aQEI6WEaCQSpJQ0EVJGiGYiJ1FGUL7lN1ohmZRJC3lWkKJEDKeebZcgiPGp65g0L8iptZYsd6MkCIJYPkjuL7WFpK4oJbkZjZOsOQRB1Jlltzo0CbKQEBNBnZ0giLpC8qlZkIWEmJhl7/RkJSLqyrL3TaJZNFwhmWifzQTQAEQkSNqxRdQQUkaILFW1iSXY9lsdpnBpECIUJPwJgqgvzZBPzVZIRjWQTF1/aEYl+5ASRRAEMT5NlPtTZtQiKHn9cjm1UjsiCIIgiPGZ4TjabAvJODRNKSGrzgSQNYgg5sMyyZUpQ0VnabhCkrdms2CD0KI31plW16IXHkEsAdSNG0ZehZWrxAVcsqHW2yiougiCKILkQ8OYrMIWUCEhCIIgCKJpNHzJpogmq9ULtuRUhiZXF6GoY7OldkU0kuVtuI1WSKoKizYu5WR2k3I0CXUcwYixWZZmS1QINTJD00qibHppyYaoiKZ1KYIgqoPkxTLQaAtJKRNJjSbiy9SlyBpEEMQ8IWlSEWUKvmTlNFshKaORjNVKa6TFDKLGySThsNjUuOkVQm2SqIzGNL5ZJXRpt/1Og4a0noYkk1g8mtb0mpZeYoFoTOOrPqGkkDSd6tsQQRAEkUdj5HM9EtrwJZtZUo8KKsXUktpEQ/yILEEW50WDeggxTZai4pcik7VjJAvJvffei6/92q/FsWPHcPr0aXz7t387Hn/8ce+ao6MjXLhwAadOncLGxgZuv/12XL582bvmySefxG233Ya1tTWcPn0ab3jDGxBF0eS5ISZELv6fbOpf9UVHf9P+G6X+a/RXfcHN4Y+ogpEUkgcffBAXLlzAxz/+cdx///3o9/t45Stfif39fXvNj/zIj+C3f/u38d73vhcPPvgg/vqv/xrf8R3fYb+P4xi33XYber0ePvaxj+FXfuVX8O53vxtvfOMbp5crgiAIgiAaBZNSjq0OPv300zh9+jQefPBB/N2/+3exvb2Na6+9Fu95z3vwnd/5nQCAP/3TP8ULX/hCXLx4ES9/+cvxgQ98AN/yLd+Cv/7rv8aZM2cAAO985zvxYz/2Y3j66afRbreHPndnZwdbW1t4/t/7LgTh8OsJgiAIgqiGOOrhcw/eh+3tbWxubhZeN5FT6/b2NgDg5MmTAIBHHnkE/X4f58+ft9e84AUvwA033ICLFy8CAC5evIgXv/jFVhkBgFtvvRU7Ozt47LHHcp/T7Xaxs7Pj/QEgCxtBEARB1JExVsHGVkiEEHj961+Pr//6r8eLXvQiAMClS5fQbrdx/Phx79ozZ87g0qVL9hpXGTHfm+/yuPfee7G1tWX/nv3sZ+tvql5npLVLgiAIYppUPQZVN7aNrZBcuHABn/nMZ3DfffeNe4vS3HPPPdje3rZ/Tz31VPYiGssJgiAIonrGHI/H2vZ711134f3vfz8++tGP4lnPepb9/OzZs+j1erh69apnJbl8+TLOnj1rr3n44Ye9+5ldOOaaNJ1OB51OZ3jCFkIpmXEmaNtrAVQwBOGzEAJ1+lCxzIyRFBIpJV73utfhfe97Hz7ykY/guc99rvf9TTfdhFarhQceeAC33347AODxxx/Hk08+iXPnzgEAzp07h5/6qZ/ClStXcPr0aQDA/fffj83NTdx4440jJX5eixwLNVRRZyqACmbqzLPjUPURxMjMq9uUfc5ICsmFCxfwnve8B7/5m7+JY8eOWZ+Pra0trK6uYmtrC695zWtw99134+TJk9jc3MTrXvc6nDt3Di9/+csBAK985Stx44034nu+53vwtre9DZcuXcJP/MRP4MKFC+WsIBUgsWBKCUEQBLHU1FGHH0khecc73gEA+Pt//+97n7/rXe/C933f9wEAfu7nfg6cc9x+++3odru49dZb8Uu/9Ev22iAI8P73vx+vfe1rce7cOayvr+POO+/EW97yljGSX9ZGMrk6UcfKWxZIGWwo1GmIIVATaTpla7DcdRPFIakKE4fkeX/3/xshDgkNa02Gao8gFovGDTxEivI1GEc9fP6j/3NoHJIlOsuGmn/1jK9WUO0RBJFAEmERodN+iTlCQoQgiEkhObKoLJGFhKgHJEwIgiCILM1WSCi4aXMgJxCCIKYJyf7mULKuaMmGIAiCIIjKabaFBMByqMkLYF5YhmoiCIIYCRKMLmQhaQTUaAmCIBYLkutpFsBCsixQ4yUIgiAWF7KQEARBEARROaSQEARBEARROaSQEARBEARROaSQEARBEARROY12apVSooFnAxIEQRDE0lB2nCYLCUEQBEEQlUMKCUEQBEEQlUMKCUEQBEEQlUMKCUEQBEEQldNop1Y67rcpLMBZPARB1BCS/82AnFqJ2kBCgyCIaUNyZdFouIWEaA4kPAiCIIhiyEJCEARBEETlNNtCQi4kBEEQBFFvSo7TDVdIhPojiELIoZYgZgPNBomSlBynG62QiCt/AgTBjJ9SjwGtdCrqkdwMVaWf1bVAlplZVAmNjXNHOv+dwo3G/bo6Siastum3zD6FIo5LXddoheTJv3gCjNGAQxAEQRB1hc6yIQiCIAiiMZBCQhAEQRBE5ZBCQhAEQRBE5ZBCQhAEQRBE5ZBCQhAEQRBE5ZBCQhAEQRBE5ZBCQhAEQRBE5ZBCQhAEQRBE5ZBCQhAEQRBE5TQ6UitBEIMYEMU496uC61n+dxQjmSCIUpSM1EoKCUGUxh2CJXKHZFb4Jv/SEa7HgGMS8vWLYSoDy7xkRd/n/ZY0EoIgSiClBLrDryOFhKgJg2bn6Q+k/ngyhcC/pITyMM37FVgdCu9RoP8UpqzU/bPX5NpBGJLzt0gJIQhiROQynPZLlKHkCFLykEJ/LCvzm8FKgx1Oh96q7EiYGqCHLU0U3TY1oLM8i6O5plBZKHgmnKLL1ySyuM83P867VLpfpS4ofGb22V7VyuQf87EsUx2yfPaG3Sf3o2EGpcI6m9LzB9zXezuuMjfAyl34lduVJsl/CQu71yRL3rbUhfM6Htc25jk9b4mRpQQGKSQTUHZGX+JOI51YPEwK578pHpdHfLbbiQvHxbJpLLEEUbpspl0uZe/pKCQ5ismQJ+Xfb1CSAIAPuJcnXEeo27QClv4upTPmFlGRYJ9U4Oc8eGC9TTsdRTr1JNaiMmkZcP+pKHqD0jKKMXBaaZmFFW7StEyTOqUFmKqCPBSxFAqJlpTAkMIdrjwMNKEP+mHpTjRA2LtvytynzGxswPMHfZT5wn1c2YE6jTudHUnQ5ZTHgDQw/z8l0jTw4YXPyXzPi5I1Rjll6rbsqJQq31SCRq5DmXkx/De5JgmozjWtQUam0wQM7hDOD928TzU9eWkamBj9cUp4TCNNQ9PjJSDnuQNnGrNNU6Zt5gjXeZVRwQQjNyGTpkkWvhlMkayaYhlJuzw+AnkypuTEstEKCQ/DxLowbHbkIFNiPn8MGSbkCgbt4ocW/x4FYn/Y4FYw+A4c0EekWPQXlY9fESy1NsGQumdREqX/kjHmfJR6JY1qWiQkijuqKkJmfyuTJ+Ynxvs6rw6zDTCrVGTT4xefW8oMjBkndWlKNfk+1e6Lm7/MtjHG7S+YTKXJpsMfyDPFKpMaTZ7AnLFEDljyyEl00bPsx+lCc3uzyYPMtB//g2Jhkb3WvXVKuXPflO2LXj3mPCc/QU6RysznXlnlNDUGlrm938L8e8sy6fKSkrc256Qr3UiddOU9JilSNnq6cupdwm82qr/76fTTlm3nZpMIS/1m5Hq0b51fMtgJ8SBxnbGkDxBR/kd5/cH5eV7amBFzLP/ZqXRkUp5Km1wGCwnjgSqovAIB8juJna1PssDqXptpqTmVN2zwNgNq3jOKhGZRSrJCs0gXMlcWCrO8gVymvmXpgVxflnooS+U17zF5iopVNFi+EplZmjSyMZUpU5L5SkNazOjfpBQPmb3c5o0x/5r8Mi3fvlyVKDEwFZSiKShvXEgXRGbY1nU3xNqQ840n6OwzUsOeOwilC8OR7kVd1BpbBqbRlFI6ZSynvHJ+7jzR1LsnpG0DSJSAtMKaqd6B6YYW9Oa33CuadNtx2xvznp/Nih18Ux2PueksSJJM14/3G78MpZOWzGfO53kKhoS0inX6mry6ks53KiksKfk8GepmMtMRszfO1R2kzMqJtGDKvE7SLp3mmNNCwJhRAAdpekPSaspQZlUiBr+f2zGBJe9Z8lEmLyN5DwxKo5NOmfddAc1WSBgDY0Hqw6LBIP3lgGtGvsQRxQUlX2ZcyjTgAmFcdK8i/XpgGxvUUvIGDJZOn/uMRKS7HTOdknHGaEeOZZWiQQl2FIUBSfI+KFImeIE6417s/SQlFLMDesFz3bsN8sxM3XfYEzLlozUdb+wtQMq8MkyXd84NWDZXyVMLU4mchGZeFnbmfD2gOH8yEdj+NcaClNy3aDDMTyDLTW8m72lFI1OvWdJO0ebO+SVSVNrZdGTvkjMhSumdmSZQoDWxjGUi56KBSNv+lDwoKv9k9PXSmnpMXlLBWRItdIyxIXlvVAHmyy7nm7zy9/RZ/aE70UxeJgpEtt1mJUJxDqwESNJW2DX9L3yrUY4KqhM2sO+laLRCwoMQjCXBZlPFpf7xBs3BpTJU2KT7qdOmsj8bUgMlKyi50G+QWeVlyB2KBHmZFpvzZY6YAsDsbClnePbuMVimpz7M7XSD0+e+K7JslMc3PWeWhmT66kHPy2mFA9PFEyFVrImlPiy6Yb4yW6Zsx/K7ztUjzKt0kOgBShSKlMQhzy/7k6JicxS25Pu05lZks3DeZ7pbQfsukU6vHAYpkYVWAFdwFRSUdN6kJh2l+mFRfsq2ody0pwbNvPvZdLP0P4XpGFGkDMem3aQ1PUAU3FwCYCzTz0Z2vxpLxrEkDfbtgImQeWfbC8vUebZqytlImq2Q8KBAIUlnP2nMueOf09CZnQblXO30RtVQVC3I7Nc5FA8S2a5nzHHuL5lzqZ+fYVUtwaz8T4l3+FYYZ4TKec4gAZaUuFsLvjArlp/6W9MvCmZSpryznyauV3l1UFzzJp3pKWrqciPoUgOt2x+RupzZz3OWSvS7/HaTrlGWEapF9e3/aojJw30c1GwnU3aS5ScrJUfTP0vf232ZtSSm7+C2hbTA1gmF9qtxfyFl6nnMb3A59WvbrB4M/GdJmIcomeA29rzaYHn/eAyrEe3tkL3GG6Bl/k1sg/MbZ0aUSZb6YFC6k/vZtBeVJ4rzJ6Ujjxms0S9nTl2YlrTfX3JttndnfGaKrIymzRR0KHcUSSwteQ1JZpbpTft005IVXf4SbG6rYn46kmfqq2z6E18gb5Ek3XZy0u4+PykOI+8yo5D9D/N+mWRQut3FpKfI4T1FoxUSMA7wRCFxK9R8mimGnF6gKsHUHHNLfSCy0MkoVXnS+zKHtBhg+RWo75U/dmb9oXPGbn2l8xzzRU6Hsp/JAffV16Wf5Qsn28QHdH63a+bA3J/610pvm4t/g4wS49RFnhDMTZ53YV45Z7u7dD7w0p3XZDKOmmlnwCIn7KI25aSnsLyd72Tx9XlyOL28Y0szm41MGh2viYKk5QlSOI2HFV3qmecLxw/nc9s2WEqomjrISX9e2aenE8hLB5J2knMZAGljNQwW3SxzgUqyyUu6H2fbyCApkVbO/RCE2ZTJ1CsxrAPlyC+d0ORKlv64bB6yBS8zV6dqJN3epf99TkKzn9ht+CzpBk534CPmIa3YMZknYfRvnPI018jC8SbnM1PuThrTzSh5nS9visaZ5C2DXAaFhHEGxjmA9LrfYJGdLhpfE9barttxpIRM6akS2TfStiRnCLK7F5LZj5c6VwCaTxnz3pdVkPwcSb+zuR3UyY+bR+9a5n2ZJMMR3Bw8q+Bp5STxGs8Kdv/tsHxJ7b/gdDvJPMGp8pp0WZlXOalkeq9SaU2Sxuy/iZDhhYNt3oPSqpNJtkq/TBVxklch3dpJP6eoc7sCUefHy0dSh9bCZ+sn926DMyZN2QOAcBQa/ZmwLTE/yVLm5yRHoBmlwR1gGU96ifqYj54Xb6xiTltKOWDq6hA2P1nlKHcmmxLEXl6ShANgem6VNJp0fgfmJ+cyKZHkxWZFJkqDlKrWZFq6MTg/GPiMdH7s4MySukmyxN2mCONK7N16gMBWfTst2xxHXuuQmnXuzW1oueNzTr/Rr63V0etHrlR05cmAAdh2B0e2yeQLr66cDzJ3HKI7FbU1pSD4IiwtC7L5yXlwZkLgtCNXDgBAuUCtzVZIEpktEcO0gzwhYF4wW0ne98y3sgwfIosSU/Sd/yK/YbmDkz8QFW4Jy9NuHWXGd3wb0NMLcpzp1E5jy5NXJu3ewJQkNvcZ8PLmdnadAZYIiTxLzNDKyqTPTbbMKi+ucukI7uSyuPyzWCIIvPyZNHOuFWm37nxhkC/WBn2aVkTdAVVaoa4oKSVycRRNqyxAmya50/4cAT8gJ/k9w1U6nf+m60WawTfOuceouAoaS3bxMeb3Q2ZFuJeX7NNz0pORFb7Sk3wvIYQr5MfJW1opSNIOzhDY/CTXGhkyMA955MlAz/ombB69PuhcVw5HKXU1Gc6cmIEs+z2SPlYaV/FJfS4hIYVf6+mlHZlcPICMBm7bGgdPzP2OkpcV6emJRUE+05lIvTJKuAAAJ9x73pJVdrwqfnbJQK3NVkiY8SFxrA/+GJut6PyphK8JDhqm09+lt8zlVEXBNYPunlyTPI/53zFfmLvbTpn3LxuwfDe4lXjKm0yul7bITXcb4C6c/iJXq3fqLlNHzg+ktM/y+gdL/ZtJg5OJVPvwhXFSV5kyG5DBbBal942pBy8pNjnJ51LPuqVzjzIkucu0TvuacedZnsLrJCivu+SQ7R9u+SZ9Sckzt/2b/KXyViqrnmZin+v2BRVWJS/V+XksIyPT6+NAIn9VbgTcfppNcarB5+knmbT4A67xkhruWZxNa85bmFzZuVvqAikHB8PKz2v+oOv207TFxOslJnbM0ErJz6P7Ub6vGey2YZWWchQpFPatboDGHcXznZBGSUj9uFTDK6q15CtTh8kt0xU59CFAZlJm5ETS3lxjIHN+Y/seyxlj0slfhjgkfmPJarAetge4g34iSM0yjTdIeabuxLqSJ6S8ew6RiYniaUzz5q30kmjM9mrSlJrNZhpbwXNT6Upmq8y2KDMhSvKlFyZY9vf5ecpXSKTzn8Q06S9TGDOfKQeV5UEz93L5NK9VvWo1hjsmcJZ8z3Se/WylnpP7TCffZsZkZhiuGVnqYViqOrXLS0NnhcPzanx93Ho1s3rXMqNm+Kl6KvSBGpBlmDpKTOfWVOvMfqUQiTNj0dJMSRLLEcu0TTuTtG3Z7ac6FwXtdpiIdK1K/vJG8rmUEkKtTfnLI6Pkz31l+mFK5vCkkyaf6fLwBqOcvBbWo/vC1pFqn17dpeobzr+F98zkLfWJUz+qbXIvb/73Sd17LTjdXnMymklhOj/pzxzr1LC8FpOMK/adrj+/7TK/fmw/TrXfnPxa976ijHr1mWqbXhmYa3zLduk8amUlmaQ4bdfptyK9qa6ARiskYRiCcROHpLgrDBf8OT9HMhNiACQzQpclF+feVleC0WpMw/JValtp3OtFTprhbIwcqGnlk52dDbmFtM0VkEBcEGHTpSgAXFYwmHJQ5sdBbTMrQAZdlz8ly52Zet/Bya/0LhmOs85q6jj1ufrOXMQzZuTcZ5lZSEawpF8OGATSfkDSLMoUKHij5Nm+zF824xnH4hBe8QxoS9J9NWJ9W6uSNMpC+krnN+Pk137kKnf6vf4syL0un9x0DSyb/DYOAcTmhSz4Ten8Jhez9Ede+3UvHVRGflLTrwZ9lPcbO5kRbt2m2gorbiPDcCdidhBluTnMdxJ2PhuY3yFfGWkkpVOnef0/Gf1VvkdWmKAzyLKyuHBZPLc0UHb3DOJy1zVaIeGcW/8Pz8nJ7cYyqUC3c5dSUpJbalQFpGckuVqh+69t3FnrS3EH9j/M7WxG03Xz5q6rOz9xdOFx+qxG50UydX6LkXuMZfNrtH1vdqtfFQhKX9svmGm630kzk8nWq/s9UteMR5I/N68MMrFIpNqBZ33Jm/EUWA5k5kXygRJYSPLkVbaR2WnHzNTNximKTL5NHnWeWDKTtX5MZuAuzJefkKIqcmd3nnXJ0SfN3YS2rqUdBcfGyzPAGLd5VhMVOHXtt331w3Rm7H+c/OU/2tYzkrpMtje7cs30A3194mRTnK9BZeJokm4b9uUb7Peer5Qj65J75Wd0eL714GzmE157Vzs33HaQdWYdq6Hn+grZ9q/0X2udMvVtyyK5i37hVNKgPDuZt/m2H6k8mvAG0lxn8+5MrcbKv1unjq3VjFMSTl92+zzg+V9mrMwJ8TKc9uvFHrDtX/3P1SGc0QDux5kBwhsrPPXF+0d9737HErEhpeMPAJT25snAvDxlksiYfXai8ABgHGaVnmV+7dzdETqDcLVyVzHP08qtQJAM2Vn5mOXgKW7Zmbp0XgMM6cC9STmZVAxJB/OvSdQbfR+Z+tyR/UJKK4DcpjkqGTHC/BZglRz3MwaAcT1bd9tFESN+4xSjdP9rFAQhrTXGCEb1E7/8LSVkpXeJl5ecHsHULhUmuXOtXwD5OS5ZDimtyi0DABBCK0LSLSq33wzJ8EB9MalPN0HM/Dc1QObW/xDLjbln7ics9b2j9HvLsM6SR1JOyUhcZngsNYQapwZHSVZlkJMVltdWyvRN51cpOewO/BKAFL6s89qAtwRUnLuRVCf3PlreMydTzsjgjX/jloPbl/xu4C/tMcb8PMqkDIQotxmg0QpJELTAeeCXap6Wln2RIP1ZpFk/hZ79SqN9y6RzpTtddmAufpfq4Rnh6a6V+rOQRPi464zmJrnCU/049+NMOryySARpMuMEmP5epGdsmWzmda8yXY7pk3P9fJoB2J2BumXlxrbIlIk/bsMp7cyjkxfS60zmtZR20yd0QcDY4/yykHk3Hh2eqNfS5NW1ugBq67tbXq4CV2CKYv5/BnyvccrCChgpHGuFUzaOBUMCRYEphsBy3yZLJdAiWPuOOGWiogA4Fhxzg5ysDiqj9IVWEOv+kRghTFkgmdVKR46YtmEbEZDtCwVp8D6W3ucMZuumyqfU8sLdkZakm/vl5I5ceY8bJC/1PdNywp3ZG/8EIaX2VU0ma4nikp/l8sgkf2YW77V/Z5Li5Z07lrzh+SwWrMiUhdsmTF8w3wkhwbxycBQ5MYaPlW2QyUDPnEOFbBuQuilIOG3CsQJ5FrDB+Ry5LBxZEJfcnNhohURIqykAMLLF6obINrSk2q22qy9PNLukkiSMtWOiYcWfITmqq+/hrloNQ7ILwVvmcG5mZyY5+TJv/b7mNDXTC+010r3QvjaBbLg+z8M9IDWzTl9SvqbTmH7L3PTlkR4ktZ+LGDi9TIRvfn9iqf8mgk66l0g1+EM69cbVA11ldRSKfpFWmUxaWCYT+j5SquBJTEBK/3eZOw+rG5b7MnmnNFMr8JiRQjpAoRG4fgEi/WZ4aRVckFsGqfoqchrOzc8oHTtv3JI2VWA8sIqHbhqwHU3mZalkmQxuKK50yEmrerjQA4S6VuTeMnOXor6Y97FM/lU/4wiM3535yshpuFlKZElePjL9aljDSclL/56J5DRtw9Sfm6i8vlyqbNKPgrHVM3DriJNSxqRMnJCSjp4jUpObj1Qmtrskipr9jR73ZKJJeFd695duTWUekffA5MusNlNIoxWSKI7A04oES7RDxqRa84WjMQKJdqh/V1ooDWwHicLhzaLhCGld+f4aqZ5l2DXDMkNbcYI9OeRovf66v9aUGdPlw9SWSWTXT7MMSZ0cfFUyW3Q9vJ3Bw84u3M/M63GGfUOmm2kLhP7W8QNgjCnLg/mMcfve3MRTYEZhkO4kk7aSNoW7sw1VhsnODtd/YIICUngWFvUft09x5pQL5/77tOAZUDzpASn3y0xZJe0iscY4n0k18CZl57QjmbrhODidy/QPV4l22wr32pCelQ8QzIWqSV6SC772ysW1RiitPSmPVNm5/05GShEwMijVfjLtyPkbkNXkk0FtKvc7P5/WJwdJvA27RX1g+YxHniLMMmUDMMnAGQcYQ2DlsZHXzG1+yX0y+S5OaLZ80qsDyb/Zpbhsv0q3m0FlJJdhySbkIVgQ6OiAxpytK9dVNFxBkNeZR21stlE7/1rFIrmhTFWud13hzctP2bwhVmuiSf6RKGOMJeb/VOdPBEcqixKDW1g6JbnjilNGcsC/ppHrB0ugwIw5ynQ271dGEYM38KoBwx9YGefgMOWUbktJDWvZNhFuvtPLHkaKeAOxU25O08K45ZNOjFc+pu84gwg8AZmUT56C5b1OdbiRu12in2Y+S/qBhA1DKdV7ph0gx/fnMg/zXzJISL1ubtbPGQS44BBMWqWNQYBJ07Zk8Ywx1edGLR/GmM1rUsK6VXGpo0arlCd2WOn8MTv4jEuiS5rKMue8qH+FSafuW5ybySOzW5v9ZUekJkbM3td93mBSEy3AWoBtaIW0fJZOPwNgdr4k+ULGAjesTNx3UrdNJ4W6m8Veermj0MKVUbqczB2MmPLKZ+A445aL81o6t3DGNiWG9GJ9blmZz53yceV8SRqtkNiC09EMx1quzr1vyniYaszpz+EqQk6jKN7emiOM0h+lZmMyfYn+MGsSzTaCRMvNL6DJ13Nhtf1U4n3h4n7N0rFOUgVQMHbkmqdzf+4Pkv4R26lO47y22n8cI04pmOMxZBC0+qRzXbr9Qc22uXP9gJIYno6ioh5yQ38pRCIWEm7kWlceAYlAmjp5ZeAIald5TGbdOe2w/IPy35a4mbLcCDUTF0n5ec3KNsEcjWtapMvMWHecs8CScmOZ1jWRKucU1KAy0yoChLFWmA+9AQ/zKS/Am+Rx11s+Mz4Y5b04c6XLLzMO5PdzJaeMz1Ki4qvJnK9MpK+ZRXnZiW+iGXnpFiUDkTRaIYmiGKxkwJVC0o2JMe01YQoYVhs11yXKh7vsk6fE+M8o+jr309xWKDMmeinU5wLGsc5orcIXerPAMdO7cy+rzQP+ElG6HNOCLy/PqdFyYMdm/nVe1k3ZGdO+DtwlpLQKrTF168s9Bmv5Ywx2zCmnVFkxwLFowQ4Q3lZqltushj208ONBt5IiKTNhZopSOTy7u0sSZdj8cBaST1uwrJXGKTPzvVmKc79nbnmO9MBBSRmIX266jQmhlpWkHziumnIDJIyim1gHkVdm9l9zv5Eenk6Kh/ReGGugSPqlM/hKIW1ZIm+wzdx0cFqGfWz7hmvBATyHYtvW0mVoxol02ZV5buoi8/ts03CtONrawxw5B7+dCQgndE2+rJsYK0+S8hAlH9JohQSecBk+E3U7lztDd30q1LepZQ3TidmAeWmJdORp1YOwa8Fa+JtB1TjzulE/TUdOOqIekkcftYrT7QyO6v9mbXz4IGoVuEHpKdToBl0ySNnTwk2Y8hJWATHvk+3d0vt1IgCkfj+2NPZ/4Q0KgF0uSpeRK/DcgSEVpapcSoaXedEVWQdVkzZplyHyfwgYG/DUDJf6v3kKrx0U8pQR+O1yWJ6Lnjzo61xdOlCfcsETBZgzcCEhJIMUul8z1U7tma5maWnaI4VMLK1mCYtBQjAGbvsBAzNLPhJQS2BcfSazZegUQUly+qsd9N3vuTPQ6n4qnD5rlD3z3pl9JZYVJ+NjpMv7qdSuwEym5BsAxlX5pcYMf8dPMvmyZVjw2EFlme1vDCYmoftN2sfDlFemzMzkDKkyTBfZKE3R1QuNdUukw0Dk02iFpLOyAs6Dwc40zn8Nnnw1PdT7jZktlxgUB37of2EbjdG0rSadXGDeSfseAJNJ6GiZvxRkZ1plE+YWQvoS6Q8jLPm4mHRjNrOYoZJqhDK2X+jBKDUSMCQDvfrASTkHAnAEEkCQklfpmf0MkAPK2nuymrZ6a9iTqZSDf51tg0aIJj/Xc0Jwexigc6n092xI/z/Tt9J5jdG/cTKImvemHw9KRJnW7V4zpL265ZcuS0A5LQZAoLdWuONLZgwYVI4s5wej4o1geakwy+BxUeKmCMt/lVJWrPIeeJc4v5RaF3amJelyNC/SMnDcLOX2af1Cmnbopy/NIH+UQaJ6WKIypcp0G2Rua/Yblk1l7iQs1dfdNwPKU8RRqVQ3WiEJeAgWcCvAk8p33ClT33nCXl1ir8uQq72WaRLM7yh5MzpjAmTOTgXOYBxR7UBghatDOq2jaUg+prOa2YgqIM9fQErnc0hP4UjK16zzJvcbC9OQWbZLAbDWA/uNtVxxcFN+XHmrM+hovty1bmWFwsiylRW+ydzUnb15u2dMO3TXx90lOePUm5r9TQ9m21mmrBl0++SqHPVuEW7K1b531BOTX5vS2Wh47szO9nV36cOUndPP02XrrrFPE+aVn35hv4NycGXM7k5S5af+5frzpM8nVgq/70833a5MdGWjDamgn5ksdxoZmzh5SusboxM8FZyyNJ+wbHnmtlXuO4O6y/Fu8jwVZUrJ9qw1njJiyhRen3aX4NPyATJpA+MlMEeC+jONpGwB2POEnPHJtlk7PiWWR3dyqHOTUyDqHxEvgw9JHIMJ6VW67wHsDKYuEzS+oXqLXUM0Fevv4DCDptkWaJdAip5VJq0lrikqg2RAFPY9ALt+q+R3npKS7nBTQlp5DJmZYWrXVAldztktlkq4J0qJW7TKVy6b2GSmUD6Ng76w8kg/Sy2tJeWbFv7JoCrV7qK00jwDTLC1VGRrZ2afaCqZLdH6z7aHTDGkUj7VbPjTsHQKPEUTSbu3ipJMoipPG12iTiK8UlVmawYVYJBzSCnBuCpHyTmYlFZJSekzBc/DFMpW9zHGYHcoSQkOaeNTSAj1vZapTKpAbGrZRwJc2sRYOTxpshxFIX1KtdUrYmHfx4i9QZMzro8WMQqgWnZKHC/9/OcV5Hjl67oFJOegS5P+PEUZrlzIey8hdb2MpvTl9M9UB/HvFDtFw6wYMJbnZMu2KVvYSbTdkTihT2ejFRIhYsCud8qkgFODTjLg639HLDRPL3eUbfeFtX7AraisQmIrWCNd8Vhuma0wdb4AyyogVji7HcJ8nSo/O1Dq9/Z3jvavHsn8/l0mrQOuTwZEq4Cr187aLNdlak7v5XCsIPasEViFyhsfMjOkSdCDo3meO6MEvDJOK3OquN1TYpN7Mh15rZw1bsyUe+Y7RwfR9anK2FidknacjLepsnWx7WQ2pMsUZrAEtKIE2DOnzBZgBjWQ2gG1KPHTI13GxnLCYPogA4SE4EI3IwYI9a90YuTkJnWGZWz9maC7DNPKk1FCpRogk/7lWv9M8hLFe5a4ligruyQgWQwhhZZPHG5cIa4tUUZOG2ZdxrZcTTky0w7U022ZwZXHfhknSl/2mmmju5Et11j7zwgIMGFz5MUjgmtdcT4rS6MVkjDUoeMzjCDICy61A2P6eyXtEiXCNiDAbyzQs+KcqIj+T6cLSw1jrsab/p4l36SVJZb67SywT0orea5AdGYEiXkZ9r0UApH2HIe9NGeGPu0+a6S1q2Cmisl1anMVq8T0zFO/naECkn7jNW1HKQF8QWiUKxGrDb6xo8h6Zer0gxkPQn6yVUXY6nDK3Aw2+Vt/c/r2NJPlwv0nqzQlX7tKfiyVv4aM1GfWApm2OtnPp5t2mZd+F/dLu1yaskZ6Mmi2ZZ5u13nPSY+HUlt9IAAZFy+xuPJ5FspVXlmbR+SJA7WkZ773ZU66jdtrplTemds4Y0f6AndCaMotXgYfkjAMwYNBWcivjew4mxqkXcHsWAWSMyv0a8dz2W/EKTEtndczwNv26O4yYEzvhIBt4d7WNCdwmvsbfeUMhMfggdsrd0glMHRZq10K0NsmZVL2RvnwrD3JvWc5Npqys0oJT/LIdKEbM6db7okCmKh/jE+5sJ00+i+SN/kTF122wtkyKKQu92SrtDsTzt4BmTqZJl57Bfw2D3i759xZmv2f7QsYafY2UhrtfzKf5j7SLecYeked3uKa7IpIWaVkSs4495o2nkxJlZ+1Nhj5Yt7rPuDthHLKfxYKYbbcC8rcsToIYbYYJ2cSuSEC0spIunyl+++Uyp45/0nKO1uuAJSMUdp4qk6ccvcmotMt+FzlKfWMsk8cafHiHe94B17ykpdgc3MTm5ubOHfuHD7wgQ/Y74+OjnDhwgWcOnUKGxsbuP3223H58mXvHk8++SRuu+02rK2t4fTp03jDG96AKCqnPaVxBY7neDPgjw/4DrpehRCIoxj9qK/++j10uz30uj30euov6kWIohhxLCCEjjUgEuVE6D/TlqctIlzzI+cMLODggVrb40GAkIcIeIAwDBGEIcIgRBjqvyBEEIQIeYAgUH88COyaa+IIOuFfUVmnv3MUIbu9LxaI4gj9uI8oihDFEaIoQj+KEccxYqOYeOuufnnPRxnRaXci4ao60eXp1ov7uXVmdpdFZvQ3wv2N6LBlqMvYHCtoZuVF5TsPA4lMv3ZHBKnCgavP/dliZjDV6uMsyhxDyjj9meq3XPXVMFR9MtT903WCdQeWOWLagpDSyjkhJGQs9HZ6gVjE+k9AxKoPJ4O6SKKi2jsqzCA7m3JPBnD7p/uE6Y+tVgutdgutdhuddkf/tdXnYQutMEQQ+DLRswg4/06rbhJ5pspZSIlYCESx0ONOjDiKEEexkouxkpH9KEZsvo9jxHGk6kP4MtPIzaT8x68H5LRpHyXnyjCSheRZz3oW3vrWt+L5z38+pJT4lV/5FXzbt30bPvWpT+Grvuqr8CM/8iP4nd/5Hbz3ve/F1tYW7rrrLnzHd3wH/vAP/xAAEMcxbrvtNpw9exYf+9jH8IUvfAHf+73fi1arhZ/+6Z8eJSkqm3mZT733Z4gM7hTD6yxuZYm0hgykTXguMnvrnMRmXpQmmcg5gjRtCdGfcfie0syZLarL/X8LbXEl0lTuIua/NWnWL13P8kSxE17MAZHqQH49OGYVXQcjM0Ld2CBS5l+WvHedlX3fIYCZejH1Yeul3HMnJndCyrzuIr3yzfMBYIATv0K1e30D/RunNmZrfUjm2+kvcn7AvDq2Ze78O7dhfkA9MMZ0M1aWNSE4BBdggoHrgZ+ZoFdCwkSCT5v+3TqYhXJoLAEMUI7nQtq2rAbSWMXkkMw66pr8CT0H5rqzqpakZZwds+ancrly1Sw7BVIdktjS1hIjk4QT+ySxqkBPiLT1ysgGR1Oedj0Y5RAAmHRD86sMueH5wRg407403J9EJUq6af0M6mgDVy7MV/1lckL73smTJ/EzP/Mz+M7v/E5ce+21eM973oPv/M7vBAD86Z/+KV74whfi4sWLePnLX44PfOAD+JZv+Rb89V//Nc6cOQMAeOc734kf+7Efw9NPP412u13qmTs7O9ja2sL1X3mzXbKxAsXr8KlB1whaQA2A1kFLm+lgnA1TplHnt+a/yS1Hq7CRq9cTmvAG82RQS9ZvGdORF1N5Z+myGC81xUnMkbR5Cgh0xzDlaU4h9Xac2IPAnK2F6nLHXJ1ORXqN3U+HTFKZk8CyGGXO/cgoHL7yx8zAx9znJoPg3Lp5ptrdfuIrJEbptlYRc+iYWzeOY122fwyqhWnjlKvT9u23qdkad17b37OcNjFrcvsIS6UdSNdF9s+VU46y7t5czqs+CvqFfckAMH0gdJJXTyp4SqJ/38kxZWBmLMxrN+7zGJD7nausy8wSmpFf5lH+MrIrs3Jqacqk8paWvc5kSH3ttj33tyxbHRMg4gh/+dhFbG9vY3Nzs/C6sX1I4jjGe9/7Xuzv7+PcuXN45JFH0O/3cf78eXvNC17wAtxwww1WIbl48SJe/OIXW2UEAG699Va89rWvxWOPPYaXvexluc/qdrvodrv2/c7ODgDgqNsF55EVrsYEDgZne20SCZNxuGo4goxFw28upVS1ATVWtjIzjde1yNgGnxxsZPb9J2GAYye9MvGMzk3TBE2s8KfZwcHUCaCVJNfMx/1lCuWY7Ld+6fZiuHUyrFJGq5BBpeEtB1gLmWNhg6vUOr4WTibcujVT2lkPEdk8OVpJSrE1M0OztKPqSS0rBSzIMbU6whfpMpoXOX0FcMoZiUKl66cv3UFDTymcfHivZwjLe+fWC4xC6ytVyXJqoOLB6O3BCb7/mjcrn2v95A3M+j86HcYXT0h/ScerQ/flHBSr3ElsRj9KFBZrAeXqdZCz9GrzYf/j52Pe9SOdOkjLMztJh7SRrI0FyE5C9DXeeFUy7WJWp/1++tOfxrlz53B0dISNjQ28733vw4033ohHH30U7XYbx48f964/c+YMLl26BAC4dOmSp4yY7813Rdx7771485vfnP1Cz0Y5D1L7z1PriVAG5mSgKHpSSlwUjValx/TcETapUKchGDFiZ0UQqXC/yezU+50nhGY71/NnDvmqTbKkpGfgxjPcKCKMgWmhmtdxsw08XSdTyONQLcQVhtITHCaNSpgKG/7bhAZP6kd6Z0bMe8wuUkrs5MdYdpiKJ8F4oCxrnCFgqi2Za6T+pZ0lJh8WzDRnixuXws59pf5cJiVu6krVUeKUni9UZz93zSOvnmwd6WVZE0eDM6b8kaQKVW7jbDAG5VEtkfjNzFoaFKHSbGKYKIOESpf5jLFAfSbc87a4tTwASKwP7uQsbzCfS47S71mmD9nYR9o/LODJe7VsAiR1lNxXAsgEA5pZPoyGJWFjEEmo/q+bTiDVUqCEhORKvhmFUSksyKmjbD8yWDE6K4XkK7/yK/Hoo49ie3sbv/7rv44777wTDz744Ki3GYl77rkHd999t32/s7ODZz/72ei0OwjCVhJkLKcLOrpd8sFMyOn+6VmCYwWRruB0dowI4ZoDjalc386xk1fTNQ05YtT1l3D2pRsnTs6TWZ5Z5nDN/jlteY7o/LhKIpI6MgOY73MkrVIihG5luoPDrbM51pQ/X07XUuoTbR5hzFgSTVC5IHH+Zkmfcq0idUIJdS1opYRpWIypQGOSwRmo7RCQVTxhZMV80uw+M92bbF8QKj9SCHVgGuNwl86klLp/2eo0hh87CasKpZTkTVpsjQE8AIMEuJpwccEgJNdWRiX77Bk6ehB1BcW86krmvXcGYgaJmImURUv3K+7+CUeBZM79jFVGzidT7tKMeSGlDTiZTI45wBNlMNmwIZG3E0l9pkvIUSaT/w5nZIWk3W7jec97HgDgpptuwic+8Qn8/M//PF796lej1+vh6tWrnpXk8uXLOHv2LADg7NmzePjhh737mV045po8Op0OOp1ONvFhCB74cUhk5gXKz+ByrxvwY5l9YwWM27bMgAbkVqSvhOhBzB3QBrbTGc+DnKWX9NOMt7maHTjBtAJ1XDfnakZngsUB7mDvv59qR2SFb3xS9ZdvFZF6bNAdzigidhusvialfOZlZ54zVsceknxm5F561w1nySw8SKLdDrqzvXUFmmQySDCAJUuUyYxTOVOqbe3CKsB2kLYXMz3gJXetwqqQlJ4/gCdLsAyS623YgmkrKhIFWHIbfl7dxgwKenBJa0Bzqi871hmLgkRGObRbtKWE5FwFfTV9yz1Mz2Y4yYe6w3zbnju8mtryFRQdPEwwALETLZYhYFwvVyf15cYWMR00k6Oy6yJjYizYfjthjsx2xiMpEdjPEot+0aGH5jesZB4mjkMihEC328VNN92EVquFBx54ALfffjsA4PHHH8eTTz6Jc+fOAQDOnTuHn/qpn8KVK1dw+vRpAMD999+Pzc1N3HjjjSM/W2lr9l3OBUipuEPETW6ZDSnInEEtPcNOd6pYSnv6oTHt29feQJ28N9kw1nJfxjDvmlFhqX8z3zpjkFFC7ExAr6Xara16UDNn8tiyMK+NwpXHsMSPqWgMxP16qCJilEeR1FWB5cAbNGfM0Cfowdg42XJbf8YyopfQtLk58RvRy5ymGQ6yklQyGR80HKl8CiQWOSb18i0z46K0glfqgV/ddb4U1h9L0uJOngUEECcaiZ3cQIf0NuVilABguIVrbpk21lEJz/EViRyTAQNHkPQ7c1KyI0eZ9Ots2GRgLjgVaWR/HAvV7wTTVhTlYM2tcqInb0Zm5liV3N1UucxkVpdgrSnJO7v8Y/JpdiYZOZFWUMoG9hhJIbnnnnvwqle9CjfccAN2d3fxnve8Bx/5yEfwoQ99CFtbW3jNa16Du+++GydPnsTm5iZe97rX4dy5c3j5y18OAHjlK1+JG2+8Ed/zPd+Dt73tbbh06RJ+4id+AhcuXMi1gAyj3++DiWwljDcETDZwyNQrdzYmTVWZGQ9TyxoWnm1K7gR0/PyU/DXLe+sqIslaacYz3vHTMV+JWEIiSgYxf2JT8KZc2qZ8eW4y3FJz45wAUvvG5FRYZVJwOIkiomvWvDbWLz1gW0ES6wBRpv2aOqzpso0hL3WuEzTj3G43bVL9AamJAJK+aJZAzXKvENL6cbkz1KT+nCXkWuHXnpEdgLLoQTqDnqnT1AzM3IHJyWT52JQRtaavGeVLAILHkDED08s+MPUKo0iayY+vWOb2xtyP3DN18l8X3m8M3KUapuMzBSVDno2kkFy5cgXf+73fiy984QvY2trCS17yEnzoQx/CN37jNwIAfu7nfg6cc9x+++3odru49dZb8Uu/9Ev290EQ4P3vfz9e+9rX4ty5c1hfX8edd96Jt7zlLaMkw9Lt9cB4OWeZ4eQZuXMv0a/NOhyzAl45cTrriKYSXK235Cx/8i7Fcl8Oe5CdSRslxFGNrHnOMalKESeOTq5XtlXEBjADhaQMrKBskoHbDVzGwALuK2MsdY8ZpnU0WE7zYknsFGMp4aYelaXOj7MgbCRWb4tpRhmp24iW7WOmf3LHKdSYzPO2niL1+3rgrPcjp3+aL6WJjyERx4lvk41sbBVMP9JumqprNU9O2smOtfT5p04bax9j3i/qQ1rc2Lan/pustDnKgbbMwl3WTy1huf6FGctz1RUJePkuu8tm4jgkVWDikGw++0VguWfZTIbt8N6HzmzS2dGTbMnjzqxT/555P3aNDoOePtW8FN023WWtP4i5WK9DG4EmvIFLOIIuNWA5zWl6DWt6ZZKpW0e5UL4UAQLueM2zwJnV6N+y5Le1EH4DEpCeUZtrpRA6gqOO4hiLRNF069RsMW+AmGCeoEeihOU4V6t6VVe7A743eaiagoQkuzySAdoQixgydutW1a9wHOdNnJ/MpKFuVWzyl3oPIDll1oliawMSppS25H71rNuskmLasrHmCcRm6UoIxFJAxMLzPfSDeKarUib/raiOpYix/Rf/Z3ZxSBYNT5h5gipx/LNH2zte1G6UO325uWO+QKmFUsK8hu9bQvTsOY6TwSqjhCSz58SaWDdpliUzJzaDtVVAlDJiHTz1zq28OvUGsfqIOQ93mc1VqqTU8Qb0LEw428thXROSWXQT6hbIX6CU+kNjHYDUTqH6aHiWqkPm/6eWmHxK+yJRTkIeQjAB5imbajnADmCBhBh0GGVd0PVkFxaM3wgAGUuASQgRwxy/YPwyGGdq261dJjBLkjq7zqSxymrOEx/W4OE4yDIWIAiAMIS1cLnKiYwlYhHrM76Ep5woK0rStmta05alVUi8yIjqA/t5EiRKN269FRKAdhrTvzKGBKdFeRr5LFt75tbFz8qz9LgzZzVrSnaP2NmynjELIa1ATyKrppXt+grwrFVEv+Ymbk3a8z3QZaN+l9wD6QpOv60VvnUEMCIpezCk6xhp/A6S2bOsWHBPjG6zgkF5+5s/39SVVU4akOfEwM0ArWRxHoAzDsFdZUS9Nn2ac2YVUCaZsoCx+hlJDGn/EqWgaAWaCQgBFSJdTygES5zs1ZEaju9GcgMoD+fk3nWrc5VFpT2ag1IZ4whDpWyFpt+mLJ7qGA7tkO9OIllixJ5rXZcs2OVQSFKmOt+k6/h82AiiyTpz2pETLKXMzGI2lXu70Z5RqIQ41hApVSOWQiKOI+csmThZjgH04JXnR1B/ci1fWuEMbMyNRCFJm8CNX4n3vhGYQTXxYwIAf9u5bx2xhpFKJNbsUHljOi4Jg9mFYn0jGXxlJM/UUmOM35aOzA51HAkDZ6GnjBgriYhjfSCecqqUDHq7rWParzleGqWzrCgZWCwRc6GXXv0+bn1NrKlEx9/QSrenp9aMxNqRbE+3Duo8QGD9/Ew9qwMPs/5hUh/8ql6rSUc9aLZC4ksS/yv4lg/7GeOAiZnBOQLt6OY5StmrYQfzUgJqBKtFWca9gw1ABn08NWwvVKcZSwEZJ8sxItYN1pryYR2qBvjAzZcRlL/c+rdrzU6o50C9NkcOZOp+FgrnjGFOm7UKGUNSrzb6YvInUkqI4yvXTNJyQUq9zVcv21gx7PbtpN7rvhyXh+mnTA+ydpLFVFAuIWKIWCLi+rA+IRCbEGRSDXP2dUMmH459yPlMAkIiFlBbbbVCko4DoqrZqf+8m9W0/m131S8Yk8nEmgUIghCslUSRdv/iOLbKiQ0PL9xJSXV132iFJAwCfQ6KJs80r4VyonBwq1V60ShzFQ/X0D3jpjnhwOc6cSV+A8n3yi/EWYLRJj6jJZtTHrkRTAx2aSabzgFZGJ7SEXM2IsxrAdbC4QrnZP9/ErQorYgMfEBud3WlWl6LyZV2OdeNh2k+rpB12wL0QMPAkASm4on/gTbhSw6n3nPqv+6kZYD+LDd6plFKuSmjvPrPd4RM1+bsiimvHRWnyPR764DPAMaBAAGk5BChRCgC7RQZawupdlz3/IicScnM8jYDMo7N6j8m7gzTlkEp1HEJRja48t+fwiK/uGuIm2czGQtYgCAInAmJtLFdPGu4Y0HxLONAsjQ2QdrE8EsANFwhWV9bBQ9CTyiYApSOUNUfqev0OrmQLHHssp05+a//0h2E6tI6tcKhk8Pd5RgGZ5dIIpiCMECIAFLC3yGDxHQ3bsObqTIyTCOU/kvmfODO/M2s2PjMxJluUqRs1B9XCbHOuiw51NAcr8AYQ6sVgCG0syF7QCDgD0LNLArT43O/0b6Cui0IxDF0kDHAbWAy51VTKGwLgB2Ag4AhDFpag00Uctdall6+m09J5Cn07pPLfDcYb7xwxwqrkCVKGPOkSfPaAmAm5GZyAqe+JYKAI9QDSTKpZfaaxGJmlngG9a9iRBzhSyWua7RCog5x4HZ9LLaxMYzGL5BZD7fCaFbMTmHxGpM5vM7M/pzDnQLOVbRDaXxgOMzBY27kTQk9WXZVMV6FyjXhE2XSRazSKdUsIBZJTAY3fkr6d8m9JktKJTgzItMeAKWkBpyDBRwh5wiCAFxbFY2iatajpTbYA2omqV5UkZnJcdUKq1jpQUftUIgdfymnTeS1ByCxj+c8YQ620/FItQljAbBnFmk5EQQcPAgQ8CBZ0oQfVA1QPgfVno7jM0qJy3QHdwdVCce/QmTahbnMNKS65H9cGJBYhJmJ2pyEr+CcIeBBEnlb/4HBiShulnX8Sf9gypVcoxWSbrcHxqOkQQmZDDYFepzrlI7syymQ1tingwpWqPV1bYY3s96AB8ovIuD2NTdmaMasSU4pJI6+nz+JhKOjTEjZm4zYzb3xMpm6GVOjcBy57Em8whyC5z9vEqtQXeBw5pUyWYIBVJvhyXTZ/sb6Cbgm2rSwbhoy+1rVrzvjd/OuZ4AC9oDEzO1y20ZGqkwn/dNEJ4lBbx0FlCxgABMqImjAOXgcIAwE4kCo94E5OoDZ26SX7+owLI+cglTXT8ZRbTmUDJAczB6Sx8Gsc3/iZ+PJjqbKDS0HtXEMDHFiFbHLm9xTXHlgTjAOkGzzUNcLp30UtY2ycYwarZD0+30wziEdy/uwzjJdD+pZW0MSK4j1g7BKCLeabGCctPTsxixaJKcyAnldZ/KyqGBmmDN5T0yvaQcuCSFju0vI/aWVT42UKAnM/ptYuRhTCqzxkVCCxcx61Ew4cVws6jE1nPUPQ5nHPKs/AyAzju3OjjPJwLg+wC7VT9Rv0dBRR2Gz5OZDSm0ZTWQDlxIyCBBAGZ45V0oJZywxEEBb0iRrXpHYjiKdSRdLlvIZQyAl1HlARpYE2lKSWNSSYIGJopc2wjeFRNmEPvxOWoUk1kprcmp7Ms5wd+LLGAKejDnJMl96M0Q5edJohcQ0jNk0hIoWLpgzuPBEcAaMWzNaoM3uQWC2senZjF6SkdbUOI2yqXhgMoLUyYiZ9ZqPlBVE7SCwJ/HarW7FFrNFUEZY0mj0h4kDNw+4Z3oNeIC0n4QnTBteHgpnlEgpE8kShqOQqDj6YMws72R9E5RD4LzSP31M3aZPNhYxILma/QeOtSwI1Hmu3MyGGYOUDMI7VrmpdjSnr0jpTcpMADa1khmAcySKiYnRZIJE2lg+qlydm7j/NAZvgiaNsqW3yzO1Wymy7gHMjj92PDLyBgzg3E4Sjc9m2eOFmq2QTPTrmswAjbMZkrV/G5rerOdxjjBwZrmMW/OGlEoxM0sxowvOGpRDJgmelPAy5SojNlKhZxExSzQ55vec100lUUbcf5n2I2JZc6s1xZsiFVaVX4TyyOBoESz1md3izQWYZDqImASL3emN61/TfIxObxdi9JHHalBVPiPc+F7pQTgIJUIeqEkPBwKojQCetcTcrppsTYavjSSKhWQ2XhpjgV4uV+USSBUiIfE9UkqKNQdoxdaUi/NPo5DS6OY6TouU2vbOEDOopa1IT5b1aeFm0sNDs4ON66VjnpHHRTRaIVHUYEAdAzeKJgAwnuyMCbSJ3fiEGCXEbFFW65nOGnhhXc+5bAYpFqOSWvNNPpfWYdkeOGW3L6rP079J24lY5kXzcNdw9SvlF8D0cebWxKocFjlT2+Pt8tYAMdngYgHgVH9qwFEm6SQ2j5DO8g04GI8hvTPAEnVkuku91aIGTKWImO2gQkAtb0plLbGzJC61I7Q+r0v7JsUi8XC0wU6bbEbSlkZjQGJeVswxAwEgOSSXnpM8d8/4sk5KcDpSg8vFwa5HSLPEo31I9PIOg3aK7jtjWKjiv0hZbuPvAigkNcYZ+VjqI2sy5ol5PeTcdn6ldSYHgElIxM7anB1m593Wp6l05JGTn8SpzldG/MP+pO0s/m0WQxhkcePMJPEmzBqvtZDoZRsAtiiEs603q6o1v7xyc2EdQlw/Eg7GtEOfhH7v7MzTV6v7Nb9cXKxtTDr5k0xZHI2lBBIy4OBSIggDBHrSBAAB57odyWT5pulrW3BWc9yVOzNptEoGQxAkZZC2lpglHSH04G3tUs0uGxfTfvSQpPuURCzUck8EKB+TvlZSSCGZE8z+J/cru25tPrNm9cRJyLWEBHorsxksYrUmk28JGbd9j61DsPmMV67CpV8lyzPGImICHIlMlNFFxw/VlSi2AXO2c3J3iy+31jRhlmpcZWRxHEgS8rLjFBuTTPVLzsFkrJZt9G4D6RWO++MFKyMkObJDpmR21yKXElIECALd1wKptwoH1honJbNh6E1ofnWrCaYE/qpZfdCy3i7HMAbOJDjnif+NjBHHJvREMmGCtii4+VksBSUZn5j9N0YsGBhiSBEX/9ih0QqJMbfO/bkDv8yZuWpzOg+SQYMHyaBhHIUkoM+XSA5EUqSa7qTteO6KzIhY/cLEknHjA0hI7fUune1rADzHqcTkukC2dpYouPotlA+Zq9wGjpKr25U0ZnknGifSesjiCEfDwMm64/ua9FkOxgW40Mui7uXGlr/QJPlT1kgAzkAiEUHKABJ6GYcl4dc5TIwjp23ZF2MMve6Sbd0UkxySmFChdh52zo9xwg64y6WZcD81z+NYaN2+pAtJsxWSdrsFHgzLgmd7m34imHvXJNqd2S6lfENcxYl5KYriODlpVzsP2b44bmcePQvzvfMwAaOVuJRos0odA/fKaZlwFRIAWhExFje1jmuC3cVCIor71qwcO0qcFYsNN7GPi5mw2tkcUzvZEPDFHBhGwO7c0q+Ng2IQ6ACMYMpiqVuRiuPiBhZzzQBOjJtFJW+Z2ZFeahxQu3bMN24ZLwMijkpd12iFZKWzWkIhmSLuDNy1zFilREe+43r7EwOgNeQ4dfpibDRmYw1xnyOn2YFr1OhZ3ks/fd7pu+awQ8ZsJMnBFrH8c0cajV338z8CABPcyuzIAgNEHCM2fyJGHKvTXSNzgGJqOcK2s0UdL3IahLUvcSdyKTNBwZwzj3Lb2gK2MZdUe3OXnLmOO8F1AA57crAQECJCHAv15225z/q6LapyMqhlMMbAtEJnlDqzC8WU63BZPUrLq5dpaSkUEqYPxprtQ8w/+QqItyRjIuVAHWRnBoZkQEi2pqrNIM46q9dhy6Wp3FfTbJATlrWZjZqXLPnQePD7B585J3OmB4fcpLDir5pOjjIc2DLT3u5xMkM1x48Lc6JzLJC42ujZWz1k1WzJnb1C2d+EhDTr/wzqwLXAtWSyHIVwgduYIW/iwJgTbVPJOrU8yNT2acGUgzCPwSKGmClfCpEXtDLPRWcBKAwxyNQSGCIghrCHPAauQmKVYG6Dk/k3ybwYmJLcmUyFsJKBSJqtkMzTh4QlSgmDWopRWq4OHGQi+kVCz0z17FSoWUNymF1WCVnEzjkUo+hpx8LELGxmqYEzc8hapJYLc/ZE8knAmFVGuB4sjKe/H5dF6tmqs7MCS6KMDMDOH6VxyFMOmTaCrYknUZGfWl0wwcJMgZnozwCzOwTDkIML3YdjDs5isFgpKmpCJnScOlWOki2oRlKA29cYM0taUm+XRRJJ2dlxaZUTjCP7WMHr6ijbhxqtkMwcRwkBklDcVoOVyY4PXwmJEcWO2dJZgvH9QwY/e4yvpsTsrU7MCDTXIhL41hGv/OvRr+ZM/mzcKHH2NGfAKiGx3o1kt0cbhURdtZAbasbF+GipQFhSaydJoDDJmLPVc3mxdhG7UUQiEhJccoBDBXDUztSukhwLgZgxxEy3SxtVjTlRY5cL6RamNLuaYuVMbSyewrUMa0uKdQFYbJlICkma1CDIkKzTMz1VkFIijiJEdklGd7jYbEdNYoUk/0XmtXnGgKTMmPm2aOvwm/ETSWYFxm/Epq4wiQvYG3NIW2oZWLJUo7eQx3FymKANaW2XbRZ1xX5amEmDirvBpDr12MbX0DFKBi0RLgvpYlAWOYZAcn3+DUMYthDwABGPwGNhl3R4rKwmsYrApu7kbDNZujZq8qy1PBVHKYaIjSsCtzsy4yCZpFm3AOYsg+QsKdYPspAoMuWQLRjPwMUSM61qAGbiJBBHwnMWtE6DdjAwdykeBEZaChyJGjZEJ7PG9KiUkSBRSMx7M+ufXQE1iiJlzJ2BcqYEmYi1VcQs01griRMEbflE/nC0riElVORJvUyTVlDAkvNNl56UViKlRCRjBJJDSi0zgwAtzsB5rNtrjJirIHTcykzpDMrOzZeymVqvJpV9IdVJw0xYiwlL+dSZsSltxW86zVdIxpxBp781AyLXgyYDEhN45CghxknQ/pk7zGMm2qCG58zojSLCTLwMYxXR75OjrxuUvxlSVArGgmSUEshku6U00SHtMo1wlmqIgbjLNPq1UkT0UGEjPlH7LEIpxAzqgAJmrSXMDqAq6ByPGbj2LYliZS1J9oOYZQlqtUYxlrGacDBHfvrKiToqgjkbKuzyTgNptkJSaqtU6ifOC7P1KtDxQtSplhIijpKtk95yjFBR+DJRCKfdgRramlLWDQ611S3biVzzo3HYHJ7nhpbK6ORkVG3xTZa7GIBYxnogUH4isZDJwV/aoTX3powEvkKViQD0wXKJdcRTULQTe/k7LidSShVXSSon1yAAwiCA5IG2lkSIIg4uYq1c692Hur1arCygdupaTaCtJllLc+wpK9bXZIBMnXc7Lfu8ZiskA8hf8k225wY8OYIcUvqWEPOvkHp9Pgn243eRMh1mQUXUgKUVzqAUkMBYnAJPmzc7k9JKCE1A81Fhus0WQRXrJjnDxzizxtZaEmeUkcwd55b2JmGiZgioA+ZMVE0V/IuBcUlWvBLEQqht1DD+JQxhGGrrnlZKeAweMXCRWEvUGTCuVKWyTiPMcqKA7wjLAuVrwo2scLYQA1nhWlONpPEKSZl8Wn8Q4wjImHb+Uxq6Zw2xlhA/fPtg1WNJOs4Q/w4GJDN4HiilzyzNMOe0UDZYeyd8bIwW/a8E7DZypZjEie+Idmglq/doSCnBBJQfiVZEGBxrKG23GQkhBWTM9Pku+qiMgIEHLXDGEdltwrGeoLjL4bTUOAwJFTdHIAYTAGfC7s4RWlYwxxnW+PDVfTWn0QpJsfuIOWKc6/NjmBbk0kYTjKIYcexHF4zNjLN0b6hz1U7ICJ7b1mHV9QZPLc2obbx698wCF9u0Uc6riUOw8W1y/2LvnB8xxDpC5GGcW+3xDXpbKpNwXquw/NR8yyEh7a5DLlUQuiDgCFshuOCIOUcccUQxU8s3nIGZ0AmxQLnzYQkpYZ3azeSbcYZABE4k2GQHI7fBRFntZHGjFRKLPWxMFbY538N8JYRAr6/9QuxyjN41k7veviSU2IE07OeJ9SnlaMUDO7NnpIiMAfPOETHWPXXombQB96xFzx5HQCvv42ICpDGJ5PRa88eYdnAFaSQjotwfhPXRMQeLWtkRccQ80n4mHDGPEfHkuA1qz+UwjrAijsFiQHCRnCzvbCQwk0TGOYzJpC5NutEKCeMcQai2jAZ6hm4ClknHLyRywrfb4GXSnCMDfbAW83a0pd0BR5NDo/9i6O1qBbMNmgc6DLIT2CxZYhjd6ZhQJI5r6tC8IODWOpI0TmkHSbObiTFpg6URo2GWHI2fmfmXp97TcuO4mEBgEoxJBPp06jAIEYsAoZbVcRwjimJEIoaIpd3VSKRxRysz5rifQ+9iEoiZhDrbT7vJcgYuAOhVBCM/ZiWupSh340YrJOudFlqdjh4EoRURdcCY0EI6lgwAh2AMTAiEPIBsYXpby4b4VUwL9+4ZVSfdLofewfloZL3JOb/HrFUy93XiHzKV/fFuP0t/vqCYsg2c5a4g0GHNRYA4FIhjjigOEUWxs6tmlOVGIg+zPKb+uGflc619xPgYSzYP9A7HFgdDy/GJEnoSKaw/n9nOLutoyXb1gSJ5NYtnGvL0ktwxwewm5db6CkfJtn/eTadDXLJQGq2QRFEEHnDIIEBggmvpGTuTEkwIsCBEIISvf0zNgDH+DdL6bI5uO2VK3jkvMTIxZ8c6EqjZ4dEXsT0/xZwLMliDSH9XZovfJL18mEZTLwFnlRFtcQo4RysMEIYhgjBAGARohSHCMESoI7HGWpCbYwqI8VHtHDa2i1ru1b45OtaLiqrZpIKexyhZ5hnJNdb65MQjCoIAYRigFQbotNvggVpSkGZbu93iTtaSSTFLv6Y9xyJW5SxTp9CnT6Ifk6U47VcNfUxvz410o1WBZAZq0wPDQTeJ6ShERXczG52ts6SQekdHIhjUVtOazlzyyNMC896PfLP050U2rcEPNf4igXEADAMIEUJIIJDQ288Z4ljqGA6yeXVQc6R2xFRbqGN9irLwhLasvSlqgmlOuumOcYuymBAM5mDNROFWSjgPAnDGE78pc5q1FNTep4DZSWqUEuFMOIWIbbmb9j5uictlUEgYDxCLJKJqaaEs9QAx4/Y8wkaVuZOXdfOZKUMjmGMZ20Yax7HWonXDbapQSCd7omwMKs3y1xiPG7MqoGaOgRLKehYJqDV4c3ijkCpMfKMm7DUmV344fVc64c3rXeSy4PWIPx3zFmWJdUwNzpUFJI4FoligLQLEQihLYBhahUWZawUADoFUQDViDPQSDQcCFoJLAcmNQsLVv0wgZso6CDGe1aTs9Y1WSPr9GBCuO0g1zgbzUTxmn4+0ImIUD6PwSWeWmCzPENNAOVSqbXmMMe3sp0zYYRAgCAIdPweIjDkVtEwzbRjMyb9w/Eikt8YOZmQOFfw0kNDB1CRTg6GelbdifTikEAjCUPcJtYNPnYfDICAQk3VwMphRS6SK9Aoli8yEU8gYgZ0A6ZhHJk7XlPtAoxWSWEpwrzymM2hPuBt23KdUhhWueu08OQslcSyTUguHGTTCZcfd3aFCxHOEIfeUEc65Ftw6PLxZA6a6mC5MxRsxKx6cMUjPyVUHTdPfU+lPDyElZAzl12CXzARiEaItBEQYoqWtJTxUSkmkNysIqZbrKSLg+LgO24ypmDscElJyCK6UESkCNUENYutrIqxf1eQ0WiGZBoti3RgbCbtNWpjD2eLEKiLsurmkWeGMsLNvrtfUg0CbqgMEYWIdsZYqyGTtt+rELyLurgQkighnDBLMWqoUVAPTxARTg2T6PCHoc5oE2tpyG4YhAh4gDDmYkIhjqGAnUkCtKlCdTAOlnyjlPGAMAbhdqg9kkAnQaB1iJyj/pVBI5mPxmMvNp4aEVMtdZveMaVSxCUXunC3hrRk2I39Nwd1mqpQRjjAI0dLxGZQywiGkQBQbh77UchlVyXSRgF68gdQxdyTXO/f0FndzArCUVPizIJYAi6VnLTEKedvxLVFb4wNwIRFFgOQSTF9Pasl0sKcHS4AHARAA3N3oIGM7dpil/WQXz2jPWjiFZOktHkOwqzNa0VCarQ4WZ7XdGFKkFRFi2nAYZcRsg+RohSFaLeU7Eujt7EJKxLGzbutZR5rbFmsLg1ZGzNo6B9OnrDLO9WjJ9JKOpNgvM0ICdsYtJYeUkT15vd1SsqoVhgjCEKE+WC6KBRALG22XrCVTxOglUiqlHAE4l5AyUApg4FrWhTOpVY7LZWi0QpJzYOykd5zmzebLsIBoRlt1lmeso6pnFZE2FgMxYxgcZYQl8UXCEIG2jgDaZO1sZSdFcQ5ohYPZuBnaudVYTBgDzBk3oIWbWaFFFmSsnV6lgJB956gEgZa2mHAeoN0KEDGGOGaAFGB6CYfqZ3p4wQGZshYyGQCcQwiJwIkXY04hj2Q5jaTRCsl4NFjpcCmzDuU6Pdr95mqbqIhjT5tNzGyzTjgBpCOCMhX0rKVjMASBChXPTIydZHsjVc/8YGY3DWPg0M6tnIGBg0kBafocI2eeWWOsJZAAkxKRlHa3h2gr2RW0JEKuAqsFnCGKGSKIZAmHqmk2aCuvlAAPGCC5tpxIBCKAELEKW1+CBVdIFkD5yM1CuXyp5RnpLM/EVgGJYwGptdesnwgxS7gJva+DjgScox0GaIehEqZ6Z00sJKI4RhQrR1ZB1pH5o2eAsI6tUju2cjCuwg7Qbpv5IKF3VupQD0JGavYt1Bk4HdGGNEHVAr0bh6sw9IiV35VAQawZYmISy4la0jRHBEgZlD5fq+EKiQkl1UAmUDSGYgYtu4/cOKzGdueM2rJFyzPzxvVchz4UstUKEbZaeqlGKSNSMn2ar+MgVnHalw6WOLYys24ulZAVUvmVSLukQztO54XQS2lcn2jb7ytLSRwLdNottEQLIlS7cVqhOpyyz5Q1mAlhlRKqrhlhz8NJXktZzkbScIWkIcxS+XBxtubaoDYiUUKM46oKA6xmC7NKCpGPicRqlmrU2R0qvkIQJFFZo0ideipi4S27mXsQs8eUtnFwVb4jxlICG5/EWCLNiRTE7JEAYqjdHkoZTHxLOs4yjony2mkH6EcMUQQVbZTRmTjzpKzMIoVk2sx3j7HCbkE0ZxNI5wyOOHFaJZN/pShlhFnDXhhwtFsttFstfYCeso6Y0PBRLCCQLLkR84UBSHb1aidXpYloawkHmEy2AFeV0CVGANqpEgAk+n3lcxVpi3C73bYxfdot5ZvVjyJEkQA4t/KSqAekkIzLvKwew0gtzyRLMsnBYPbkRpDQrAqlgzD9WvuNtFpotdQ2X7NUA0D7jcTkiFcDdEBttduGQTu3ckjjT8IZYpGsndOOm/lj1EEhYK0lR0c9xFGMvl7GaQu1JBoGAXi7hYAL9KNYy0ql2NCaW/WQQuIybOvsnBj2NBsw1SgZTtAgFZxGW0dyjkonc381GCdWd4tvWy/XBPasGrVUE1nfEf1jEpTVYjfTaIVS+5LARthlkLFE4nFCVIGSheo4EckkepG0cUuEDqgmW2pbfbulduL0I4Z+FKsor2ZxjrpbZSy3QlLF8koOZZ/qhqu2O2eko4Q4nU/qcx2ob1VPun7DMEC7HaLVaiUB0AJ1Nkc/jhFFsQ3oRPVXPcZKotYFGDg4BBPg2lKiDt8jvbEuCOglHKEOohSijygWWGnH6MQttNtS97sQQaBOEe71I21d1st0VJmVsBwKSUMsH0VI5z+Jn4jwnFVjEUPGSWAzok5o6whUvJF2u4V2K0Sr5e6qAaJIIIqEr4xQVdYIZgOlccYhuQSXHIILMKmsJEQ9MI7GaimHWd+SfhxjJRbodFpo6Z047ZZSTPr9GL1+ZHe0Jfcg5kXzFZIaWDlm+UQ3lggAbf1Qe+utRSQW+swHkDJSM5jrOcIZ2loAtlstfZx6CM44+lFsfUeyjse0CFA1TEdlNaGh3aB2DBxgQju4MuqDNSExKGsFI45x1NUW5ThGuyPQEcJODHinhYBz9KJIy1cVT4MmBtNgKeKQIGkozP6nsiSUpbSPiH7nnjujlma0VcQMXvboZ+o19YLZfxgDWq3AOrIaywgPuJ259SPhKyNUnfXCeKw6vkCSM3DJ1FkrzOzYINfWOpFYOhggJHp9pXD0IwGxonztWmFLL6UGdgmn148QS3UujvSq1B10vAEo78mp79x2UdROiq4f9Ju6Uy7NjVZI7JYtuz+vnhXlxK8r3ZyMRUTqEMmxiHSo5CgJ957ZgkEz6brgxj8DY2iFATqtNjptZR0J7VKNRD+K0e/HiESc9fupZ5NeYkwgNOPUqpZvhN51E7NYR5Knvlg33ImeEBJH3R6EifLaVrtxTJTX1U7bKiZRFCOWyR5F6d4I6dfpJ+ZJ/FE+L1JgRlFsmiNEGq2Q9Pt98KkfvlITQaLbmIqkKh3li4EHHJzzJrWz5YNZ6z4CHmC108ZKp4V2uwXO1Tk1Qgh0e30cdSP0+n2IWAVqomptABI6Rozy2eKcgbEAXFK/rDuMA0bOSwb0ohiMRWBcReGNEYNzjjDgkDKAFAJRT00EzSRQqSe0I6csIo5KXddoheTw8Ag8aHQWEpwlJ86ZOoeBcX0eg3rNeE2UpQYyecml7yBzPsteyhlDp93CinZkBQPiKEI/itDrRTg8OsJht6cCNRnvA5Jztcd0V7d/BmFg37PkqooY0D4z103nSU1brDJnr5iAhVIyCMkQ6joUQoAziYADAQd6/T76fWWpthZs2BewNyMyLIVCEosYouShPWmqbzcs84rxxPoR6BDiAQ/sjDr1M2IMZld8LPOWAWiFIVY6SiFhDOhHaqbV70c46nZxeNRDr993BBzRKHSFscD2YjV50Ms51XXYohFyshaWvmvT2yuz66rq4L5uL4KUQLutgqi1ONMTQ1WfR4zhqNeHiLT/Hk0eSiHjcmH6G62QLAIMWhHRykcQcH2eSYDAKCJWFyGlpEkEQaB31ITgjOmAdSrOSK/fR6+vLCUk1JqLkCp0fLKsKiAF1wpKlf216KGTJSb960USRVICsRQ46vXRjwVW2iE6LRUviAfc9udWt4ejoy66PXXacNpIQozPwikk1XeQ8ilg2uRrrSFm54VeqgEjJaSpcO3I2moFCAO1Dh3r05ajSHnw93p9xFP3gSLmid3lxtQfmPb7gvRm30QzkNB1GkU4FCp2SbutzppKJo0qwnJ41MVRt49+v6+Wq2hiMTGNVkicOUjFqRjxF9oznwe6gYdBsjSj159piabZtEy8kTCAhLSRdKMoQrevnFj7cVx1MokpoKwkKjia+eN6GzCjDtxIJJRLwFFPHXK50jHBDFt2WT0MArTCHg6POLq9vrWWkFIyPo1WSObP5OZOxpmyhPDAmgHN8gwtzSwGLXephgeI9VbtKI7R6ynLSE+vVRPNxyzXCCnBzWshEDCljLIx/dyIajHWEuv3FcXotFvotEJHIQnRCgMcdXs47PYSp9eqE99QSCGxzFZocL1d1y7LGIfVgIMxDpJZiwFnTB91rgSViaYbx2pXTVf7jtBSzWJh/EeEsY4YBYU6duNR1hKBo27fBqTstFvaWqJkeBiGCFshDo+6OOr2/MMxidIsqUIyPyHBAPBAO6tqp9UwCPXyjAlDPbfkEDOEgdmlmjDkdqYshEDUTxxZo4iWahYN5UcCCO1LIrlUXpKS/EgWBQmpwsqLGHEssdLRviVtjoBzhCFPLCZHPeX0SlrJSCyBQlKdNFA7ZhJHKLM8w60iQpJqkQhDjnYYoB2qLYPm5OV+FKHb66Pb69vDu4jFwjpDassIE0JZPqU634aUksVBCInDbhf9OMJK2wQ8bGsZH6EVqiMiDo96ODzqok8TkNI0XCGph1trGm78RFxfEbs8U7/0EpMTcD07aoVotQJlvhexcmLt9tVSTRQhLrkfn2geKoqnsopxzvSBlwxSkh/JoiEB9KMYcdxVSzjaWtJpt5W1xPqXcBxqa0ksqO8Po+EKSb1QfiJJLBETVyTggT2Qi1g8GAPCMNDbfEMwxrTfiECvn/iN0FLNgmO3AAsIwcG5TLYAk5VkIRFS4LDX03FLWljptBC2QiX39VjQCls4OOqqiMz9iBxeB0AKyRRg1mE1uzxjojWSLrK4hDxRRtT5F0IrI30cdbvo61DxghxZFxqJJFCakEKdAKzPZKMtwIuLlND9W+2kW2m30Gm30O4oq3grDNWhfWGAw24X3W6fZEEBpJBMgBvYLFmeSc6zMNcQi4o696LVCtEOVcwRxoAoihFFfRx1e8kx5hGZa5cCE7FVCIhYgHO18yaQTAXPInmwsMRC4rDbRxQL9LVi0gpbCLgKjthuqcivh6HyLenp8PNEAikkY6DiiXDHLKdjiegoq0xFNqs6mcSMMVt8w4Cj3VZmWhWNNcZRt49eTx3GFUUxmWmXBNe5NdZxSUxo+WTJlmTDItOPTERmgdWOjvTaboOHaik/1BaTg6Muej2lwBAKPsmP3/rWt4Ixhte//vX2s6OjI1y4cAGnTp3CxsYGbr/9dly+fNn73ZNPPonbbrsNa2trOH36NN7whjcgisqdBlg1nDME2jzfarXQarXRCltohc5WXlJGloJQL9OZmCNmm2+/F+Gw20MvitCPYjLPLhvShJSP1aFi+hA2+y+x8Agh0e31sX/Yxf7BEbr9CGEQYnWlg431VWxurGNzfRVrayvotEMaMjRjW0g+8YlP4D/9p/+El7zkJd7nP/IjP4Lf+Z3fwXvf+15sbW3hrrvuwnd8x3fgD//wDwEAcRzjtttuw9mzZ/Gxj30MX/jCF/C93/u9aLVa+Omf/unJcjNDGGOejwh3ApzZY6ypVS0NIecIwwCdVohOu6UdWVUU1oOjLvrGOkLh4ZcOFbGV6S3AQvmVQCkjJCOWBwmgF8WIYhV+PooEVjo6/DxXk9p2t4vDwyMcHPXQ7fUQLfnS7lgWkr29Pdxxxx345V/+ZZw4ccJ+vr29jf/6X/8rfvZnfxb/8B/+Q9x0001417vehY997GP4+Mc/DgD4vd/7PXz2s5/Fr/7qr+Krv/qr8apXvQr/7t/9O7z97W9Hr9ebTq6miFFEWq0QYUuZ3lotZRFRSzRMHzVOgmZZMFYysy4cBFyfUxPjqKsiNfYjdaovzYiXFG0NMWcYSWslqTphxLwRUllLDg672Dvo4qgXgXOOTqeNY2ur2Dq2gc31NWysrWCl07JxqpaRsRSSCxcu4LbbbsP58+e9zx955BH0+33v8xe84AW44YYbcPHiRQDAxYsX8eIXvxhnzpyx19x6663Y2dnBY489lvu8breLnZ0d72/WMCQOq2pppoV2q40wDBGEoToEj9HyzLLBoHbVGL+RditUuyriGN1eD4dHffSjGP04pvDwS4zxI5ESEMI4L6o/cmRcPiSAfhzjqNvD/kEX+4c99GOJsNXC2uoqtjbXsXVsAxtrq1hdaSMMg6X0NBp5yea+++7DH/3RH+ETn/hE5rtLly6h3W7j+PHj3udnzpzBpUuX7DWuMmK+N9/lce+99+LNb37zqEkdG879k3hDL8IqWUOWmSDQIaJbIVY7bXAGREKopZrDLrq9PqIohiBHtaVGHUev4pIIpoLkccb0so29otpEEnMnFhKi19eHbUaI2i2stNvodDoIgxDtVgvtwxAHB10c9fro9Zdri/BIFpKnnnoKP/zDP4xf+7Vfw8rKyqzSlOGee+7B9va2/Xvqqadm8hxmdk20QrRbbbTbbbTDFsIgRMDNIXgkRJYVE4ExDDhW2i0EXJ1XE0exCnx01FNCJo4pPDyhVmd0KHkhhAqRJs0ZN1WnjqgKE+X1qKucXnf3D9HvCwRhiLW1VRzfPIbjWxs4tr6K9ZWODrZYdarnw0gWkkceeQRXrlzB13zN19jP4jjGRz/6UfziL/4iPvShD6HX6+Hq1aueleTy5cs4e/YsAODs2bN4+OGHvfuaXTjmmjSdTgedTmeUpI4EY0z5BViLSGjjiVgFZFlaBJELY0Yh4ei0W1hph2CQ6IsYh0ddHBwdoR9FZB0hLFJKSMYAKRELgUAI8CBQviQUuHXpiYWE6EcQsYAQEp12iJVO256L0261sN8KwQ+P0O0yHap+sWXLSBaSV7ziFfj0pz+NRx991P7dfPPNuOOOO+zrVquFBx54wP7m8ccfx5NPPolz584BAM6dO4dPf/rTuHLlir3m/vvvx+bmJm688cYpZascdudMGKDVaqPdaaPV6ig/kSCwzqpkFSECzhEEDK0wwEq7Bc4YYiHQ11v7ej11Tk0UC5r8EhYpJSBUoLQ4FhAwoVvJl4TQUV5jFX7+4KiHvYNDdHtqi/D62ipObB7Dya1jOLa+hlVrLVnc8WgkC8mxY8fwohe9yPtsfX0dp06dsp+/5jWvwd13342TJ09ic3MTr3vd63Du3Dm8/OUvBwC88pWvxI033ojv+Z7vwdve9jZcunQJP/ETP4ELFy7M1AriwRg4Ywi4E6jGWERshNXFrXRiNAKu/InCUMURaLdCCCkQRRH2Do/0iZ5qqYYGGcLFuLLaZRsRQwYhIMnoSiSYuCVRHCOK1BlYaysdtDtthK0QK+02dg8OlcKiI0AvorVk6pFaf+7nfg6cc9x+++3odru49dZb8Uu/9Ev2+yAI8P73vx+vfe1rce7cOayvr+POO+/EW97ylmknJRcTvCzkAYIwVMszOtQ7RVgl0nAGBJwhCJg6o6LTAljiN3JwqJZq4ljQaZ5EDtJqJbGIEccBOJf2jCuCMEhAWVhlhFgqebLSaWO13cLqakcpJq0Qu/uH2LdRXhcr8CKTDZzS7ezsYGtrCyf+5s1gQTmdijMGFijFI9SKSMA5GA+gjSJ0+BXhw/QW3zBApx1ic30V7XaIOIpweHSEL13dxd7+oT48T0BIUkiILEzvzGOcoRWGykeAB9pJHgAjyUOkYGry3g4CdDotrK200QoDiDjGUU8t7ezuHaDb66PfjxEJgVp5SqeSIuMIX/7zT2J7exubm5uFP1vss2yYEgbcnMYbhiqgGXccVuk0XqKAgDGtwAZYW+2g025BiBi9KMLewRH2D4/Qj1UkRiFpGyeRj9ltAwGIWPmScBaAMQl7BvCyNB13oFqWPI9JHMc4EgKxkOj1I6yutLG20sb66io67TZW2m3s7O3rM3H0ieKV6iTOwxnG0o8WRyFh/hs18UgGlDBQAc045+BaESE/EaII1XYCBCHHaqeF1U4LgEQcxzg87GJv/wiRPkRrkUymxGwRUiAWMUIZQEod/IotkTK7JNmcFlJK9KIIsUiiQa+tdtAOQ2xurKPdbmFv/wC7+4fal03txKlGIrmVK/23Jeu92QoJg5NRlnykzaNBEOgQ7yk/EbKIEANhCBgH5wztVoi1lQ4CzhFHMbrdvvaE7yllJJZ1MpQSNcUGSpMMMhaIAwFu1oolU9+TTCJykeoIgr6ylkRRjJWVNjZWO1hbXUErDNFpt7G9t4/9gyP0+xH6lfuWjGciabZC4msk4AAY5zqaZguhtYhwMOMnQr2eGALnKi5NGHJsrK6g3Q4hhUA/jrC7f6A6faysIw10wSIqwizdxEKAxzHCIFBaiATYMllJiLGQUqplGSEQ6VPF1/X5N1va12S3c4DtvX0cHfWts311Esq05/IpaLhCojDnztjlmbClD74zTmOkiBDlYExZR4KAY22lg9VOCwxAFEfYPzjC7oFyYhUxWUeI8ZBSzXhjESNk3E4myUpClCEWAqIHiFiiHwus9tvYWOtgtdNBO2xhdaWDqzt72D84QrffR9SPEVc6cfINB4NovELCrZ9IaOOJMPITIcaCWUfWTruFtdUVhAFHFEfo9vrYOzjAUbdn/UZIGSFGwS7bABBmuS+QWh+hnTZEeSQE+tqZ3viWrK92sNJp4dj6GlphiJXOAXb2DnBw2EUURYhE/YPxNVoh4ZyjFbbQammHVX3WjFqeIT8RYjQ4Y2BMHZ63vtrBSlsFQOv3I+zuH2J370jt+49lxTMOoqmYhRkplHNrIAIwHtCBe8RYxCKGkGqC1I9irPZb2FhbwdrqKtqtFlY7ylqyvXcAroM31vkU8kYrJJ2VDjqdlZQiApAyQoyKityrjhLYWFvB+moHjAFRFGPv4BDbuwfoR+rkTUEB0IgxsVuAwRDHMUQcg/NAbbQBLdsQoyOlRD+O1A6uWKDXi3FsfQWrKy1sbqxhZaWN1dUOtnf3dSBHtROnjgeANlshaekAQ5wUEGJ8VOAqdZrzSqeF9VW9q0bEODrqYXfvAEfdrjoMS0iQOkJMA+WcGCOQAmCclm2IiYiFgJBqa3kkYnT7HRxb66DdbuHk1iZWO218eWcPu/sH6HaTKK91UksarZAwpsLA63eVpoVoLkyfbdRuBdjQXusiFuhHfezsH2D34CjpvDWcVRANxPiSxAIiFuCMw4gyZT+pUp6ZNk4ytWlIKRHFUikm4gi9XoRj68rie2xjHZ1WC2taMTkwcUuiuDaTrEYrJGErQBAGVSeDmAtD1tfzIkAOVR50FF+uTvHd3FjD5sYqAsYgIHF01MPewRHiOAZnDJIrJXjkZBOlcIfBRfemYNbpHgCk2iUYmKit+TnPi+yQCkXlbbQcv/yG/dJJibezk/mXeCkrc19iWhiXpCiOsbt/hCgSOLaxgrW1VaysKOXky7t72N7ZQ68fad84MVxkjknZzceNVkhObR1D2GpNdI9pdpG0ECjqhmnBkUnLMIlMg9z4OAXPOAOD8h1ZWWljc2MVK+0WhBA46vbQ7bVxYnMDm+urEFM6Lj5v0C0W13MS4INGskyW81rv6PEGLOnnpjvEREVeovzsM8wAO99BkzEgCEK0whZ4wO1ncJI02wTkfJbXHvLkEcmhcgzTJPOQ5X8ySI4wvdM04ByQ6nycY+urOH5sDdec3FShDPYP0O1ppWSasZUcv6g46uPpPxv+k0YrJAwCbArGpmmJoPR9iu47NKKuNIEJqptRZMangRpUw2AmNLzqsJ1WgM21FayvtBEGISQkYiGxurqKVqut/EbmsFQzyvhbRlctmj3n/WY6M+s8htytaOAr0toLmV79jFIeRU8dLelSOxnGkHYHhCzd/dNKbjoducbDQTfjzu/KCrUmkD7wDVPQecd4bv5n2dSULeqBTgtSGYpjKQApsCsi9HpdrK12sLbSwfpKB6dObKHb6+PwqIdeFEFqeTctxUQCiPq9Utc2WiH5f3/5BfCSp/1OE+m80IEWK5gtDLKz1GfqUiTcc1M4SLoPmkEPnNE71zqJsPFrggCnThyDBNCPIoRhiP2jHp65qtZYxbids2iWOYDhlwz6Vv26bHEQkzHYsjX8164roZQS/X6EbvcIsYhtW5NmmjxUp2N6/jLE+6SMplXGrJu+Npug6TS8EQxcs1OoRyXdMipcrkrVA2MqVEbAOVqtEFsbazh5fFMdjREGiKXE/mEXB4ddxEIgjofLvbLlHUf9UklutEJyeNQDC+rijkM0BRWNVW3xXV3pYH1FnQchwXDY7ePL2/vY2TvQp/jObl2VWGakale6bUWxQBQJ9Pt9a42jZkfMAuM3t7t3gKu7+zi5dQxbx9ax0ulgc30VnHHs7B8iivsQomgnzmitcykUEoIYFQZz5hHDSqeN48fWsbG2iiAIADDsH3Sxd3CklRFJyggxIxjc4CMB5wjCAFHMweiMJGKGCCkhtfVjZ+8AvV4fB0ddnDq+iY21VRxbUxFfr+7u4+CwZ8/P8eOpzcYSTwoJsVQkJ0FzbB1bx/HNdbRaLXDOcdjtY3f/ED07S6VBgZgdLLV0EwQBgiCgwHvEzJEAYiEhRYxDqaK8Hh51ce2JLWweW0en08Y1J45hv9Ozh/UxKVJRXqevlJBCQiwNnKn1dc4YtjbWcWJrA6udDsJWgCgW2Nk7wP6h8hsxcSIIYqaw5J+ABwiCEFEUWcc0aoPELBEAZCwghcSuiHHU7eH4wSGuPbGF9bVVbG2sYK3Twpf3DrC7fwgWqdDziQVvulvCSCEhlgJm/hjD6koHJzY3sLG2hrAVQkqG3b0j7O0fIRIxJA0ExJxgeulGQkWbDoMAURAgElHVSSOWBAkglhIiBqSI8KUv7+DwqItrTmzh+OYGVjodXLO1gdVO207aYqGUmOyeoMkkJykkxFJgti63WiG2jq1ha3Md7XaIMAixd3iEnYNDHPX7kHqbHEHMD2X6ZoyBBxxBECCOImqHxFyRUh0aKqXE7sEhev0IB4dHOHViE5sb69hY66DTDtHePcDO/iH6/ThnB+JkyzikkBALjzr8WQUH2txYw6njm1hbWUEYhOj1I+zsHmD/4IhCwxPVordlhqFatpFRTLY6Yq4YawmLJLqij6f729g/PMI1J7Zw6vgmOp02Tp/axOpKG1d3DnB41FMB1TJKibnbaJBCQiw0yjLCwBjD2moHp44fw8b6GoIwgACUdWT/EFEsQE6sRFUwJ0KscW6N45iaJFEJyulVQEiGvYMjdHt9rZgoa8mxtRWsdtq4unuAnb0DdPuRjvLq3mV0xYQUEmJhMT4jANBuhTih99u3WyE449g/6mFn9xDdntojT8YRompUmG+lkHDOIeK46iQRS4qEWsYxW4S/dHVX+5b0cOr4JlZXOjipfUu+vLOP/cMjHXE4L15wucBwpJAQCw/nHJvH1nBy6xhWVzpqJ0MssL27j73DI4o3QtQLBrtsE8cxGUmISrFbhGWMvf1DHHWVteT0yS0c074lK50WtvcO8OXtPfT68dgBJUkhIRYSe74DA46treCa45s4trGGIAzBOMPOziF29g7RJ+dBooYEQYAwDFX7pLgkRA0wEzfRj/D0M9vYO1C+JadPbmFlpYNrjqswCl/e2cP+wRH6Udq3ZDikkBALC2MMnXYLJ44fw9bmBlphiIBz7B/2sLN7gKNen2afRO0wy4xBECAMAvRIISFqglnGQSxxcHiEL/QjHBwd4fTJ49g6to711RY6rS3srHRwdWcPB92ec2DkcEghIRYSCR0A7diGXqppIwwC9HUAtJ2DA4qISdQa5dwagkfRXE6bJoiyCABMSPT6Om7JYRfXntzCtSe3sLq6gpNb61jttPCl7T3s7h8ijuksG2KJ4WDYOraGa05u4tj6KlpBCAFge+8QV3cPEEWkjBD1hZnTqMMA/SiAiChQGlEvVDBhiTiW2D84wuFRD3sHhzhz6gQ2j61jbaWF1ZWTuLq7jytf/HKpe5JCQiwknU4LJ7aO4fixdbRbLfAgwO7+EbZ393F41K06eQQxFMaYXrYJlXMrWUmImmFapDqwL8YXv7yLg6MurjmurCUb66s4cWwdrYDhj0vcjxQSYuEIgwDHN9f1Us0KgjBEP4qxvXeAvYMjMn8TjUE5twboR1zFJSGIGmKOIuVCYP+gi173S9g/PMLZa0/g+OYGVlutUvchhYRYKDhj2NxYxakTm9jaWEMYBuqY7d0DbO8eoNcn0zfRLMIgRBgEELGgyK1ErREAICV6kfIt2Ts4wplTx3Fya73U70khIRaK1U4bJ49v4uTWMbQ7bXDGsX2g/EYOaKmGaCA8SMLJxyPsWCCIqpBQyziHR1385eUv4svbO6V+x2ebLIKYH2HAcXxrHSc21/VZNRxHPXVWze7BIa3BE42D6WMPgiBEEARVJ4cgSmOWcaIoxtXt3VK/IYWEWAg4Y9hcX8PJrU0c39xAqxUiFsD23gG29w7Rp6UaosEE2krCWbkQ3ARRF4xiUgZSSIiFYG2lgxNbGzh1/BhWOx0wxrC9e4CrO/s4OOrSyjvRWOwWYLKSEAsOKSRE42m3QnVWzfFNrK+tgnOOg24PO3sH2D88ogBoRONhjCEIdaA0spIQCwopJETjOba+ipNbx3BiS4WH70cC27uH2Dk4pF01xMLAOUfYCsA4iW1iMaGWTTSajdUVnNjcwDUnNrG2sqKWavYOsb17gP0D2lVDLBDMbAEO7Xk3BLFINHzbL0NyriuxbLRbATaPrePUiU1sHltHEATY3jvA1d097B8eqZgN1DyIBYEhCScfRRyxpKXIekOea6NCFhKikQScYWNtBSd0RNZ2q4VeFOPqrorGSks1xCLCONdbgEl01x+aDY1Kwy0kxDLCAKyutrF1bB1nrjmO9bVVCCnxzPYedvYOcNjt67kJCQRi0ZAIg0AHSovpGITaw0CWkvKQmk00jlYrwNbGOk6fOo6tzQ0wxrCzd4Sd3QPsHXYR064aYkFhjIFxFZOErCRNgSZGZaEWTTSKgDMcW1+1jqztsIWjXh9f3tnH3sERBUAjFh8GBEGIMAxBvq1NgSqqDKSQEI2BAVhdaWNzYx1nrjmB9bU1tVRzdR87+wc46PbIOEosPCpQGkMQhuC0BbhBkFIyDGrNRGNot1s4tr6GM6eO48TWBgLOsL17iC/v7uOAlmqIZYIxhKHZAlx1YojyUGUNghQSohGEAcfGmgoPf/qa42iFLewf9vDFq7s4OKRdNcRywRgDZ2oLMEVubRpUX0WQQkI0ArNUc921J7GxugIhJb68s4e9g0Mc0lINsYQwzuh8m8ZCSkkepJAQtWelE+LYhlqqOXl8E4wxPHN1D89s72P/sIdYkDpCLCdBqLYAc04DXPOgOktDCglRa8KAY21lBSe3NnDdtSex2mlj/6iPL17dxf7hEXr9ftVJJIhK8LYAk3NrQyGlxIVaMVFbGFNLNRvrq7j+9ClsrK+iH8e48sw2dg+OcNTr01INsfTQFuCmQxVnIIWEqC2ddgvrayu4/vRJXHtyC4Baqrm6s4/Doy6imHbVEMuN2QIcBmQlaTaklACkkBA1JQw4NlZXcO2JTVx/+hqEYYi9wyNceWYH+4dd2lVDEAa9BTgIQxrWGg0dFksKCVE7OGNYXWnj2Poqrj9zDY6tr6Lfj3HlmR3sHhyhS0s1BGFhjIEHegswObcuAMtbh408XE/qA6WkiCtOCTELwk4LKy2OUyc2sLm2gjjq4/IXv4ynv/hl7B8cotsjR1aCcJFSIgADg4SMyXq4GCzOtMuM1XLIYZCNVEi+9KUvAQCuPvFIxSkhZsUlAI8/XHUqCIIgiGmxu7uLra2twu8bqZCcPHkSAPDkk08OzByRsLOzg2c/+9l46qmnsLm5WXVyGgGV2ehQmY0OldnoUJmNTpVlJqXE7u4urr/++oHXNVIhMQdKbW1tUWMckc3NTSqzEaEyGx0qs9GhMhsdKrPRqarMyhgPyKmVIAiCIIjKIYWEIAiCIIjKaaRC0ul08KY3vQmdTqfqpDQGKrPRoTIbHSqz0aEyGx0qs9FpQpkxOWwfDkEQBEEQxIxppIWEIAiCIIjFghQSgiAIgiAqhxQSgiAIgiAqhxQSgiAIgiAqp5EKydvf/nZ8xVd8BVZWVnDLLbfg4YeXN8b4Rz/6UXzrt34rrr/+ejDG8Bu/8Rve91JKvPGNb8R1112H1dVVnD9/Hp/73Oe8a5555hnccccd2NzcxPHjx/Ga17wGe3t7c8zF/Lj33nvxtV/7tTh27BhOnz6Nb//2b8fjjz/uXXN0dIQLFy7g1KlT2NjYwO23347Lly971zz55JO47bbbsLa2htOnT+MNb3gDomgxzxB5xzvegZe85CU2oNK5c+fwgQ98wH5P5TWct771rWCM4fWvf739jMrN59/+238Lxpj394IXvMB+T+WVz1/91V/hn/7Tf4pTp05hdXUVL37xi/HJT37Sft+oMUA2jPvuu0+222353/7bf5OPPfaY/IEf+AF5/Phxefny5aqTVgm/+7u/K//Nv/k38n/9r/8lAcj3ve993vdvfetb5dbWlvyN3/gN+X/+z/+R/+gf/SP53Oc+Vx4eHtprvumbvkm+9KUvlR//+Mfl//7f/1s+73nPk9/93d8955zMh1tvvVW+613vkp/5zGfko48+Kr/5m79Z3nDDDXJvb89e80M/9EPy2c9+tnzggQfkJz/5Sfnyl79c/u2//bft91EUyRe96EXy/Pnz8lOf+pT83d/9XXnNNdfIe+65p4oszZzf+q3fkr/zO78j/+zP/kw+/vjj8l//638tW62W/MxnPiOlpPIaxsMPPyy/4iu+Qr7kJS+RP/zDP2w/p3LzedOb3iS/6qu+Sn7hC1+wf08//bT9nsoryzPPPCOf85znyO/7vu+TDz30kPzzP/9z+aEPfUh+/vOft9c0aQxonELydV/3dfLChQv2fRzH8vrrr5f33ntvhamqB2mFRAghz549K3/mZ37Gfnb16lXZ6XTkf//v/11KKeVnP/tZCUB+4hOfsNd84AMfkIwx+Vd/9VdzS3tVXLlyRQKQDz74oJRSlU+r1ZLvfe977TV/8id/IgHIixcvSimVEsg5l5cuXbLXvOMd75Cbm5uy2+3ONwMVceLECflf/st/ofIawu7urnz+858v77//fvn3/t7fswoJlVuWN73pTfKlL31p7ndUXvn82I/9mPyGb/iGwu+bNgY0asmm1+vhkUcewfnz5+1nnHOcP38eFy9erDBl9eSJJ57ApUuXvPLa2trCLbfcYsvr4sWLOH78OG6++WZ7zfnz58E5x0MPPTT3NM+b7e1tAMmBjY888gj6/b5XZi94wQtwww03eGX24he/GGfOnLHX3HrrrdjZ2cFjjz02x9TPnziOcd9992F/fx/nzp2j8hrChQsXcNttt3nlA1A7K+Jzn/scrr/+evzNv/k3cccdd+DJJ58EQOVVxG/91m/h5ptvxj/5J/8Ep0+fxste9jL88i//sv2+aWNAoxSSL37xi4jj2GtwAHDmzBlcunSpolTVF1Mmg8rr0qVLOH36tPd9GIY4efLkwpepEAKvf/3r8fVf//V40YteBECVR7vdxvHjx71r02WWV6bmu0Xk05/+NDY2NtDpdPBDP/RDeN/73ocbb7yRymsA9913H/7oj/4I9957b+Y7Krcst9xyC9797nfjgx/8IN7xjnfgiSeewN/5O38Hu7u7VF4F/Pmf/zne8Y534PnPfz4+9KEP4bWvfS3+xb/4F/iVX/kVAM0bAxp52i9BTIMLFy7gM5/5DP7gD/6g6qTUnq/8yq/Eo48+iu3tbfz6r/867rzzTjz44INVJ6u2PPXUU/jhH/5h3H///VhZWak6OY3gVa96lX39kpe8BLfccgue85zn4H/+z/+J1dXVClNWX4QQuPnmm/HTP/3TAICXvexl+MxnPoN3vvOduPPOOytO3eg0ykJyzTXXIAiCjGf15cuXcfbs2YpSVV9MmQwqr7Nnz+LKlSve91EU4ZlnnlnoMr3rrrvw/ve/H7//+7+PZz3rWfbzs2fPotfr4erVq9716TLLK1Pz3SLSbrfxvOc9DzfddBPuvfdevPSlL8XP//zPU3kV8Mgjj+DKlSv4mq/5GoRhiDAM8eCDD+IXfuEXEIYhzpw5Q+U2hOPHj+Nv/a2/hc9//vPUzgq47rrrcOONN3qfvfCFL7RLXU0bAxqlkLTbbdx000144IEH7GdCCDzwwAM4d+5chSmrJ8997nNx9uxZr7x2dnbw0EMP2fI6d+4crl69ikceecRe8+EPfxhCCNxyyy1zT/OskVLirrvuwvve9z58+MMfxnOf+1zv+5tuugmtVssrs8cffxxPPvmkV2af/vSnvU58//33Y3NzMyMcFhUhBLrdLpVXAa94xSvw6U9/Go8++qj9u/nmm3HHHXfY11Rug9nb28P//b//F9dddx21swK+/uu/PhO24M/+7M/wnOc8B0ADx4C5utBOgfvuu092Oh357ne/W372s5+VP/iDPyiPHz/ueVYvE7u7u/JTn/qU/NSnPiUByJ/92Z+Vn/rUp+Rf/MVfSCnVlq/jx4/L3/zN35R//Md/LL/t274td8vXy172MvnQQw/JP/iDP5DPf/7zF3bb72tf+1q5tbUlP/KRj3jbCw8ODuw1P/RDPyRvuOEG+eEPf1h+8pOflOfOnZPnzp2z35vtha985Svlo48+Kj/4wQ/Ka6+9dmG3F/74j/+4fPDBB+UTTzwh//iP/1j++I//uGSMyd/7vd+TUlJ5lcXdZSMllVuaH/3RH5Uf+chH5BNPPCH/8A//UJ4/f15ec8018sqVK1JKKq88Hn74YRmGofypn/op+bnPfU7+2q/9mlxbW5O/+qu/aq9p0hjQOIVESin/43/8j/KGG26Q7XZbft3XfZ38+Mc/XnWSKuP3f//3JYDM35133imlVNu+fvInf1KeOXNGdjod+YpXvEI+/vjj3j2+9KUvye/+7u+WGxsbcnNzU37/93+/3N3drSA3syevrADId73rXfaaw8ND+c//+T+XJ06ckGtra/If/+N/LL/whS949/l//+//yVe96lVydXVVXnPNNfJHf/RHZb/fn3Nu5sM/+2f/TD7nOc+R7XZbXnvttfIVr3iFVUakpPIqS1ohoXLzefWrXy2vu+462W635d/4G39DvvrVr/biaVB55fPbv/3b8kUvepHsdDryBS94gfzP//k/e983aQxgUko5X5sMQRAEQRCET6N8SAiCIAiCWExIISEIgiAIonJIISEIgiAIonJIISEIgiAIonJIISEIgiAIonJIISEIgiAIonJIISEIgiAIonJIISEIgiAIonJIISEIgiAIonJIISEIgiAIonJIISEIgiAIonJIISEIgiAIonL+/wSvMekLC2owAAAAAElFTkSuQmCC",
|
|
"text/plain": [
|
|
"<Figure size 640x480 with 1 Axes>"
|
|
]
|
|
},
|
|
"metadata": {},
|
|
"output_type": "display_data"
|
|
}
|
|
],
|
|
"source": [
|
|
"import matplotlib.pyplot as plt\n",
|
|
"camera_state = robot.getCameraState()\n",
|
|
"plt.imshow(camera_state['rgb'])"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 4,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"data": {
|
|
"image/png": 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",
|
|
"text/plain": [
|
|
"<Figure size 800x800 with 1 Axes>"
|
|
]
|
|
},
|
|
"metadata": {},
|
|
"output_type": "display_data"
|
|
}
|
|
],
|
|
"source": [
|
|
"import matplotlib.pyplot as plt\n",
|
|
"from mpl_toolkits.mplot3d import proj3d\n",
|
|
"\n",
|
|
"state = robot.getCameraState(get_pointcloud=True)\n",
|
|
"pcd = state['pointcloud']\n",
|
|
"\n",
|
|
"fig = plt.figure(figsize=(8, 8))\n",
|
|
"ax = fig.add_subplot(111, projection='3d')\n",
|
|
"\n",
|
|
"ax.scatter(pcd[:,0], pcd[:,1], pcd[:,2])\n",
|
|
"plt.show()\n"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 4,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"data": {
|
|
"text/plain": [
|
|
"{'q': array([-0.02473053, 1.26249091, -2.82722067, 0.04536265, 1.25053037,\n",
|
|
" -2.79265437, -0.30646674, 1.2828985 , -2.82216135, 0.26426387,\n",
|
|
" 1.29362285, -2.84158745]),\n",
|
|
" 'dq': array([ 0.11278784, -0.00277931, 0.5229731 , -0.1364931 , -0.00321283,\n",
|
|
" 0.35066361, -0.11362303, 0.03049349, 0.49368981, 0.13078971,\n",
|
|
" 0.03355434, 0.59049033]),\n",
|
|
" 'tau_est': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.])}"
|
|
]
|
|
},
|
|
"execution_count": 4,
|
|
"metadata": {},
|
|
"output_type": "execute_result"
|
|
}
|
|
],
|
|
"source": [
|
|
"robot.getJointStates()"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 9,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"import mujoco\n",
|
|
"import time\n",
|
|
"import cv2\n",
|
|
"camera_dt = 1./60.\n",
|
|
"robot.standUpReset()\n",
|
|
"start_time = time.time()\n",
|
|
"step_counter = 0\n",
|
|
"while time.time()-start_time < 10:\n",
|
|
" state = robot.getJointStates()\n",
|
|
" tau = 20*np.eye(12)@(robot.q0 - state['q']).reshape(12,1)\n",
|
|
" robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), tau)\n",
|
|
" robot.step()\n",
|
|
" if step_counter%(camera_dt//robot.dt)==0:\n",
|
|
" camera_state = robot.getCameraState()\n",
|
|
" cv2.imshow('rgb', cv2.cvtColor(camera_state['rgb'], cv2.COLOR_BGR2RGB))\n",
|
|
" cv2.waitKey(1)\n",
|
|
" step_counter+=1\n",
|
|
"cv2.destroyAllWindows()"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "markdown",
|
|
"metadata": {},
|
|
"source": [
|
|
"# Highlevel Simulation"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 1,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"from Go2Py.sim.mujoco import Go2Sim\n",
|
|
"import numpy as np"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 2,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"name": "stdout",
|
|
"output_type": "stream",
|
|
"text": [
|
|
"p_gains: [20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20. 20.]\n"
|
|
]
|
|
}
|
|
],
|
|
"source": [
|
|
"robot = Go2Sim(mode='highlevel')\n",
|
|
"robot.standUpReset()"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 3,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"import mujoco\n",
|
|
"import time\n",
|
|
"import cv2\n",
|
|
"camera_dt = 1./60.\n",
|
|
"robot.standUpReset()\n",
|
|
"start_time = time.time()\n",
|
|
"step_counter = 0\n",
|
|
"while time.time()-start_time < 10:\n",
|
|
" robot.step(0,0,0., step_height=0,kp=[2, 0.5, 0.5], ki=[0.02, 0.01, 0.01])\n",
|
|
" if step_counter%(camera_dt//robot.dt)==0:\n",
|
|
" camera_state = robot.getCameraState()\n",
|
|
" cv2.imshow('rgb', cv2.cvtColor(camera_state['rgb'], cv2.COLOR_BGR2RGB))\n",
|
|
" cv2.waitKey(1)\n",
|
|
" step_counter+=1\n",
|
|
"cv2.destroyAllWindows()"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": null,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"robot.getLaserScan()"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": null,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"import matplotlib.pyplot as plt\n",
|
|
"lidar = robot.getLaserScan(max_range=3.)\n",
|
|
"idx = np.where(lidar['dist']!=-1)[0]\n",
|
|
"plt.plot(lidar['dist'][idx])"
|
|
]
|
|
}
|
|
],
|
|
"metadata": {
|
|
"kernelspec": {
|
|
"display_name": "b1-env",
|
|
"language": "python",
|
|
"name": "python3"
|
|
},
|
|
"language_info": {
|
|
"codemirror_mode": {
|
|
"name": "ipython",
|
|
"version": 3
|
|
},
|
|
"file_extension": ".py",
|
|
"mimetype": "text/x-python",
|
|
"name": "python",
|
|
"nbconvert_exporter": "python",
|
|
"pygments_lexer": "ipython3",
|
|
"version": "3.10.12"
|
|
}
|
|
},
|
|
"nbformat": 4,
|
|
"nbformat_minor": 2
|
|
}
|