From f6fe3071d6bc66b4320f0fe16d45cee92625cdf4 Mon Sep 17 00:00:00 2001 From: fan-ziqi Date: Fri, 5 Apr 2024 20:28:43 +0800 Subject: [PATCH] fix cyberdog model --- src/rl_sar/src/rl_real_cyberdog.cpp | 18 +- src/rl_sar/src/rl_sim.cpp | 2 +- .../cyberdog1_description/meshes/abad.dae | 188 --------- .../cyberdog1_description/meshes/body.dae | 59 --- .../cyberdog1_description/meshes/hip.dae | 391 ------------------ .../meshes/hip_mirror.dae | 391 ------------------ .../cyberdog1_description/meshes/knee.dae | 130 ------ .../urdf/cyberdog_description.urdf | 71 ++-- ...yberdog_description.urdf => cyberdog.urdf} | 103 +++-- .../cyberdog1_description/xacro/gazebo.xacro | 4 +- .../cyberdog1_description/xacro/leg.xacro | 6 +- .../cyberdog1_description/xacro/robot.xacro | 5 +- ...ion.urdf => cyberdog_old_description.urdf} | 52 +-- 13 files changed, 142 insertions(+), 1278 deletions(-) delete mode 100644 src/robots/cyberdog1_description/meshes/abad.dae delete mode 100644 src/robots/cyberdog1_description/meshes/body.dae delete mode 100644 src/robots/cyberdog1_description/meshes/hip.dae delete mode 100644 src/robots/cyberdog1_description/meshes/hip_mirror.dae delete mode 100644 src/robots/cyberdog1_description/meshes/knee.dae rename src/robots/cyberdog1_description/urdf_for_isaacgym/{cyberdog_description.urdf => cyberdog.urdf} (91%) rename src/robots/cyberdog_old_description/urdf/{cyberdog_description.urdf => cyberdog_old_description.urdf} (92%) diff --git a/src/rl_sar/src/rl_real_cyberdog.cpp b/src/rl_sar/src/rl_real_cyberdog.cpp index 19fd078..b990283 100644 --- a/src/rl_sar/src/rl_real_cyberdog.cpp +++ b/src/rl_sar/src/rl_real_cyberdog.cpp @@ -21,7 +21,7 @@ RL_Real::RL_Real() : CustomInterface(500) this->params.clip_obs = 100.0; this->params.clip_actions = 100.0; this->params.damping = 0.5; - this->params.stiffness = 25; + this->params.stiffness = 20; this->params.d_gains = torch::ones(12) * this->params.damping; this->params.p_gains = torch::ones(12) * this->params.stiffness; this->params.action_scale = 0.25; @@ -33,10 +33,10 @@ RL_Real::RL_Real() : CustomInterface(500) this->params.dof_vel_scale = 0.05; this->params.commands_scale = torch::tensor({this->params.lin_vel_scale, this->params.lin_vel_scale, this->params.ang_vel_scale}); - this->params.torque_limits = torch::tensor({{17.0, 24.0, 24.0, - 17.0, 24.0, 24.0, - 17.0, 24.0, 24.0, - 17.0, 24.0, 24.0}}); + this->params.torque_limits = torch::tensor({{24.0, 24.0, 24.0, + 24.0, 24.0, 24.0, + 24.0, 24.0, 24.0, + 24.0, 24.0, 24.0}}); // hip, thigh, calf this->params.default_dof_pos = torch::tensor({{ 0.1000, 0.8000, -1.5000, // FL @@ -167,10 +167,10 @@ void RL_Real::RobotControl() // cyberdogCmd.q_des[i] = 0; cyberdogCmd.q_des[i] = output_dof_pos[0][dof_mapping[i]].item(); cyberdogCmd.qd_des[i] = 0; - // cyberdogCmd.kp_des[i] = params.stiffness; - // cyberdogCmd.kd_des[i] = params.damping; - cyberdogCmd.kp_des[i] = Kp[dof_mapping[i]]; - cyberdogCmd.kd_des[i] = Kd[dof_mapping[i]]; + cyberdogCmd.kp_des[i] = params.stiffness; + cyberdogCmd.kd_des[i] = params.damping; + // cyberdogCmd.kp_des[i] = Kp[dof_mapping[i]]; + // cyberdogCmd.kd_des[i] = Kd[dof_mapping[i]]; // cyberdogCmd.tau_des[i] = output_torques[0][dof_mapping[i]].item(); cyberdogCmd.tau_des[i] = 0; } diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp index 68ce561..b7087f3 100644 --- a/src/rl_sar/src/rl_sim.cpp +++ b/src/rl_sar/src/rl_sim.cpp @@ -24,7 +24,7 @@ RL_Sim::RL_Sim() this->params.clip_obs = 100.0; this->params.clip_actions = 100.0; this->params.damping = 0.5; - this->params.stiffness = 25; + this->params.stiffness = 20; this->params.d_gains = torch::ones(12) * this->params.damping; this->params.p_gains = torch::ones(12) * this->params.stiffness; this->params.action_scale = 0.25; diff --git a/src/robots/cyberdog1_description/meshes/abad.dae b/src/robots/cyberdog1_description/meshes/abad.dae deleted file mode 100644 index 98afc68..0000000 --- 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9085 9325 14385 6011 9325 14386 6014 9325 14387 9084 9326 14388 7319 9326 14389 6010 9326 14390 9087 9332 14400 9085 9332 14401 6014 9332 14402 9097 9338 14418 6024 9338 14419 6026 9338 14420 9099 9338 14433 9097 9338 14434 6026 9338 14435 6963 9334 14439 6033 9334 14440 6035 9334 14441 9106 9335 14442 6033 9335 14443 6963 9335 14444 9109 9348 14448 6036 9348 14449 6039 9348 14450 9107 9339 14451 6963 9340 14452 6035 9341 14453 9112 9351 14460 9109 9351 14461 6039 9351 14462 6256 9380 14517 6059 9380 14518 6061 9380 14519 6260 9381 14520 6059 9381 14521 6256 9381 14522 6921 9382 14523 6059 9382 14524 6260 9382 14525 6930 9385 14532 6062 9385 14533 6065 9385 14534 6929 9386 14535 6256 9387 14536 6061 9388 14537 6936 9392 14547 6930 9392 14548 6065 9392 14549 6218 9394 14556 6071 9394 14557 6074 9394 14558 6239 9395 14559 6071 9395 14560 6218 9395 14561 6242 9396 14562 6071 9396 14563 6239 9396 14564 6943 9397 14565 6071 9397 14566 6242 9397 14567 6205 9399 14574 6073 9399 14575 6078 9399 14576 6218 9400 14577 6074 9401 14578 6207 9402 14579 6203 9421 14598 6078 9421 14599 6193 9421 14600 6203 9422 14601 6200 9422 14602 6078 9422 14603 6205 9423 14604 6078 9423 14605 6200 9423 14606 6208 9746 14979 6206 9746 14980 6201 9746 14981 6208 9747 14982 6201 9747 14983 6214 9747 14984 6214 9748 14985 6211 9748 14986 6208 9748 14987 6218 9752 14991 6207 9752 14992 6210 9752 14993 6929 9838 15105 6926 9838 15106 6256 9838 15107 6937 11542 16968 6928 11542 16969 6931 11542 16970 6937 11543 16971 6934 11543 16972 6928 11543 16973 9110 11564 17028 6956 11564 17029 6960 11564 17030 9107 11565 17031 6959 11565 17032 6963 11565 17033 9110 11566 17034 6960 11566 17035 9108 11566 17036 9098 11571 17049 6968 11571 17050 6972 11571 17051 9098 11573 17055 6972 11573 17056 9096 11573 17057 9086 11578 17070 6980 11578 17071 6984 11578 17072 9083 11581 17079 6984 11581 17080 7314 11581 17081 9086 11578 17082 6984 11578 17083 9083 11578 17084 9083 12215 18135 7314 12215 18136 7316 12215 18137 9084 12216 18141 7317 12216 18142 7319 12216 18143

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9552 136 22536 9499 136 22537 9496 136 22538 9552 136 22542 9496 136 22543 9567 136 22544 9567 136 22545 9564 136 22546 9552 136 22547 9550 136 22563 9502 136 22564 9499 136 22565 9552 136 22569 9550 136 22570 9499 136 22571 9550 136 22575 9504 136 22576 9502 136 22577 9510 136 22587 9507 136 22588 9504 136 22589 9512 136 22593 9510 136 22594 9504 136 22595 9515 136 22596 9512 136 22597 9504 136 22598 9656 136 22599 9515 136 22600 9504 136 22601 9656 136 22602 9504 136 22603 9550 136 22604 9664 136 22641 9518 136 22642 9515 136 22643 9664 136 22647 9515 136 22648 9656 136 22649 9664 136 22653 9520 136 22654 9518 136 22655 9539 136 22662 9523 136 22663 9520 136 22664 9661 136 22668 9539 136 22669 9520 136 22670 9664 136 22671 9661 136 22672 9520 136 22673 9526 136 22692 9523 136 22693 9539 136 22694 9539 15339 22698 9528 15340 22699 9526 15341 22700 9534 136 22716 9531 136 22717 9528 136 22718 9536 136 22722 9534 136 22723 9528 136 22724 9539 136 22725 9536 136 22726 9528 136 22727 9661 136 22752 9542 136 22753 9539 136 22754 9661 136 22758 9544 136 22759 9542 136 22760 9661 136 22773 9546 136 22774 9544 136 22775 9659 136 22782 9548 136 22783 9546 136 22784 9661 136 22788 9659 136 22789 9546 136 22790 9656 136 22803 9550 136 22804 9548 136 22805 9659 136 22809 9656 136 22810 9548 136 22811 9564 136 22824 9555 136 22825 9552 136 22826 9564 136 22848 9558 136 22849 9555 136 22850 9564 136 22854 9560 136 22855 9558 136 22856 9611 136 22884 9572 136 22885 9569 136 22886 9637 136 22890 9569 136 22891 9577 136 22892 9630 136 22896 9611 136 22897 9569 136 22898 9633 136 22899 9630 136 22900 9569 136 22901 9635 136 22902 9633 136 22903 9569 136 22904 9637 136 22905 9635 136 22906 9569 136 22907 9606 136 22911 9574 136 22912 9572 136 22913 9609 136 22917 9606 136 22918 9572 136 22919 9611 136 22920 9609 136 22921 9572 136 22922 9639 136 22926 9577 136 22927 9574 136 22928 9606 136 22932 9595 136 22933 9574 136 22934 9641 136 22935 9574 136 22936 9595 136 22937 9641 136 22938 9639 136 22939 9574 136 22940 9639 136 22944 9637 136 22945 9577 136 22946 9654 136 22950 9582 136 22951 9579 136 22952 9585 136 22965 9582 136 22966 9590 136 22967 9590 136 22971 9587 136 22972 9585 136 22973 9643 136 22974 9590 136 22975 9582 136 22976 9646 136 22977 9643 136 22978 9582 136 22979 9649 136 22980 9646 136 22981 9582 136 22982 9651 136 22983 9649 136 22984 9582 136 22985 9654 136 22986 9651 136 22987 9582 136 22988 9643 136 23010 9593 136 23011 9590 136 23012 9641 136 23016 9595 136 23017 9593 136 23018 9643 136 23022 9641 136 23023 9593 136 23024 9601 136 23028 9598 136 23029 9595 136 23030 9603 136 23034 9601 136 23035 9595 136 23036 9606 136 23037 9603 136 23038 9595 136 23039 9630 136 23112 9614 136 23113 9611 136 23114 9630 136 23139 9617 136 23140 9614 136 23141 9630 136 23151 9619 136 23152 9617 136 23153 9625 136 23160 9622 136 23161 9619 136 23162 9627 136 23166 9625 136 23167 9619 136 23168 9630 136 23169 9627 136 23170 9619 136 23171 9711 136 23319 9669 136 23320 9666 136 23321 9676 136 23325 9666 136 23326 9674 136 23327 9737 136 23331 9666 136 23332 9676 136 23333 9735 136 23334 9711 136 23335 9666 136 23336 9737 136 23337 9735 136 23338 9666 136 23339 9709 136 23343 9671 136 23344 9669 136 23345 9711 136 23349 9709 136 23350 9669 136 23351 9700 136 23355 9674 136 23356 9671 136 23357 9703 136 23361 9700 136 23362 9671 136 23363 9707 136 23364 9703 136 23365 9671 136 23366 9709 136 23367 9707 136 23368 9671 136 23369 9679 136 23373 9676 136 23374 9674 136 23375 9681 136 23376 9679 136 23377 9674 136 23378 9689 136 23379 9681 136 23380 9674 136 23381 9692 136 23382 9689 136 23383 9674 136 23384 9700 136 23385 9692 136 23386 9674 136 23387 9745 136 23394 9737 136 23395 9676 136 23396 9687 136 23412 9684 136 23413 9681 136 23414 9689 136 23418 9687 136 23419 9681 136 23420 9700 136 23469 9695 136 23470 9692 136 23471 9700 136 23478 9697 136 23479 9695 136 23480 9707 136 23499 9705 136 23500 9703 136 23501 9735 136 23541 9713 136 23542 9711 136 23543 9724 136 23550 9716 136 23551 9713 136 23552 9732 136 23556 9724 136 23557 9713 136 23558 9735 136 23559 9732 136 23560 9713 136 23561 9724 136 23586 9719 136 23587 9716 136 23588 9724 136 23592 9721 136 23593 9719 136 23594 9727 136 23619 9724 136 23620 9732 136 23621 9732 136 23625 9729 136 23626 9727 136 23627 9743 136 23658 9740 136 23659 9737 136 23660 9745 136 23664 9743 136 23665 9737 136 23666 9796 136 23715 9751 136 23716 9748 136 23717 9761 136 23721 9748 136 23722 9756 136 23723 9822 136 23727 9748 136 23728 9761 136 23729 9822 136 23730 9796 136 23731 9748 136 23732 9794 136 23736 9753 136 23737 9751 136 23738 9796 136 23742 9794 136 23743 9751 136 23744 9785 136 23748 9756 136 23749 9753 136 23750 9788 136 23754 9785 136 23755 9753 136 23756 9792 136 23757 9788 136 23758 9753 136 23759 9794 136 23760 9792 136 23761 9753 136 23762 9764 136 23766 9761 136 23767 9756 136 23768 9766 136 23769 9764 136 23770 9756 136 23771 9769 136 23772 9766 136 23773 9756 136 23774 9772 136 23775 9769 136 23776 9756 136 23777 9774 136 23778 9772 136 23779 9756 136 23780 9785 136 23781 9774 136 23782 9756 136 23783 9822 136 23787 9761 136 23788 9758 136 23789 9828 136 23793 9822 136 23794 9758 136 23795 9785 136 23856 9777 136 23857 9774 136 23858 9785 136 23868 9780 136 23869 9777 136 23870 9785 136 23877 9782 136 23878 9780 136 23879 9792 136 23895 9790 136 23896 9788 136 23897 9820 136 23943 9798 136 23944 9796 136 23945 9822 136 23949 9820 136 23950 9796 136 23951 9809 136 23955 9801 136 23956 9798 136 23957 9817 136 23961 9809 136 23962 9798 136 23963 9820 136 23964 9817 136 23965 9798 136 23966 9809 136 23985 9804 136 23986 9801 136 23987 9809 136 23991 9806 136 23992 9804 136 23993 9812 16069 24012 9809 16070 24013 9817 16071 24014 9817 136 24018 9814 136 24019 9812 136 24020 9828 136 24051 9825 136 24052 9822 136 24053 14322 16127 24105 9832 16127 24106 9834 16127 24107 14932 16138 24120 14322 16138 24121 9834 16138 24122 14935 16139 24123 9834 16139 24124 14907 16139 24125 14935 16143 24129 14932 16143 24130 9834 16143 24131 14932 16258 24258 9881 16259 24259 9885 16260 24260 14932 16261 24261 14909 16261 24262 9881 16261 24263 14932 16262 24264 9885 16262 24265 14322 16262 24266 9965 16263 24267 9891 16264 24268 9888 16265 24269 10150 16266 24270 9890 16266 24271 9892 16266 24272 9965 16267 24273 9888 16268 24274 9947 16269 24275 10008 16270 24276 9948 16270 24277 9889 16270 24278 10008 16271 24279 9889 16271 24280 9997 16271 24281 10104 16272 24282 9998 16272 24283 9890 16272 24284 10121 16273 24285 10104 16273 24286 9890 16273 24287 10124 16274 24288 10121 16274 24289 9890 16274 24290 10126 16275 24291 10124 16275 24292 9890 16275 24293 10142 16276 24294 10126 16276 24295 9890 16276 24296 10145 16277 24297 10142 16277 24298 9890 16277 24299 10147 16278 24300 10145 16279 24301 9890 16280 24302 10150 16281 24303 10147 16281 24304 9890 16281 24305 9978 16282 24306 9893 16283 24307 9891 16284 24308 10162 16285 24309 9892 16285 24310 9894 16285 24311 9978 16286 24312 9891 16287 24313 9965 16288 24314 10152 16289 24315 10150 16290 24316 9892 16291 24317 10155 16292 24318 10152 16292 24319 9892 16292 24320 10157 16293 24321 10155 16293 24322 9892 16293 24323 10160 16294 24324 10157 16294 24325 9892 16294 24326 10162 16295 24327 10160 16295 24328 9892 16295 24329 9976 16296 24330 9895 16297 24331 9893 16298 24332 10167 16299 24333 9894 16299 24334 9896 16299 24335 9978 16300 24336 9976 16301 24337 9893 16302 24338 10165 16303 24339 10162 16303 24340 9894 16303 24341 10167 16304 24342 10165 16304 24343 9894 16304 24344 9938 16305 24345 9897 16306 24346 9895 16307 24347 10172 16308 24348 9896 16308 24349 9898 16308 24350 9973 16309 24351 9938 16310 24352 9895 16311 24353 9976 16312 24354 9973 16313 24355 9895 16314 24356 10170 16315 24357 10167 16315 24358 9896 16315 24359 10172 16316 24360 10170 16316 24361 9896 16316 24362 9949 16317 24363 9899 16318 24364 9897 16319 24365 10201 16320 24366 9898 16320 24367 9900 16320 24368 9949 16321 24369 9897 16322 24370 9938 16323 24371 10188 16324 24372 10172 16324 24373 9898 16324 24374 10191 16325 24375 10188 16325 24376 9898 16325 24377 10193 16326 24378 10191 16326 24379 9898 16326 24380 10196 16327 24381 10193 16327 24382 9898 16327 24383 10198 16328 24384 10196 16328 24385 9898 16328 24386 10201 16329 24387 10198 16329 24388 9898 16329 24389 9962 16330 24390 9901 16331 24391 9899 16332 24392 10206 16333 24393 9900 16333 24394 9902 16333 24395 9962 16334 24396 9899 16335 24397 9949 16336 24398 10203 16337 24399 10201 16337 24400 9900 16337 24401 10206 16338 24402 10203 16338 24403 9900 16338 24404 9957 16339 24405 9903 16340 24406 9901 16341 24407 10211 16342 24408 9902 16342 24409 9904 16342 24410 9960 16343 24411 9957 16344 24412 9901 16345 24413 9962 16346 24414 9960 16347 24415 9901 16348 24416 10208 16349 24417 10206 16349 24418 9902 16349 24419 10211 16350 24420 10208 16350 24421 9902 16350 24422 9936 16351 24423 9905 16352 24424 9903 16353 24425 10216 16354 24426 9904 16354 24427 9906 16354 24428 9954 16355 24429 9936 16356 24430 9903 16357 24431 9957 16358 24432 9954 16359 24433 9903 16360 24434 10213 16361 24435 10211 16361 24436 9904 16361 24437 10216 16362 24438 10213 16362 24439 9904 16362 24440 9934 16363 24441 9907 16364 24442 9905 16365 24443 10237 16366 24444 9906 16366 24445 9908 16366 24446 9936 16367 24447 9934 16368 24448 9905 16369 24449 10218 16370 24450 10216 16370 24451 9906 16370 24452 10229 16371 24453 10218 16371 24454 9906 16371 24455 10232 16372 24456 10229 16372 24457 9906 16372 24458 10234 16373 24459 10232 16373 24460 9906 16373 24461 10237 16374 24462 10234 16374 24463 9906 16374 24464 9934 16375 24465 9909 16376 24466 9907 16377 24467 10242 16378 24468 9908 16378 24469 9910 16378 24470 10239 16379 24471 10237 16379 24472 9908 16379 24473 10242 16380 24474 10239 16380 24475 9908 16380 24476 9934 16381 24477 9911 16382 24478 9909 16383 24479 10247 16384 24480 9910 16384 24481 9912 16384 24482 10244 16385 24483 10242 16385 24484 9910 16385 24485 10247 16386 24486 10244 16386 24487 9910 16386 24488 9934 16387 24489 9913 16388 24490 9911 16389 24491 10268 16390 24492 9912 16390 24493 9914 16390 24494 10249 16391 24495 10247 16391 24496 9912 16391 24497 10260 16392 24498 10249 16392 24499 9912 16392 24500 10263 16393 24501 10260 16393 24502 9912 16393 24503 10265 16394 24504 10263 16394 24505 9912 16394 24506 10268 16395 24507 10265 16395 24508 9912 16395 24509 9992 16396 24510 9915 16397 24511 9913 16398 24512 10278 16399 24513 9914 16399 24514 9916 16399 24515 9981 16400 24516 9913 16401 24517 9934 16402 24518 9994 16403 24519 9913 16404 24520 9981 16405 24521 9994 16406 24522 9992 16407 24523 9913 16408 24524 10270 16409 24525 10268 16409 24526 9914 16409 24527 10273 16410 24528 10270 16410 24529 9914 16410 24530 10275 16411 24531 10273 16411 24532 9914 16411 24533 10278 16412 24534 10275 16412 24535 9914 16412 24536 9989 16413 24537 9917 16414 24538 9915 16415 24539 10285 16416 24540 9916 16416 24541 9918 16416 24542 9992 16417 24543 9989 16418 24544 9915 16419 24545 10280 16420 24546 10278 16420 24547 9916 16420 24548 10283 16421 24549 10280 16421 24550 9916 16421 24551 10285 16422 24552 10283 16422 24553 9916 16422 24554 9931 16423 24555 9919 16424 24556 9917 16425 24557 10290 16426 24558 9918 16426 24559 9920 16426 24560 9986 16427 24561 9931 16428 24562 9917 16429 24563 9989 16430 24564 9986 16431 24565 9917 16432 24566 10288 16433 24567 10285 16434 24568 9918 16435 24569 10290 16436 24570 10288 16436 24571 9918 16436 24572 9924 16437 24573 9921 16438 24574 9919 16439 24575 10321 16440 24576 9920 16440 24577 9922 16440 24578 9926 16441 24579 9924 16442 24580 9919 16443 24581 9929 16444 24582 9926 16445 24583 9919 16446 24584 9931 16447 24585 9929 16448 24586 9919 16449 24587 10293 16450 24588 10290 16451 24589 9920 16452 24590 10295 16453 24591 10293 16453 24592 9920 16453 24593 10298 16454 24594 10295 16455 24595 9920 16456 24596 10300 16457 24597 10298 16457 24598 9920 16457 24599 10316 16458 24600 10300 16458 24601 9920 16458 24602 10319 16459 24603 10316 16459 24604 9920 16459 24605 10321 16460 24606 10319 16460 24607 9920 16460 24608 14561 16461 24609 9923 16462 24610 9925 16463 24611 10324 16464 24612 10321 16465 24613 9922 16466 24614 10326 16467 24615 10324 16467 24616 9922 16467 24617 10329 16468 24618 10326 16468 24619 9922 16468 24620 10331 16469 24621 10329 16469 24622 9922 16469 24623 10334 16470 24624 10331 16470 24625 9922 16470 24626 10345 16471 24627 10334 16471 24628 9922 16471 24629 14572 16472 24630 10346 16473 24631 9923 16474 24632 14561 16475 24633 14558 16476 24634 9923 16477 24635 14574 16478 24636 9923 16479 24637 14558 16480 24638 14574 16481 24639 14572 16482 24640 9923 16483 24641 14563 16484 24642 9925 16485 24643 9927 16486 24644 14563 16487 24645 14561 16488 24646 9925 16489 24647 14569 16490 24648 9928 16491 24649 9930 16492 24650 14566 16493 24651 14563 16494 24652 9927 16495 24653 14568 16496 24654 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40609 52760 21536 40610 52761 21430 40611 52762 21501 40612 52763 21535 40613 52764 21534 40614 52765 21429 40615 52766 21445 40616 52767 21438 40617 52768 21435 40618 52769 21572 40619 52770 21437 40620 52771 21439 40621 52772 21571 40622 52773 21570 40623 52774 21436 40624 52775 21575 40625 52776 21442 40626 52777 21444 40627 52778 21575 40628 52779 21574 40629 52780 21442 40630 52781 21492 40631 52782 21448 40632 52783 21450 40633 52784 21502 40634 52785 21451 40635 52786 21454 40636 52787 21517 40637 52788 21493 40638 52789 21452 40639 52790 21517 40640 52791 21452 40641 52792 21503 40642 52793 21504 40643 52794 21502 40644 52795 21454 40645 52796 21508 40646 52797 21504 40647 52798 21454 40648 52799 21472 40649 52800 21459 40650 52801 21455 40651 52802 21546 40652 52803 21458 40653 52804 21481 40654 52805 21508 40655 52806 21462 40656 52807 21464 40657 52808 21543 40658 52809 21466 40659 52810 21468 40660 52811 21541 40661 52812 21509 40662 52813 21465 40663 52814 21543 40664 52815 21542 40665 52816 21466 40666 52817 21543 40667 52818 21468 40668 52819 21470 40669 52820 21544 40670 52821 21471 40671 52822 21473 40672 52823 21482 40673 52824 21478 40674 52825 21474 40675 52826 21510 40676 52827 21475 40677 52828 21479 40678 52829 21513 40679 52830 21477 40680 52831 21511 40681 52832 21548 40682 52833 21477 40683 52834 21513 40684 52835 21512 40685 52836 21510 40686 52837 21479 40687 52838 21515 40688 52839 21512 40689 52840 21479 40690 52841 21515 40691 52842 21485 40692 52843 21487 40693 52844 21553 40694 52845 21489 40695 52846 21491 40696 52847 21551 40697 52848 21516 40698 52849 21488 40699 52850 21553 40700 52851 21552 40701 52852 21489 40702 52853 21499 40703 52854 21493 40704 52855 21495 40705 52856 21517 40706 52857 21495 40707 52858 21493 40708 52859 21500 40709 52860 21498 40710 52861 21494 40711 52862 21536 40712 52863 21501 40713 52864 21496 40714 52865 21538 40715 52866 21497 40716 52867 21518 40717 52868 21537 40718 52869 21536 40719 52870 21496 40720 52871 21517 40721 52872 21503 40722 52873 21505 40723 52874 21541 40724 52875 21507 40725 52876 21509 40726 52877 21538 40727 52878 21518 40728 52879 21506 40729 52880 21539 40730 52881 21538 40731 52882 21506 40732 52883 21541 40733 52884 21540 40734 52885 21507 40735 52886 21551 40736 52887 21514 40737 52888 21516 40738 52889 21549 40739 52890 21548 40740 52891 21513 40741 52892 21551 40742 52893 21550 40743 52894 21514 40744 52895

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2089 21 2346 948 21 2347 932 21 2348 2091 21 2352 932 21 2353 959 21 2354 2091 21 2355 2089 21 2356 932 21 2357 999 21 2388 942 21 2389 946 21 2390 1001 21 2391 942 21 2392 999 21 2393 1042 21 2394 942 21 2395 1001 21 2396 1042 21 2397 1040 21 2398 942 21 2399 1949 1537 2403 1946 1537 2404 948 1537 2405 2065 1538 2406 948 1538 2407 1946 1538 2408 2077 21 2409 1949 21 2410 948 21 2411 2062 21 2412 2021 21 2413 948 21 2414 2065 21 2415 2062 21 2416 948 21 2417 2079 21 2418 2077 21 2419 948 21 2420 2081 21 2421 2079 21 2422 948 21 2423 2084 21 2424 2081 21 2425 948 21 2426 2086 21 2427 2084 21 2428 948 21 2429 2089 21 2430 2086 21 2431 948 21 2432 2091 21 2439 959 21 2440 952 21 2441 2094 21 2445 952 21 2446 966 21 2447 2094 21 2448 2091 21 2449 952 21 2450 2094 1562 2481 966 1562 2482 969 1562 2483 2104 21 2490 969 21 2491 980 21 2492 2096 21 2493 2094 21 2494 969 21 2495 2104 21 2496 2096 21 2497 969 21 2498 2106 21 2517 980 21 2518 983 21 2519 2106 21 2520 2104 21 2521 980 21 2522 2109 1582 2526 983 1582 2527 996 1582 2528 2109 1583 2529 2106 1583 2530 983 1583 2531 2936 21 2532 986 21 2533 989 21 2534 2936 21 2538 1039 21 2539 986 21 2540 2936 21 2544 989 21 2545 2934 21 2546 2138 1596 2553 996 1596 2554 2041 1596 2555 2111 21 2556 2109 21 2557 996 21 2558 2133 1597 2559 2111 1597 2560 996 1597 2561 2135 21 2562 2133 21 2563 996 21 2564 2138 1598 2565 2135 1598 2566 996 1598 2567 2936 21 2673 1036 21 2674 1039 21 2675 1110 21 2775 1088 21 2776 1091 21 2777 1119 1728 2778 1088 1728 2779 1110 1728 2780 1110 21 2781 1091 21 2782 1093 21 2783 1113 21 2784 1093 21 2785 1095 21 2786 1113 1729 2787 1110 1729 2788 1093 1729 2789 1117 21 2790 1095 21 2791 1097 21 2792 1115 21 2793 1113 21 2794 1095 21 2795 1117 1730 2796 1115 1730 2797 1095 1730 2798 1101 21 2799 1097 21 2800 1099 21 2801 1117 21 2802 1097 21 2803 1101 21 2804 1125 1731 2805 1101 1731 2806 1099 1731 2807 1123 21 2811 1104 21 2812 1101 21 2813 1125 21 2820 1123 21 2821 1101 21 2822 1121 21 2826 1106 21 2827 1104 21 2828 1123 21 2832 1121 21 2833 1104 21 2834 1121 21 2841 1108 21 2842 1106 21 2843 1119 21 2859 1110 21 2860 1108 21 2861 1121 1771 2865 1119 1771 2866 1108 1771 2867 1201 21 2988 1154 21 2989 1157 21 2990 1184 21 2991 1157 21 2992 1159 21 2993 1182 21 2994 1171 21 2995 1157 21 2996 1201 21 2997 1157 21 2998 1171 21 2999 1184 1874 3000 1182 1874 3001 1157 1874 3002 1184 21 3006 1159 21 3007 1161 21 3008 1186 21 3012 1161 21 3013 1163 21 3014 1186 21 3018 1184 21 3019 1161 21 3020 1188 1887 3024 1186 1887 3025 1163 1887 3026 1191 21 3027 1188 21 3028 1163 21 3029 1193 21 3030 1191 21 3031 1163 21 3032 1196 21 3033 1193 21 3034 1163 21 3035 1199 21 3036 1196 21 3037 1163 21 3038 1182 1900 3051 1174 1900 3052 1171 1900 3053 1179 21 3063 1177 21 3064 1174 21 3065 1182 21 3069 1179 21 3070 1174 21 3071 1306 137 3165 1241 137 3166 1219 137 3167 1414 137 3174 1411 137 3175 1224 137 3176 1419 1990 3177 1224 1990 3178 1411 1990 3179 1416 137 3180 1414 137 3181 1224 137 3182 1306 2019 3219 1291 2019 3220 1241 2019 3221 1345 21 3222 1246 21 3223 1244 21 3224 1345 21 3228 1244 21 3229 1258 21 3230 2925 21 3231 1246 21 3232 1345 21 3233 1345 21 3240 1258 21 3241 1250 21 3242 1343 21 3246 1250 21 3247 1260 21 3248 1345 2032 3249 1250 2032 3250 1343 2032 3251 1341 21 3270 1260 21 3271 1262 21 3272 1343 21 3276 1260 21 3277 1341 21 3278 1341 2057 3282 1262 2057 3283 1264 2057 3284 1339 2064 3291 1264 2064 3292 1266 2064 3293 1341 2068 3297 1264 2068 3298 1339 2068 3299 2923 21 3306 1339 21 3307 1266 21 3308 1301 137 3333 1279 137 3334 1282 137 3335 1297 137 3336 1292 137 3337 1279 137 3338 1301 2099 3339 1297 2099 3340 1279 2099 3341 1301 137 3342 1282 137 3343 1284 137 3344 1303 137 3345 1284 137 3346 1286 137 3347 1303 137 3348 1301 137 3349 1284 137 3350 1306 137 3351 1286 137 3352 1289 137 3353 1306 137 3354 1303 137 3355 1286 137 3356 1306 137 3357 1289 137 3358 1291 137 3359 1297 137 3360 1294 137 3361 1292 137 3362 1339 2150 3429 1325 2150 3430 1323 2150 3431 1339 21 3435 1323 21 3436 1334 21 3437 2923 2154 3438 1325 2154 3439 1339 2154 3440 1339 2170 3456 1334 2170 3457 1337 2170 3458 1384 2187 3501 1373 2187 3502 1378 2187 3503 1400 137 3504 1373 137 3505 1384 137 3506 1405 137 3516 1384 137 3517 1386 137 3518 1402 137 3525 1400 137 3526 1384 137 3527 1405 137 3528 1402 137 3529 1384 137 3530 1407 137 3534 1405 137 3535 1386 137 3536 1409 2206 3537 1407 2206 3538 1386 2206 3539 1419 137 3540 1409 137 3541 1386 137 3542 1427 137 3546 1390 137 3547 1392 137 3548 1447 2210 3549 1426 2210 3550 1390 2210 3551 1447 2211 3552 1390 2211 3553 1427 2211 3554 1430 137 3555 1392 137 3556 1394 137 3557 1430 2212 3558 1427 2212 3559 1392 2212 3560 1434 2213 3561 1394 2213 3562 1396 2213 3563 1432 137 3564 1430 137 3565 1394 137 3566 1434 2214 3567 1432 2214 3568 1394 2214 3569 1436 137 3570 1396 137 3571 1399 137 3572 1436 2215 3573 1434 2215 3574 1396 2215 3575 1438 137 3576 1399 137 3577 1422 137 3578 1438 2216 3579 1436 2216 3580 1399 2216 3581 1419 2238 3603 1411 2238 3604 1409 2238 3605 1441 137 3627 1422 137 3628 1424 137 3629 1441 2260 3630 1438 2260 3631 1422 2260 3632 1445 2261 3633 1424 2261 3634 1426 2261 3635 1443 137 3636 1441 137 3637 1424 137 3638 1445 2262 3639 1443 2262 3640 1424 2262 3641 1447 2263 3642 1445 2263 3643 1426 2263 3644 1480 21 3705 1451 21 3706 1453 21 3707 1478 21 3708 1470 21 3709 1451 21 3710 1480 21 3711 1478 21 3712 1451 21 3713 1483 2324 3714 1453 2324 3715 1455 2324 3716 1483 2325 3717 1480 2325 3718 1453 2325 3719 1485 21 3720 1455 21 3721 1457 21 3722 1485 21 3723 1483 21 3724 1455 21 3725 1485 21 3726 1457 21 3727 1459 21 3728 1487 21 3729 1459 21 3730 1462 21 3731 1487 2326 3732 1485 2326 3733 1459 2326 3734 1471 21 3735 1462 21 3736 1464 21 3737 1487 2327 3738 1462 2327 3739 1471 2327 3740 1474 21 3741 1464 21 3742 1466 21 3743 1474 21 3744 1471 21 3745 1464 21 3746 1476 21 3747 1466 21 3748 1468 21 3749 1476 21 3750 1474 21 3751 1466 21 3752 1476 21 3753 1468 21 3754 1470 21 3755 1478 2328 3756 1476 2328 3757 1470 2328 3758 2043 21 5517 1933 21 5518 1935 21 5519 2043 21 5520 1940 21 5521 1933 21 5522 2046 3617 5523 1935 3617 5524 1938 3617 5525 2046 3618 5526 2043 3618 5527 1935 3618 5528 2055 21 5529 1938 21 5530 1940 21 5531 2053 3619 5532 2046 3619 5533 1938 3619 5534 2055 21 5535 2053 21 5536 1938 21 5537 2043 3620 5538 2021 3621 5539 1940 3622 5540 2055 21 5541 1940 21 5542 2021 21 5543 2070 21 5544 1944 21 5545 1941 21 5546 2075 21 5550 1941 21 5551 1949 21 5552 2072 3629 5556 2070 3629 5557 1941 3629 5558 2075 21 5559 2072 21 5560 1941 21 5561 2067 3633 5565 1946 3633 5566 1944 3633 5567 2070 21 5571 2067 21 5572 1944 21 5573 2067 3643 5580 2065 3643 5581 1946 3643 5582 2077 21 5586 2075 21 5587 1949 21 5588 2125 3650 5592 1954 3650 5593 1951 3650 5594 2128 21 5598 1951 21 5599 1959 21 5600 2128 21 5604 2125 21 5605 1951 21 5606 2123 21 5610 1956 21 5611 1954 21 5612 2125 21 5616 2123 21 5617 1954 21 5618 2130 21 5622 1959 21 5623 1956 21 5624 2115 3669 5628 2113 3670 5629 1956 3671 5630 2133 21 5631 1956 21 5632 2113 21 5633 2115 21 5634 1956 21 5635 2120 21 5636 2120 21 5637 2118 21 5638 2115 21 5639 2123 21 5640 2120 21 5641 1956 21 5642 2133 21 5643 2130 21 5644 1956 21 5645 2130 3675 5649 2128 3675 5650 1959 3675 5651 2145 21 5655 1964 21 5656 1961 21 5657 2152 3682 5661 1961 3682 5662 1969 3682 5663 2147 21 5667 2145 21 5668 1961 21 5669 2152 21 5670 2147 21 5671 1961 21 5672 2039 21 5676 1966 21 5677 1964 21 5678 2145 3692 5682 2039 3692 5683 1964 3692 5684 2154 21 5688 1969 21 5689 1966 21 5690 2154 21 5694 1966 21 5695 2039 21 5696 2154 21 5700 2152 21 5701 1969 21 5702 2169 21 5706 1974 21 5707 1971 21 5708 2176 3708 5712 1971 3708 5713 1979 3708 5714 2171 21 5718 2169 21 5719 1971 21 5720 2173 21 5721 2171 21 5722 1971 21 5723 2176 21 5724 2173 21 5725 1971 21 5726 2181 21 5730 1976 21 5731 1974 21 5732 2167 21 5736 2035 21 5737 1974 21 5738 2183 21 5739 1974 21 5740 2035 21 5741 2169 3718 5742 2167 3718 5743 1974 3718 5744 2183 21 5745 2181 21 5746 1974 21 5747 2176 3722 5751 1979 3722 5752 1976 3722 5753 2178 3726 5757 2176 3726 5758 1976 3726 5759 2181 3727 5760 2178 3727 5761 1976 3727 5762 2033 3734 5769 1984 3734 5770 1981 3734 5771 2193 21 5775 1981 21 5776 1989 21 5777 2193 21 5781 2033 21 5782 1981 21 5783 2205 3744 5787 1986 3744 5788 1984 3744 5789 2205 21 5793 1984 21 5794 2033 21 5795 2196 3751 5799 1989 3751 5800 1986 3751 5801 2202 3755 5805 2196 3755 5806 1986 3755 5807 2205 3756 5808 2202 3756 5809 1986 3756 5810 2196 21 5814 2193 21 5815 1989 21 5816 2229 21 5820 1994 21 5821 1991 21 5822 2217 21 5826 1991 21 5827 1999 21 5828 2217 21 5832 2215 21 5833 1991 21 5834 2238 3767 5835 1991 3767 5836 2215 3767 5837 2231 21 5838 2229 21 5839 1991 21 5840 2238 21 5841 2231 21 5842 1991 21 5843 2226 21 5847 1996 21 5848 1994 21 5849 2229 21 5853 2226 21 5854 1994 21 5855 2217 21 5859 1999 21 5860 1996 21 5861 2220 21 5865 2217 21 5866 1996 21 5867 2224 21 5868 2220 21 5869 1996 21 5870 2226 21 5871 2224 21 5872 1996 21 5873 2254 21 5880 2004 21 5881 2001 21 5882 2029 3789 5886 2001 3789 5887 2009 3789 5888 2029 21 5892 2027 21 5893 2001 21 5894 2259 21 5895 2001 21 5896 2027 21 5897 2257 21 5898 2254 21 5899 2001 21 5900 2259 21 5901 2257 21 5902 2001 21 5903 2252 3796 5907 2006 3796 5908 2004 3796 5909 2254 21 5913 2252 21 5914 2004 21 5915 2243 21 5919 2009 21 5920 2006 21 5921 2245 21 5925 2243 21 5926 2006 21 5927 2248 21 5928 2245 21 5929 2006 21 5930 2252 21 5931 2248 21 5932 2006 21 5933 2031 3809 5937 2029 3809 5938 2009 3809 5939 2212 3810 5940 2031 3810 5941 2009 3810 5942 2240 21 5943 2212 21 5944 2009 21 5945 2243 21 5946 2240 21 5947 2009 21 5948 2276 21 5952 2014 21 5953 2011 21 5954 2025 21 5958 2011 21 5959 2019 21 5960 2281 21 5964 2011 21 5965 2025 21 5966 2278 21 5967 2276 21 5968 2011 21 5969 2281 21 5970 2278 21 5971 2011 21 5972 2276 21 5976 2016 21 5977 2014 21 5978 2267 3829 5985 2019 3829 5986 2016 3829 5987 2269 21 5991 2267 21 5992 2016 21 5993 2274 21 5994 2269 21 5995 2016 21 5996 2276 21 5997 2274 21 5998 2016 21 5999 2267 21 6003 2025 21 6004 2019 21 6005 2043 21 6009 2023 21 6010 2021 21 6011 2057 21 6012 2055 21 6013 2021 21 6014 2060 21 6015 2057 21 6016 2021 21 6017 2062 21 6018 2060 21 6019 2021 21 6020 2286 21 6021 2025 21 6022 2023 21 6023 2291 3839 6024 2023 3839 6025 2043 3839 6026 2288 21 6027 2286 21 6028 2023 21 6029 2291 3840 6030 2288 3840 6031 2023 3840 6032 2264 3841 6033 2027 3841 6034 2025 3841 6035 2267 21 6036 2264 21 6037 2025 21 6038 2283 21 6039 2281 21 6040 2025 21 6041 2286 21 6042 2283 21 6043 2025 21 6044 2262 21 6045 2259 21 6046 2027 21 6047 2264 3842 6048 2262 3842 6049 2027 3842 6050 2210 3843 6051 2033 3843 6052 2031 3843 6053 2212 21 6054 2210 21 6055 2031 21 6056 2188 21 6057 2035 21 6058 2033 21 6059 2191 21 6060 2188 21 6061 2033 21 6062 2193 21 6063 2191 21 6064 2033 21 6065 2207 21 6066 2205 21 6067 2033 21 6068 2210 3844 6069 2207 3844 6070 2033 3844 6071 2167 3845 6072 2037 3845 6073 2035 3845 6074 2186 21 6075 2183 21 6076 2035 21 6077 2188 21 6078 2186 21 6079 2035 21 6080 2159 3846 6081 2039 3846 6082 2037 3846 6083 2162 21 6084 2159 21 6085 2037 21 6086 2164 21 6087 2162 21 6088 2037 21 6089 2167 21 6090 2164 21 6091 2037 21 6092 2140 3847 6093 2041 3847 6094 2039 3847 6095 2143 21 6096 2140 21 6097 2039 21 6098 2145 21 6099 2143 21 6100 2039 21 6101 2157 3848 6102 2154 3848 6103 2039 3848 6104 2159 21 6105 2157 21 6106 2039 21 6107 2140 3849 6108 2138 3849 6109 2041 3849 6110 2051 21 6120 2048 21 6121 2046 21 6122 2053 21 6126 2051 21 6127 2046 21 6128 2104 3997 6264 2099 3997 6265 2096 3997 6266 2104 21 6273 2101 21 6274 2099 21 6275 2133 4040 6312 2113 4041 6313 2111 4042 6314 2152 4139 6411 2149 4139 6412 2147 4139 6413 2200 4272 6546 2198 4272 6547 2196 4272 6548 2202 21 6552 2200 21 6553 2196 21 6554 2240 4321 6600 2215 4321 6601 2212 4321 6602 2240 21 6612 2238 21 6613 2215 21 6614 2224 21 6624 2222 21 6625 2220 21 6626 2236 4373 6660 2234 4373 6661 2231 4373 6662 2238 4377 6666 2236 4377 6667 2231 4377 6668 2252 21 6717 2250 21 6718 2248 21 6719 2274 21 6777 2272 21 6778 2269 21 6779

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1153 1817 2913 1128 1818 2914 1132 1819 2915 1156 1829 2925 1132 1830 2926 1134 1831 2927 1156 1832 2928 1153 1833 2929 1132 1834 2930 1158 1835 2931 1156 1836 2932 1134 1837 2933 1169 1838 2934 1158 1839 2935 1134 1840 2936 1340 1841 2937 1137 1842 2938 1140 1843 2939 1340 1844 2940 1338 1845 2941 1137 1846 2942 1347 1847 2943 1137 1848 2944 1338 1849 2945 1342 1853 2949 1140 1854 2950 1143 1855 2951 1342 1856 2952 1340 1857 2953 1140 1858 2954 1344 1868 2964 1342 1869 2965 1143 1870 2966 1169 1875 3003 1160 1876 3004 1158 1877 3005 1165 1878 3009 1162 1879 3010 1160 1880 3011 1169 1881 3015 1165 1882 3016 1160 1883 3017 2912 1918 3081 1180 1919 3082 1183 1920 3083 2910 1924 3087 1183 1925 3088 1185 1926 3089 2912 1927 3090 1183 1928 3091 2910 1929 3092 2908 1930 3093 1185 1931 3094 1187 1932 3095 2910 1933 3096 1185 1934 3097 2908 1935 3098 2916 1936 3099 1187 1937 3100 1189 1938 3101 2916 1939 3102 2908 1940 3103 1187 1941 3104 2916 1945 3108 1189 1946 3109 2903 1947 3110 1276 2026 3237 1249 2027 3238 1252 2028 3239 1276 2029 3243 1259 2030 3244 1249 2031 3245 1274 2048 3267 1261 2049 3268 1259 2050 3269 1276 2051 3273 1274 2052 3274 1259 2053 3275 1272 2054 3279 1263 2055 3280 1261 2056 3281 1274 2058 3285 1272 2059 3286 1261 2060 3287 1268 2061 3288 1265 2062 3289 1263 2063 3290 1272 2065 3294 1268 2066 3295 1263 2067 3296 1347 2164 3450 1336 2165 3451 1328 2166 3452 1347 2171 3459 1338 2172 3460 1336 2173 3461 1517 2374 3804 1492 2375 3805 1494 2376 3806 1514 2377 3807 1506 2378 3808 1491 2379 3809 1516 2380 3810 1514 2381 3811 1491 2382 3812 1521 2383 3813 1494 2384 3814 1496 2385 3815 1519 2386 3816 1517 2387 3817 1494 2388 3818 1521 2389 3819 1519 2390 3820 1494 2391 3821 1523 2392 3822 1496 2393 3823 1500 2394 3824 1523 2395 3825 1521 2396 3826 1496 2397 3827 1507 2398 3828 1499 2399 3829 1502 2400 3830 1523 2401 3831 1500 2402 3832 1508 2403 3833 1512 2404 3834 1502 2405 3835 1504 2406 3836 1510 2407 3837 1507 2408 3838 1502 2409 3839 1512 2410 3840 1510 2411 3841 1502 2412 3842 1514 2413 3843 1504 2414 3844 1506 2415 3845 1514 2416 3846 1512 2417 3847 1504 2418 3848

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76683 31429 56888 76684 31580 56889 76685 31535 137 76686 31432 137 76687 31430 137 76688 31577 56890 76689 31431 56891 76690 31433 56892 76691 31579 56893 76692 31431 56894 76693 31577 56895 76694 31535 137 76695 31435 137 76696 31432 137 76697 31575 56896 76698 31434 56897 76699 31436 56898 76700 31577 56899 76701 31433 56900 76702 31574 56901 76703 31520 137 76704 31437 137 76705 31435 137 76706 31572 56902 76707 31436 56903 76708 31439 56904 76709 31523 137 76710 31520 137 76711 31435 137 76712 31535 137 76713 31523 137 76714 31435 137 76715 31575 56905 76716 31436 56906 76717 31572 56907 76718 31520 137 76719 31440 137 76720 31437 137 76721 31569 56908 76722 31438 56909 76723 31441 56910 76724 31572 56911 76725 31439 56912 76726 31570 56913 76727 31518 137 76728 31442 137 76729 31440 137 76730 31567 56914 76731 31441 56915 76732 31444 56916 76733 31520 137 76734 31518 137 76735 31440 137 76736 31569 56917 76737 31441 56918 76738 31567 56919 76739 31515 137 76740 31445 137 76741 31442 137 76742 31564 56920 76743 31443 56921 76744 31446 56922 76745 31518 137 76746 31515 137 76747 31442 137 76748 31567 56923 76749 31444 56924 76750 31565 56925 76751 31515 137 76752 31447 137 76753 31445 137 76754 31562 56926 76755 31446 56927 76756 31449 56928 76757 31564 56929 76758 31446 56930 76759 31562 56931 76760 31513 137 76761 31450 137 76762 31447 137 76763 31559 56932 76764 31448 56933 76765 31451 56934 76766 31515 137 76767 31513 137 76768 31447 137 76769 31562 56935 76770 31449 56936 76771 31560 56937 76772 31513 137 76773 31452 137 76774 31450 137 76775 31557 56938 76776 31451 56939 76777 31454 56940 76778 31559 56941 76779 31451 56942 76780 31557 56943 76781 31513 137 76782 31455 137 76783 31452 137 76784 31554 56944 76785 31453 56945 76786 31456 56946 76787 31557 56947 76788 31454 56948 76789 31555 56949 76790 31554 56950 76791 31456 56951 76792 31552 56952 76793 31503 137 76794 31460 137 76795 31457 137 76796 31612 56953 76797 31458 56954 76798 31461 56955 76799 31505 137 76800 31457 137 76801 31493 137 76802 31615 56956 76803 31494 56957 76804 31459 56958 76805 31505 137 76806 31503 137 76807 31457 137 76808 31615 56959 76809 31459 56960 76810 31613 56961 76811 31540 137 76812 31462 137 76813 31460 137 76814 31610 56962 76815 31461 56963 76816 31464 56964 76817 31500 137 76818 31498 137 76819 31460 137 76820 31540 137 76821 31460 137 76822 31498 137 76823 31503 137 76824 31500 137 76825 31460 137 76826 31612 56965 76827 31461 56966 76828 31610 56967 76829 31538 137 76830 31465 137 76831 31462 137 76832 31607 56968 76833 31463 56969 76834 31466 56970 76835 31540 137 76836 31538 137 76837 31462 137 76838 31610 56971 76839 31464 56972 76840 31608 56973 76841 31538 137 76842 31467 137 76843 31465 137 76844 31605 56974 76845 31466 56975 76846 31468 56976 76847 31607 56977 76848 31466 56978 76849 31605 56979 76850 31538 137 76851 31470 137 76852 31467 137 76853 31603 56980 76854 31469 56981 76855 31471 56982 76856 31605 56983 76857 31468 56984 76858 31602 56985 76859 31538 137 76860 31472 137 76861 31470 137 76862 31600 56986 76863 31471 56987 76864 31474 56988 76865 31603 56989 76866 31471 56990 76867 31600 56991 76868 31538 137 76869 31475 137 76870 31472 137 76871 31595 56992 76872 31473 56992 76873 31477 56992 76874 31597 56993 76875 31473 56993 76876 31595 56993 76877 31600 56994 76878 31474 56995 76879 31598 56996 76880 31513 137 76881 31478 137 76882 31475 137 76883 31594 56997 76884 31476 56998 76885 31479 56999 76886 31538 137 76887 31513 137 76888 31475 137 76889 31513 137 76890 31480 137 76891 31478 137 76892 31592 57000 76893 31479 57001 76894 31482 57002 76895 31594 57003 76896 31479 57004 76897 31592 57005 76898 31510 137 76899 31483 137 76900 31480 137 76901 31589 57006 76902 31481 57007 76903 31484 57008 76904 31513 137 76905 31510 137 76906 31480 137 76907 31592 57009 76908 31482 57010 76909 31590 57011 76910 31510 137 76911 31485 137 76912 31483 137 76913 31587 57012 76914 31484 57013 76915 31487 57014 76916 31589 57015 76917 31484 57016 76918 31587 57017 76919 31510 137 76920 31488 137 76921 31485 137 76922 31584 57018 76923 31486 57019 76924 31489 57020 76925 31587 57021 76926 31487 57022 76927 31585 57023 76928 31508 137 76929 31490 137 76930 31488 137 76931 31620 57024 76932 31489 57025 76933 31492 57026 76934 31510 137 76935 31508 137 76936 31488 137 76937 31620 57027 76938 31584 57028 76939 31489 57029 76940 31508 137 76941 31493 137 76942 31490 137 76943 31617 57030 76944 31491 57031 76945 31494 57032 76946 31620 57033 76947 31492 57034 76948 31618 57035 76949 31508 137 76950 31505 137 76951 31493 137 76952 31617 57036 76953 31494 57037 76954 31615 57038 76955 31540 137 76956 31498 137 76957 31495 137 76958 31543 137 76959 31540 137 76960 31495 137 76961 31535 137 76962 31525 137 76963 31523 137 76964 31535 137 76965 31528 137 76966 31525 137 76967 31535 137 76968 31530 137 76969 31528 137 76970 31535 137 76971 31533 137 76972 31530 137 76973 31581 137 76974 31548 137 76975 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137 77038 31604 137 77039 31616 137 77040 31614 137 77041 31604 137 77042 31619 137 77043 31616 137 77044 31604 137 77045 31611 137 77046 31609 137 77047 31606 137 77048 31614 137 77049 31611 137 77050 31606 137 77051 31642 137 77052 31624 137 77053 31621 137 77054 31657 137 77055 31642 137 77056 31621 137 77057 31639 137 77058 31626 137 77059 31624 137 77060 31642 137 77061 31639 137 77062 31624 137 77063 31637 137 77064 31629 137 77065 31626 137 77066 31639 137 77067 31637 137 77068 31626 137 77069 31634 137 77070 31631 137 77071 31629 137 77072 31637 137 77073 31634 137 77074 31629 137 77075 31652 137 77076 31644 137 77077 31642 137 77078 31654 137 77079 31652 137 77080 31642 137 77081 31657 137 77082 31654 137 77083 31642 137 77084 31649 137 77085 31647 137 77086 31644 137 77087 31652 137 77088 31649 137 77089 31644 137 77090 31669 137 77091 31662 137 77092 31659 137 77093 31667 137 77094 31664 137 77095 31662 137 77096 31669 137 77097 31667 137 77098 31662 137 77099 31701 137 77100 31675 137 77101 31672 137 77102 31703 137 77103 31701 137 77104 31672 137 77105 31701 137 77106 31677 137 77107 31675 137 77108 31683 137 77109 31680 137 77110 31677 137 77111 31701 137 77112 31683 137 77113 31677 137 77114 31698 137 77115 31685 137 77116 31683 137 77117 31701 137 77118 31698 137 77119 31683 137 77120 31696 137 77121 31688 137 77122 31685 137 77123 31698 137 77124 31696 137 77125 31685 137 77126 31693 137 77127 31690 137 77128 31688 137 77129 31696 137 77130 31693 137 77131 31688 137 77132 31719 57039 77133 31709 57039 77134 31706 57039 77135 31791 57040 77136 31708 57041 77137 31710 57042 77138 31717 57043 77139 31711 57043 77140 31709 57043 77141 31816 57044 77142 31710 57045 77143 31713 57046 77144 31719 57047 77145 31717 57047 77146 31709 57047 77147 31816 57048 77148 31791 57049 77149 31710 57050 77150 31717 21 77151 31714 21 77152 31711 21 77153 31799 57051 77154 31712 57051 77155 31716 57051 77156 31816 57052 77157 31713 57053 77158 31800 57054 77159 31728 21 77160 31725 21 77161 31722 21 77162 31793 57055 77163 31723 57055 77164 31726 57055 77165 31736 57056 77166 31728 57056 77167 31722 57056 77168 31814 57057 77169 31737 57058 77170 31724 57059 77171 31814 57060 77172 31724 57061 77173 31794 57062 77174 31797 57063 77175 31727 57064 77176 31729 57065 77177 31796 57066 77178 31793 57066 77179 31726 57066 77180 31736 21 77181 31730 21 77182 31728 21 77183 31808 57067 77184 31729 57068 77185 31732 57069 77186 31808 57070 77187 31797 57071 77188 31729 57072 77189 31736 21 77190 31733 21 77191 31730 21 77192 31802 57073 77193 31731 57073 77194 31734 57073 77195 31808 57074 77196 31732 57075 77197 31803 57076 77198 31806 57077 77199 31735 57078 77200 31737 57079 77201 31805 57080 77202 31802 57080 77203 31734 57080 77204 31814 57081 77205 31806 57082 77206 31737 57083 77207 31744 21 77208 31741 21 77209 31738 21 77210 31770 57084 77211 31739 57084 77212 31742 57084 77213 31752 57085 77214 31744 57085 77215 31738 57085 77216 31812 57086 77217 31753 57087 77218 31740 57088 77219 31812 57089 77220 31740 57090 77221 31771 57091 77222 31774 57092 77223 31743 57093 77224 31745 57094 77225 31773 57095 77226 31770 57095 77227 31742 57095 77228 31752 21 77229 31746 21 77230 31744 21 77231 31788 57096 77232 31745 57097 77233 31748 57098 77234 31788 57099 77235 31774 57100 77236 31745 57101 77237 31752 21 77238 31749 21 77239 31746 21 77240 31779 56278 77241 31747 56278 77242 31750 56278 77243 31788 57102 77244 31748 57103 77245 31780 57104 77246 31783 57105 77247 31751 57106 77248 31753 57107 77249

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137 22326 9404 137 22327 9401 137 22328 9504 137 22338 9406 137 22339 9404 137 22340 9507 137 22344 9504 137 22345 9404 137 22346 9415 137 22350 9409 137 22351 9406 137 22352 9504 137 22356 9415 137 22357 9406 137 22358 9415 137 22380 9412 137 22381 9409 137 22382 10517 14954 22383 9411 14955 22384 9414 14956 22385 10520 14958 22389 10517 14959 22390 9414 14960 22391 9449 137 22437 9426 137 22438 9423 137 22439 9453 137 22443 9423 137 22444 9431 137 22445 9451 137 22449 9449 137 22450 9423 137 22451 9453 137 22452 9451 137 22453 9423 137 22454 9449 137 22458 9428 137 22459 9426 137 22460 9475 137 22467 9431 137 22468 9428 137 22469 9449 137 22473 9446 137 22474 9428 137 22475 9488 137 22476 9428 137 22477 9446 137 22478 9477 137 22479 9475 137 22480 9428 137 22481 9488 137 22482 9477 137 22483 9428 137 22484 9472 137 22488 9453 137 22489 9431 137 22490 9475 137 22491 9472 137 22492 9431 137 22493 9501 137 22497 9436 137 22498 9433 137 22499 9501 137 22509 9438 137 22510 9436 137 22511 9501 137 22515 9441 137 22516 9438 137 22517 9501 137 22524 9443 137 22525 9441 137 22526 9493 137 22539 9446 137 22540 9443 137 22541 9501 137 22545 9493 137 22546 9443 137 22547 9491 137 22554 9488 137 22555 9446 137 22556 9493 137 22557 9491 137 22558 9446 137 22559 9459 137 22596 9456 137 22597 9453 137 22598 9461 137 22602 9459 137 22603 9453 137 22604 9464 137 22605 9461 137 22606 9453 137 22607 9467 137 22608 9464 137 22609 9453 137 22610 9469 137 22611 9467 137 22612 9453 137 22613 9472 137 22614 9469 137 22615 9453 137 22616 9488 137 22692 9480 137 22693 9477 137 22694 9488 137 22731 9483 137 22732 9480 137 22733 9488 137 22737 9485 137 22738 9483 137 22739 9499 137 22770 9496 137 22771 9493 137 22772 9501 137 22776 9499 137 22777 9493 137 22778 9585 137 22845 9517 137 22846 9514 137 22847 9559 137 22851 9514 137 22852 9522 137 22853 9535 137 22857 9524 137 22858 9514 137 22859 9588 137 22860 9514 137 22861 9524 137 22862 9559 137 22863 9535 137 22864 9514 137 22865 9588 137 22866 9585 137 22867 9514 137 22868 9566 137 22872 9519 137 22873 9517 137 22874 9569 137 22878 9566 137 22879 9517 137 22880 9572 137 22881 9569 137 22882 9517 137 22883 9574 137 22884 9572 137 22885 9517 137 22886 9585 137 22887 9574 137 22888 9517 137 22889 9562 137 22893 9522 137 22894 9519 137 22895 9564 137 22899 9562 137 22900 9519 137 22901 9566 137 22902 9564 137 22903 9519 137 22904 9562 137 22908 9559 137 22909 9522 137 22910 9535 137 22914 9527 137 22915 9524 137 22916 9535 137 22956 9530 137 22957 9527 137 22958 9535 137 22965 9532 137 22966 9530 137 22967 9559 137 22983 9538 137 22984 9535 137 22985 9559 137 22992 9540 137 22993 9538 137 22994 9546 137 23001 9543 137 23002 9540 137 23003 9548 137 23007 9546 137 23008 9540 137 23009 9556 137 23010 9548 137 23011 9540 137 23012 9559 137 23013 9556 137 23014 9540 137 23015 9554 137 23055 9551 137 23056 9548 137 23057 9556 137 23061 9554 137 23062 9548 137 23063 9585 137 23166 9577 137 23167 9574 137 23168 9580 137 23178 9577 137 23179 9585 137 23180 9585 137 23184 9582 137 23185 9580 137 23186 9658 137 23214 9593 137 23215 9590 137 23216 9632 137 23220 9590 137 23221 9598 137 23222 9632 137 23226 9608 137 23227 9590 137 23228 9663 137 23229 9590 137 23230 9608 137 23231 9661 137 23232 9658 137 23233 9590 137 23234 9663 137 23235 9661 137 23236 9590 137 23237 9639 137 23241 9595 137 23242 9593 137 23243 9650 137 23247 9639 137 23248 9593 137 23249 9653 137 23250 9650 137 23251 9593 137 23252 9658 137 23253 9653 137 23254 9593 137 23255 9635 137 23259 9598 137 23260 9595 137 23261 9637 137 23265 9635 137 23266 9595 137 23267 9639 137 23268 9637 137 23269 9595 137 23270 9635 137 23274 9632 137 23275 9598 137 23276 9605 137 23280 9603 137 23281 9600 137 23282 9608 137 23286 9605 137 23287 9600 137 23288 9663 137 23289 9608 137 23290 9600 137 23291 9632 137 23316 9611 137 23317 9608 137 23318 9632 137 23325 9613 137 23326 9611 137 23327 9619 137 23337 9616 137 23338 9613 137 23339 9621 15485 23343 9619 15486 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- - - - - - - - 9.05865e-4 0 4.23567e-4 -7.45058e-9 0 0.001 0 -1.49012e-8 -4.23567e-4 0 9.05865e-4 7.45058e-9 0 0 0 1 - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robots/cyberdog1_description/urdf/cyberdog_description.urdf b/src/robots/cyberdog1_description/urdf/cyberdog_description.urdf index cf42a3d..a736cb9 100644 --- a/src/robots/cyberdog1_description/urdf/cyberdog_description.urdf +++ b/src/robots/cyberdog1_description/urdf/cyberdog_description.urdf @@ -1,6 +1,6 @@ - + @@ -12,16 +12,16 @@ - - - 10 - - base - 0 0 0 0 0 0 - Gazebo/Yellow - - - + @@ -85,24 +103,23 @@ - + - + - @@ -123,12 +140,12 @@ - + @@ -158,12 +175,11 @@ - + - @@ -171,12 +187,11 @@ - + - @@ -243,6 +258,10 @@ + + + + @@ -261,24 +280,23 @@ - + - + - @@ -299,12 +317,12 @@ - + @@ -334,12 +352,11 @@ - + - @@ -347,12 +364,11 @@ - + - @@ -419,6 +435,10 @@ + + + + @@ -437,24 +457,23 @@ - + - + - @@ -475,12 +494,12 @@ - + @@ -510,12 +529,11 @@ - + - @@ -523,12 +541,11 @@ - + - @@ -595,8 +612,11 @@ + + + + - @@ -613,24 +633,23 @@ - + - + - @@ -651,12 +670,12 @@ - + @@ -686,12 +705,11 @@ - + - @@ -699,12 +717,11 @@ - + - @@ -771,5 +788,9 @@ + + + + diff --git a/src/robots/cyberdog1_description/xacro/gazebo.xacro b/src/robots/cyberdog1_description/xacro/gazebo.xacro index 1a00386..3d8fd91 100644 --- a/src/robots/cyberdog1_description/xacro/gazebo.xacro +++ b/src/robots/cyberdog1_description/xacro/gazebo.xacro @@ -9,7 +9,7 @@ - +