From 33e9c5446d534eb136083aeb9d596c93ca4e6ed7 Mon Sep 17 00:00:00 2001 From: liang <2303335747@qq.com> Date: Sat, 24 Sep 2022 16:54:35 +0800 Subject: [PATCH] add b1_description --- robots/b1_description/CMakeLists.txt | 19 + .../b1_description/config/robot_control.yaml | 70 ++ robots/b1_description/launch/b1_rviz.launch | 25 + robots/b1_description/launch/check_joint.rviz | 252 +++++ robots/b1_description/meshes/calf.dae | 63 ++ robots/b1_description/meshes/hip.dae | 63 ++ robots/b1_description/meshes/thigh.dae | 63 ++ robots/b1_description/meshes/thigh_mirror.dae | 63 ++ robots/b1_description/meshes/trunk.dae | 63 ++ robots/b1_description/package.xml | 14 + robots/b1_description/xacro/b1.urdf | 965 ++++++++++++++++++ robots/b1_description/xacro/const.xacro | 104 ++ robots/b1_description/xacro/gazebo.xacro | 266 +++++ robots/b1_description/xacro/leg.xacro | 176 ++++ robots/b1_description/xacro/materials.xacro | 40 + robots/b1_description/xacro/robot.xacro | 144 +++ robots/b1_description/xacro/stairs.xacro | 46 + .../b1_description/xacro/transmission.xacro | 42 + 18 files changed, 2478 insertions(+) create mode 100644 robots/b1_description/CMakeLists.txt create mode 100644 robots/b1_description/config/robot_control.yaml create mode 100644 robots/b1_description/launch/b1_rviz.launch create mode 100644 robots/b1_description/launch/check_joint.rviz create mode 100644 robots/b1_description/meshes/calf.dae create mode 100644 robots/b1_description/meshes/hip.dae create mode 100644 robots/b1_description/meshes/thigh.dae create mode 100644 robots/b1_description/meshes/thigh_mirror.dae create mode 100644 robots/b1_description/meshes/trunk.dae create mode 100644 robots/b1_description/package.xml create mode 100644 robots/b1_description/xacro/b1.urdf create mode 100644 robots/b1_description/xacro/const.xacro create mode 100644 robots/b1_description/xacro/gazebo.xacro create mode 100644 robots/b1_description/xacro/leg.xacro create mode 100644 robots/b1_description/xacro/materials.xacro create mode 100644 robots/b1_description/xacro/robot.xacro create mode 100644 robots/b1_description/xacro/stairs.xacro create mode 100644 robots/b1_description/xacro/transmission.xacro diff --git a/robots/b1_description/CMakeLists.txt b/robots/b1_description/CMakeLists.txt new file mode 100644 index 0000000..af116cb --- /dev/null +++ b/robots/b1_description/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 2.8.3) +project(b1_description) + +find_package(catkin REQUIRED COMPONENTS + genmsg + roscpp + std_msgs + tf +) + +catkin_package( + CATKIN_DEPENDS +) + +include_directories( + # include + ${Boost_INCLUDE_DIR} + ${catkin_INCLUDE_DIRS} +) diff --git a/robots/b1_description/config/robot_control.yaml b/robots/b1_description/config/robot_control.yaml new file mode 100644 index 0000000..116d765 --- /dev/null +++ b/robots/b1_description/config/robot_control.yaml @@ -0,0 +1,70 @@ +b1_gazebo: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 1000 + + # FL Controllers --------------------------------------- + FL_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + FL_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + FL_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: FL_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # FR Controllers --------------------------------------- + FR_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + FR_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + FR_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: FR_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # RL Controllers --------------------------------------- + RL_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + RL_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + RL_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: RL_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + # RR Controllers --------------------------------------- + RR_hip_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_hip_joint + pid: {p: 100.0, i: 0.0, d: 5.0} + + RR_thigh_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_thigh_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + + RR_calf_controller: + type: unitree_legged_control/UnitreeJointController + joint: RR_calf_joint + pid: {p: 300.0, i: 0.0, d: 8.0} + diff --git a/robots/b1_description/launch/b1_rviz.launch b/robots/b1_description/launch/b1_rviz.launch new file mode 100644 index 0000000..6609465 --- /dev/null +++ b/robots/b1_description/launch/b1_rviz.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/b1_description/launch/check_joint.rviz b/robots/b1_description/launch/check_joint.rviz new file mode 100644 index 0000000..1e095df --- /dev/null +++ b/robots/b1_description/launch/check_joint.rviz @@ -0,0 +1,252 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 530 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + FL_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + RL_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_foot: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + trunk: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/Axes + Enabled: false + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: false + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 238; 238; 238 + Default Light: true + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 9.812193870544434 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.041462767869234085 + Y: -0.411843866109848 + Z: 0.29937663674354553 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.03979745879769325 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.2935912609100342 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 759 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1389 + X: 472 + Y: 233 diff --git a/robots/b1_description/meshes/calf.dae b/robots/b1_description/meshes/calf.dae new file mode 100644 index 0000000..3401990 --- /dev/null +++ b/robots/b1_description/meshes/calf.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + 周四 2月 24 05:14:32 2022 + 周四 2月 24 05:14:32 2022 + + + + + + + + + -0.0125551 -0.0135382 -0.335592 -0.0120732 -0.0137133 -0.335969 -0.0163457 0.00925657 -0.332628 -0.0155834 -0.0108107 -0.333224 -0.0163824 -0.00919656 -0.3326 -0.0161391 -0.00975288 -0.33279 -0.0165265 -0.00875569 -0.332487 -0.016536 -0.00876069 -0.332479 -0.0166702 -0.00831457 -0.332375 -0.0150823 -0.0115225 -0.333616 -0.0144164 -0.0122464 -0.334137 -0.0139081 -0.0127111 -0.334534 -0.0136882 -0.0128641 -0.334706 -0.0129065 -0.0133679 -0.335317 -0.0132499 -0.0131729 -0.335049 -0.0133017 -0.0131263 -0.335008 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230427 115058 230427 114938 230427 114938 230428 115058 230428 115053 230428 114938 230429 115053 230429 115059 230429 115059 230430 115053 230430 115025 230430 115059 230431 115025 230431 114945 230431 114945 230432 115025 230432 115024 230432 114945 230433 115024 230433 114943 230433 114943 230434 115024 230434 115007 230434 114943 230435 115007 230435 115014 230435 115014 230436 115007 230436 115006 230436 115014 230437 115006 230437 115060 230437 115060 230438 115006 230438 115061 230438 115060 230439 115061 230439 115062 230439 115062 230440 115061 230440 115011 230440 115062 230441 115011 230441 115016 230441 115016 230442 115011 230442 115018 230442 115016 230443 115018 230443 115063 230443 115063 230444 115018 230444 115265 230444 115063 230445 115265 230445 115266 230445 115972 230446 115064 230446 114929 230446 114929 230447 115064 230447 115046 230447 114929 230448 115046 230448 115065 230448 115065 230449 115046 230449 115047 230449 115065 230450 115047 230450 115066 230450 115066 230451 115047 230451 115067 230451 115066 230452 115067 230452 115068 230452 115068 230453 115067 230453 115069 230453 115068 230454 115069 230454 115251 230454 115251 230455 115069 230455 115249 230455 115124 230456 115070 230456 115078 230456 115078 230457 115070 230457 114912 230457 115078 230458 114912 230458 115071 230458 115071 230459 114912 230459 115097 230459 114891 230460 115072 230460 114978 230460 114978 230461 115072 230461 115082 230461 114978 230462 115082 230462 114894 230462 115076 230463 115099 230463 115077 230463 115077 230464 115099 230464 115098 230464 115077 230465 115098 230465 115079 230465 115079 230466 115098 230466 115074 230466 115079 230467 115074 230467 115073 230467 115073 230468 115074 230468 115075 230468 115073 230469 115075 230469 115080 230469 115080 230470 115075 230470 114973 230470 115101 230471 115076 230471 115095 230471 115095 230472 115076 230472 115077 230472 115095 230473 115077 230473 115071 230473 115071 230474 115077 230474 115079 230474 115071 230475 115079 230475 115078 230475 115078 230476 115079 230476 115073 230476 115078 230477 115073 230477 115124 230477 115124 230478 115073 230478 115080 230478 114977 230479 119020 230479 115072 230479 115072 230480 119020 230480 115081 230480 115072 230481 115081 230481 115082 230481 115082 230482 115081 230482 114911 230482 115082 230483 114911 230483 115104 230483 114901 230484 115146 230484 114920 230484 114920 230485 115146 230485 115145 230485 114920 230486 115145 230486 115083 230486 114906 230487 114905 230487 115087 230487 115087 230488 114905 230488 114924 230488 115087 230489 114924 230489 115089 230489 115089 230490 114924 230490 114923 230490 115089 230491 114923 230491 115091 230491 115091 230492 114923 230492 115083 230492 115091 230493 115083 230493 115092 230493 115092 230494 115083 230494 115145 230494 115092 230495 115145 230495 115084 230495 114919 230496 114907 230496 115129 230496 115129 230497 114907 230497 115085 230497 115129 230498 115085 230498 115086 230498 115086 230499 115085 230499 115087 230499 115086 230500 115087 230500 115088 230500 115088 230501 115087 230501 115089 230501 115088 230502 115089 230502 115127 230502 115127 230503 115089 230503 115091 230503 115127 230504 115091 230504 115090 230504 115090 230505 115091 230505 115092 230505 115090 230506 115092 230506 115093 230506 115093 230507 115092 230507 115084 230507 115121 230508 115101 230508 115094 230508 115094 230509 115101 230509 115095 230509 115094 230510 115095 230510 115096 230510 115096 230511 115095 230511 115071 230511 115096 230512 115071 230512 115122 230512 115122 230513 115071 230513 115097 230513 119023 230514 115098 230514 114976 230514 114976 230515 115098 230515 115099 230515 114976 230516 115099 230516 115105 230516 115105 230517 115099 230517 115076 230517 115105 230518 115076 230518 115100 230518 115100 230519 115076 230519 115101 230519 115100 230520 115101 230520 115107 230520 115107 230521 115101 230521 115121 230521 115107 230522 115121 230522 115120 230522 119020 230523 115102 230523 115103 230523 115103 230524 115102 230524 114976 230524 115103 230525 114976 230525 114911 230525 114911 230526 114976 230526 115105 230526 114911 230527 115105 230527 115104 230527 115104 230528 115105 230528 115100 230528 115104 230529 115100 230529 115106 230529 115106 230530 115100 230530 115107 230530 115106 230531 115107 230531 115108 230531 115108 230532 115107 230532 115120 230532 115108 230533 115120 230533 115144 230533 115157 230534 115109 230534 115110 230534 115110 230535 115109 230535 115119 230535 115110 230536 115119 230536 115159 230536 115159 230537 115119 230537 115111 230537 115159 230538 115111 230538 115161 230538 115161 230539 115111 230539 115112 230539 115161 230540 115112 230540 115163 230540 115163 230541 115112 230541 115113 230541 115163 230542 115113 230542 115115 230542 115115 230543 115113 230543 115114 230543 115115 230544 115114 230544 115165 230544 115165 230545 115114 230545 115116 230545 115165 230546 115116 230546 115166 230546 115166 230547 115116 230547 115117 230547 115166 230548 115117 230548 115118 230548 115118 230549 115117 230549 114972 230549 115118 230550 114972 230550 115167 230550 115167 230551 114972 230551 116087 230551 115109 230552 115144 230552 115119 230552 115119 230553 115144 230553 115120 230553 115119 230554 115120 230554 115111 230554 115111 230555 115120 230555 115121 230555 115111 230556 115121 230556 115112 230556 115112 230557 115121 230557 115094 230557 115112 230558 115094 230558 115113 230558 115113 230559 115094 230559 115096 230559 115113 230560 115096 230560 115114 230560 115114 230561 115096 230561 115122 230561 115114 230562 115122 230562 115116 230562 115116 230563 115122 230563 115097 230563 115116 230564 115097 230564 115117 230564 115117 230565 115097 230565 115123 230565 115117 230566 115123 230566 114972 230566 114972 230567 115123 230567 115070 230567 114972 230568 115070 230568 115125 230568 115125 230569 115070 230569 115124 230569 115125 230570 115124 230570 116085 230570 116085 230571 115124 230571 115080 230571 115093 230572 115126 230572 115090 230572 115090 230573 115126 230573 115131 230573 115090 230574 115131 230574 115127 230574 115127 230575 115131 230575 115134 230575 115127 230576 115134 230576 115088 230576 115088 230577 115134 230577 115135 230577 115088 230578 115135 230578 115086 230578 115086 230579 115135 230579 115128 230579 115086 230580 115128 230580 115129 230580 115129 230581 115128 230581 115130 230581 115129 230582 115130 230582 114918 230582 114918 230583 115130 230583 115138 230583 114918 230584 115138 230584 116033 230584 115126 230585 115143 230585 115131 230585 115131 230586 115143 230586 115132 230586 115131 230587 115132 230587 115134 230587 115134 230588 115132 230588 115133 230588 115134 230589 115133 230589 115135 230589 115135 230590 115133 230590 115136 230590 115135 230591 115136 230591 115128 230591 115128 230592 115136 230592 115141 230592 115128 230593 115141 230593 115130 230593 115130 230594 115141 230594 115137 230594 115130 230595 115137 230595 115138 230595 115138 230596 115137 230596 115981 230596 115138 230597 115981 230597 116033 230597 115982 230598 115981 230598 115139 230598 115139 230599 115981 230599 115137 230599 115139 230600 115137 230600 115152 230600 115152 230601 115137 230601 115141 230601 115152 230602 115141 230602 115140 230602 115140 230603 115141 230603 115136 230603 115140 230604 115136 230604 115142 230604 115142 230605 115136 230605 115133 230605 115142 230606 115133 230606 115155 230606 115155 230607 115133 230607 115132 230607 115155 230608 115132 230608 115157 230608 115157 230609 115132 230609 115143 230609 115157 230610 115143 230610 115109 230610 115109 230611 115143 230611 115126 230611 115109 230612 115126 230612 115144 230612 115144 230613 115126 230613 115093 230613 115144 230614 115093 230614 115108 230614 115108 230615 115093 230615 115084 230615 115108 230616 115084 230616 115106 230616 115106 230617 115084 230617 115145 230617 115106 230618 115145 230618 115104 230618 115104 230619 115145 230619 115146 230619 115104 230620 115146 230620 115082 230620 115082 230621 115146 230621 115147 230621 115082 230622 115147 230622 114894 230622 114894 230623 115147 230623 114896 230623 115977 230624 115148 230624 115038 230624 115038 230625 115148 230625 115979 230625 115038 230626 115979 230626 115149 230626 115149 230627 115979 230627 115150 230627 115149 230628 115150 230628 115151 230628 115151 230629 115150 230629 115152 230629 115151 230630 115152 230630 115153 230630 115153 230631 115152 230631 115140 230631 115153 230632 115140 230632 115039 230632 115039 230633 115140 230633 115142 230633 115039 230634 115142 230634 115154 230634 115154 230635 115142 230635 115155 230635 115154 230636 115155 230636 115156 230636 115156 230637 115155 230637 115157 230637 115156 230638 115157 230638 115030 230638 115030 230639 115157 230639 115110 230639 115030 230640 115110 230640 115158 230640 115158 230641 115110 230641 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230665 115171 230665 115171 230666 114964 230666 116076 230666 115223 230667 115229 230667 115187 230667 115187 230668 115229 230668 115172 230668 115187 230669 115172 230669 115173 230669 115173 230670 115172 230670 115174 230670 115173 230671 115174 230671 115189 230671 115189 230672 115174 230672 115227 230672 115189 230673 115227 230673 115190 230673 115190 230674 115227 230674 114958 230674 115190 230675 114958 230675 115275 230675 115275 230676 114958 230676 114916 230676 115275 230677 114916 230677 116071 230677 116071 230678 114916 230678 116069 230678 115175 230679 115176 230679 115177 230679 115177 230680 115176 230680 115178 230680 115177 230681 115178 230681 115179 230681 115179 230682 115178 230682 115182 230682 115175 230683 115177 230683 114965 230683 114965 230684 115177 230684 115179 230684 114965 230685 115179 230685 114967 230685 114967 230686 115179 230686 115182 230686 114967 230687 115182 230687 114970 230687 114970 230688 115182 230688 115180 230688 114970 230689 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115228 230784 115228 230785 115174 230785 115172 230785 115228 230786 115172 230786 114963 230786 114963 230787 115172 230787 115229 230787 114963 230788 115229 230788 115230 230788 115230 230789 115229 230789 114910 230789 115230 230790 114910 230790 115175 230790 115175 230791 114910 230791 114909 230791 115175 230792 114909 230792 115176 230792 115176 230793 114909 230793 115197 230793 115176 230794 115197 230794 115231 230794 115231 230795 115197 230795 115232 230795 115231 230796 115232 230796 115183 230796 115183 230797 115232 230797 115206 230797 115183 230798 115206 230798 115233 230798 115233 230799 115206 230799 115207 230799 115233 230800 115207 230800 115184 230800 115184 230801 115207 230801 115234 230801 115184 230802 115234 230802 115235 230802 115235 230803 115234 230803 115236 230803 115235 230804 115236 230804 114915 230804 114915 230805 115236 230805 115238 230805 114915 230806 115238 230806 115237 230806 115237 230807 115238 230807 115240 230807 115237 230808 115240 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115356 236218 115356 236219 117918 236219 117923 236219 116402 236220 116403 236220 117912 236220 117912 236221 116403 236221 117919 236221 117912 236222 117919 236222 117920 236222 117920 236223 117919 236223 117921 236223 117920 236224 117921 236224 117927 236224 117906 236225 116393 236225 117916 236225 117916 236226 116393 236226 117922 236226 117916 236227 117922 236227 117925 236227 115357 236228 117923 236228 117911 236228 117911 236229 117923 236229 117918 236229 117911 236230 117918 236230 117913 236230 117913 236231 117918 236231 117916 236231 117913 236232 117916 236232 117924 236232 117924 236233 117916 236233 117925 236233 117924 236234 117925 236234 116401 236234 116403 236235 117926 236235 117919 236235 117919 236236 117926 236236 117932 236236 117919 236237 117932 236237 117921 236237 117921 236238 117932 236238 117933 236238 117921 236239 117933 236239 117927 236239 117927 236240 117933 236240 117934 236240 117927 236241 117934 236241 117928 236241 117928 236242 117934 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236290 117964 236290 117966 236290 117953 236291 117966 236291 117943 236291 117943 236292 117966 236292 117954 236292 117943 236293 117954 236293 115408 236293 115408 236294 117954 236294 115409 236294 117959 236295 117955 236295 117956 236295 117952 236296 115304 236296 117957 236296 117956 236297 116391 236297 117959 236297 117959 236298 116391 236298 116361 236298 117959 236299 116361 236299 117952 236299 117952 236300 117957 236300 117959 236300 117959 236301 117957 236301 117958 236301 117959 236302 117958 236302 117955 236302 117965 236303 116382 236303 117963 236303 117970 236304 115407 236304 117960 236304 117960 236305 117967 236305 117970 236305 117970 236306 117967 236306 117961 236306 117970 236307 117961 236307 117972 236307 117972 236308 117961 236308 117963 236308 117972 236309 117963 236309 117962 236309 117962 236310 117963 236310 116382 236310 117962 236311 116382 236311 116384 236311 116381 236312 117965 236312 117964 236312 117964 236313 117965 236313 117963 236313 117964 236314 117963 236314 117966 236314 117966 236315 117963 236315 117961 236315 117966 236316 117961 236316 117954 236316 117954 236317 117961 236317 117967 236317 117954 236318 117967 236318 115409 236318 115409 236319 117967 236319 117960 236319 116388 236320 116389 236320 117969 236320 116385 236321 117968 236321 117975 236321 117975 236322 117968 236322 116388 236322 117962 236323 116384 236323 116385 236323 116385 236324 117975 236324 117962 236324 117962 236325 117975 236325 117973 236325 117962 236326 117973 236326 117972 236326 115407 236327 117970 236327 115739 236327 115739 236328 117970 236328 117971 236328 115739 236329 117971 236329 117977 236329 117977 236330 117971 236330 117976 236330 116389 236331 117956 236331 117969 236331 117969 236332 117956 236332 117955 236332 117969 236333 117955 236333 117978 236333 117978 236334 117955 236334 117958 236334 117970 236335 117972 236335 117971 236335 117971 236336 117972 236336 117973 236336 117971 236337 117973 236337 117976 236337 117976 236338 117973 236338 117975 236338 117976 236339 117975 236339 117974 236339 117974 236340 117975 236340 116388 236340 117974 236341 116388 236341 117976 236341 117976 236342 116388 236342 117969 236342 117976 236343 117969 236343 117977 236343 117977 236344 117969 236344 117978 236344 117979 236345 117991 236345 117980 236345 117985 236346 117997 236346 115332 236346 117979 236347 117980 236347 117981 236347 115332 236348 117997 236348 117982 236348 117982 236349 117997 236349 117980 236349 117982 236350 117980 236350 117983 236350 117983 236351 117980 236351 117991 236351 117983 236352 117991 236352 117984 236352 115332 236353 115331 236353 117985 236353 117985 236354 115331 236354 115342 236354 117985 236355 115342 236355 117994 236355 117994 236356 115342 236356 117986 236356 117994 236357 117986 236357 117993 236357 117993 236358 117986 236358 117987 236358 117993 236359 117987 236359 117988 236359 117988 236360 117987 236360 115341 236360 117988 236361 115341 236361 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236385 115335 236385 118001 236386 115335 236386 117984 236386 117989 236387 115339 236387 115338 236387 116449 236388 116406 236388 118003 236388 118003 236389 116406 236389 117989 236389 117989 236390 115338 236390 118003 236390 118003 236391 115338 236391 115337 236391 118003 236392 115337 236392 118013 236392 116449 236393 118003 236393 118002 236393 118002 236394 118003 236394 118013 236394 118002 236395 118013 236395 116447 236395 115361 236396 118004 236396 118012 236396 118006 236397 118005 236397 118024 236397 118012 236398 118015 236398 118016 236398 118004 236399 115372 236399 118012 236399 118012 236400 115372 236400 118027 236400 118012 236401 118027 236401 118015 236401 118015 236402 118027 236402 118014 236402 118010 236403 115360 236403 118011 236403 118024 236404 116441 236404 118006 236404 118006 236405 116441 236405 116443 236405 118006 236406 116443 236406 118017 236406 118017 236407 116443 236407 118007 236407 118017 236408 118007 236408 118018 236408 118013 236409 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118094 236600 115494 236600 118116 236600 118116 236601 115494 236601 118117 236601 118116 236602 118117 236602 118118 236602 115495 236603 118115 236603 118130 236603 118130 236604 118115 236604 118119 236604 118130 236605 118119 236605 118120 236605 118120 236606 118119 236606 118121 236606 118120 236607 118121 236607 118122 236607 118122 236608 118121 236608 118144 236608 118132 236609 118123 236609 118124 236609 118125 236610 118140 236610 118129 236610 118129 236611 118140 236611 116343 236611 118129 236612 116343 236612 118126 236612 116343 236613 118127 236613 118126 236613 118126 236614 118127 236614 116348 236614 118126 236615 116348 236615 118133 236615 118133 236616 116348 236616 116347 236616 118133 236617 116347 236617 116344 236617 118124 236618 118113 236618 118132 236618 118132 236619 118113 236619 118116 236619 118132 236620 118116 236620 118131 236620 118131 236621 118116 236621 118128 236621 118131 236622 118128 236622 115495 236622 118122 236623 118125 236623 118120 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250542 125102 250542 125135 250543 125102 250543 125062 250543 125117 250544 125090 250544 125119 250544 125119 250545 125090 250545 125091 250545 125119 250546 125091 250546 125103 250546 125103 250547 125091 250547 125136 250547 125103 250548 125136 250548 125100 250548 125100 250549 125136 250549 125106 250549 125100 250550 125106 250550 125099 250550 125099 250551 125106 250551 125137 250551 125099 250552 125137 250552 125130 250552 125130 250553 125137 250553 125138 250553 125130 250554 125138 250554 125139 250554 125139 250555 125138 250555 125152 250555 125139 250556 125152 250556 125140 250556 125140 250557 125152 250557 125141 250557 125140 250558 125141 250558 125142 250558 125142 250559 125141 250559 125143 250559 125162 250560 125068 250560 125160 250560 125160 250561 125068 250561 125086 250561 125160 250562 125086 250562 125144 250562 125144 250563 125086 250563 125146 250563 125144 250564 125146 250564 125145 250564 125145 250565 125146 250565 125078 250565 125145 250566 125078 250566 119212 250566 119212 250567 125078 250567 125080 250567 119216 250568 125143 250568 125141 250568 125156 250569 125147 250569 125148 250569 112247 250570 119302 250570 125097 250570 125097 250571 119302 250571 125156 250571 125097 250572 125156 250572 125098 250572 125098 250573 125156 250573 125148 250573 125149 250574 119216 250574 125150 250574 125150 250575 119216 250575 125141 250575 125150 250576 125141 250576 125151 250576 125151 250577 125141 250577 125152 250577 125151 250578 125152 250578 125147 250578 125147 250579 125152 250579 125089 250579 125147 250580 125089 250580 125148 250580 119217 250581 125149 250581 125153 250581 125153 250582 125149 250582 125150 250582 125153 250583 125150 250583 125154 250583 125154 250584 125150 250584 125151 250584 125154 250585 125151 250585 125155 250585 125155 250586 125151 250586 125147 250586 125155 250587 125147 250587 125158 250587 125158 250588 125147 250588 125156 250588 125158 250589 125156 250589 119301 250589 119301 250590 125156 250590 119302 250590 119218 250591 119217 250591 125172 250591 125172 250592 119217 250592 125153 250592 125172 250593 125153 250593 125157 250593 125157 250594 125153 250594 125154 250594 125157 250595 125154 250595 125171 250595 125171 250596 125154 250596 125155 250596 125171 250597 125155 250597 125180 250597 125180 250598 125155 250598 125158 250598 125180 250599 125158 250599 125159 250599 125159 250600 125158 250600 119301 250600 125159 250601 119301 250601 119308 250601 125161 250602 125144 250602 125145 250602 125174 250603 125165 250603 125175 250603 125175 250604 125165 250604 125166 250604 125175 250605 125166 250605 125176 250605 125144 250606 125161 250606 125160 250606 125160 250607 125161 250607 125177 250607 125160 250608 125177 250608 125162 250608 125178 250609 125164 250609 125163 250609 125163 250610 125164 250610 125176 250610 125165 250611 125167 250611 125166 250611 125166 250612 125167 250612 125173 250612 125166 250613 125173 250613 125176 250613 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