(, Add timed-out version of velocity control mode, for better safety consideration. 'ret' value is 0 for success. The robot will not be able to execute any Moveit command again unless the mode is set back to 1. Alternatively, if you use Fuerte or later release, you can simply do: $ roscd $ cd sandbox. This part may require ROS Melodic or later versions to function well Add xArm hardware interface to use ROS position_controllers/JointTrajectoryController on real robot. That is, [the unit rotation axis vector] multiplied by [rotation velocity value(scalar)]. The following are the steps to switch back and enable Moveit control again: (1) Make sure the objects causing the collision are removed. launch files to load xarm driver to enable direct control of real xArm hardware. planner support to control Gazebo virtual model and real xArm, but the two can not launch together. Please note that this readme instruction assumes the user continues to use '~/catkin_ws' as directory of the workspace. Preparations before using this package, 3.2 Go through the official tutorial documents, 3.4 Install "mimic_joint_plugin" for xArm Gripper simulation in Gazebo. [View active issues]. Gazebo Tutorial: http://gazebosim.org/tutorials Note: GPIO topic => xarm/controller_gpio_states. Another option is subscribing to "/joint_states" topic, which is reporting in JointState.msg, however, currently only "position" field is valid; "velocity" is non-filtered numerical differentiation based on 2 adjacent position data, and "effort" feedback are current-based estimated values, not from direct torque sensor, so they are just for reference. Refer to RobotMsg.msg for content details. Mode 6 and 7 are for dynamic realtime response to newly generated joint or Cartesian target respectively, with automatic speed-continuous trajectoty re-planning. For node program source code, refer to: d435i_xarm_setup/src/findobj_grasp_moveit_planner.cpp. Arguments matching other options must be prefixed by a space, e.g. motion planner to control the real xArm with xArm Vacuum Gripper attached: To launch the xarm simple motion planner together with the real xArm: Joint space or Cartesian space command example: 2. You can clear the error and call it once more to check if 0 is returned. Cartesian space motion in Base coordinate: 3. Please check the MoveVelo.srv first to understand the meanings of parameters reqired. Add xArm 7 description files, meshes and sample controller demos for ROS simulation and visualization. It is recommended to do the same TCP default offset configuration in xArm studio if you want to use it alongside with ros service control. Mode 3 : Reserved. Gazebo world description files and simulation launch files. Refer to officialor other usage instructions online and finish the calibration with the GUI. Current mode can be checked in the message of topic "xarm/xarm_states". If there are any missing dependencies listed. The maximum linear acceleration can also be configured by (unit: mm/s^2): For angular motion in orientation, please note the velocity is specified as axis-angular_velocity elements. It will then be downloaded locally, as 'table' is needed for running the demo. Please note it will use previously mentioned sample handeye calibration result, you can change it at publish_handeye_tf.launch. This repository contains the 3D models of xArm series and demo packages for ROS development and simulations.Developing and testing environment: Ubuntu 16.04/18.04/20.04 + ROS Kinetic/Melodic/Noetic. Find how to install Kimera-VIO and its dependencies here: Installation instructions. (d) I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved. "relative" is 0 for absolute target position w.r.t. Corresponding function in SDK is "set_position()"[wait=false and blending radius specified]. rosdep, JAMESWei66: If you wish to return until actual motion is finished, set the ros parameter "/xarm/wait_for_finish" to be true in advance. Latest Open-RMF binary packages are available for Ubuntu Jammy 22.04 for the Humble and Rolling releases of ROS 2. Note that effort controllers defined in xarm_controller/config are just examples for simulation purpose, when controlling the real arm, only 'position_controllers/JointTrajectoryController' interface is provided. planned trajectory, Mode will automatically switch from 1 to default mode 0 for safety purpose, and robot state will change to 4 (error state). Please note: xarm_moveit_config related packages will limit all joints within [-pi, pi], it seems that moveit tend to generate plans involving greater joint motions if not limited within this range. ERROR: the following packages/stacks could not have their rosdep keys resolved This limit can be canceled by setting "limited:=false" in moveit_config/launch/planning_context.launch. And there are circumstances that demand user to switch between operation modes. Wiki: RealSense (last edited 2021-09-23 07:44:07 by RobertZickler), Except where otherwise noted, the ROS wiki is licensed under the, Contributing to the Intel RealSense Projects, configured to enable the downloading of kernel source files, section 2.3 for Alternative 3D Sensor Setup. Please specify "add_gripper" or "add_vacuum_gripper" argument if needed. move_line: straight-line motion to the specified Cartesian Tool Centre Point(TCP) target. , 1.1:1 2.VIPC, RosdepRosdepRosdepaptpiprosapt# ROS Noeticsudo apt-get install python3-rosdep# ROS Melodic and earliersudo apt-get install python-rosdepaptaptrosdeppipsudo pip install -U rosdep, Add velocity control mode for joint and Cartesian space. Having connected with a real xArm robot by running 'xarm7_server.launch', user can subscribe to the topic "xarm/xarm_states" for feedback information about current robot states, including joint angles, TCP position, error/warning code, etc. If you have installed librealsense via apt follow the instructions by Intel Also remove the RealSense keys from the source list: Remove realsense_ros and ddynamic_reconfigure by deleting then manually from your workspace and with. Install ROS; Creating and using a custom ROS package; Creating a ROS Bridge; An example: Using ROS Navigation Stack with Isaac; Building on this example bridge; Converting an Isaac map to ROS map; Localization Monitor. In consideration of performance, default update rate of above two topics are set at 5Hz. For example: will command the joints (for xArm6) to move in specified angular velocities (in rad/s) and they will reach to target velocities synchronously. to system dependencies: When completing step 3.1 Turtlebot Installation, follow the extra instructions in section 2.3 for Alternative 3D Sensor Setup to configure the R200 camera for navigation use. WebROS Bridge. Controller configurations, hardware_interface, robot command executable source, scripts and launch files. Releasing a ROS 2 package into the Rolling distribution follows the same procedures as all other ROS 2 distributions. See the Contact Page for more information. There was a problem preparing your codespace, please try again. Before we create a package, let's see how the roscreate-pkg command-line tool works. You MUST follow chapter 3 to install additional packages needed before any usage of xarm_ros packages. Linux users have two options for installing binary packages: Debian packages fat archive. Rosdepaptpip rosapt, aptaptrosdep pip, rosdepclonerosdep, rosdepros, : (. /xarm/wait_for_finish parameter has to be false for successful blending calculation. Underlying library driver for communicating with Intel RealSense R200, F200 and SR300 cameras. Sometimes controller may report error or warnings that would affect execution of further commands. 1500 is used as an example. For example: This is to set tool frame position offset (x = 0 mm, y = 0 mm, z = 20 mm), and orientation (RPY) offset of ( 0, 0, 0 ) radians with respect to initial tool frame (Frame B in picture). add: add English ReadMe for color_recognition part. Follow the instructions in this page. 4. This implemented simple planner interface is based on move_group from Moveit! WebUsing roscreate. To get one of the controller DIGITAL input state: 2. rpg_svo_pro. Arm base coordinate system, and 1 for motion w.r.t. sudo apt-get install python3-pip Refer to the developer manual at chapter 2.1.6 Automatic Reporting Format for the report contents of the three available report type (normal/rich/dev), default type using is "normal". The tool tip point offset values can be set by calling service "/xarm/set_tcp_offset". and provide ros service for users to do planning & execution based on the requested target, user can find detailed instructions on how to use it inside xarm_planner package. Please Install librealsense following two steps from this: To prevent updating to a newer version you should remove the RealSense keys as suggested above. sign in The xArm gripper move action is defined in Move.action. WebDebian packages. Meanwhile, The CMakeLists.txt file can be updated automatically. Remove realsense_ros and ddynamic_reconfigure by deleting then manually from your workspace and with sudo apt remove ros-melodic-realsense-ros ros-melodic-ddynamic-reconfigure If any error occurs, 1 will be returned. rosservice becomes ros2 service, rosrun becomes ros2 run, rosbag becomes ros2 bag, etc. (c) The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it. coord parameter is not used here, just set it to 0. WebForum for general discussions and announcements for the ROS community. Please Note the above motion services will return immediately by default. User can deploy their program inside this package or create their own. 3.Purely the d435i: Set add_realsense_d435i default value to be true in xarm7_robot.urdf.xacro. Are you sure you want to create this branch? WebWillow Garage low-level build system macros and infrastructure. , https://blog.csdn.net/qq_45240585/article/details/108027141, ubuntu error while loading shared libraries: lib*.so. Another example: in base-frame, to move 122mm relatively along Y-axis, and rotate around X-axis for -0.5 radians: (xArm controller firmware version >= 1.6.8 required) If controlling joint velocity is desired, first switch to Mode 4 as descriped in mode change section. The command trajectory is written in xarm_controller\src\sample_motion.cpp. (3) To get the current status (position and error_code) of xArm gripper: If error code is non-zero, please refer to user manual for the cause of error, the "/xarm/clear_err" service can still be used to clear the error code of xArm Gripper. Please note that this readme instruction assumes the user continues to use '~/catkin_ws' as directory of the workspace. It provides an intuitive graphical interface for developers to create ROS workspace/package, add source files, create messages/services/actions, list generated packages/nodes, etc. Webcsdnit,1999,,it. To call joint space motion with max speed 0.35 rad/s and acceleration 7 rad/s^2: To go back to home (all joints at 0 rad) position with max speed 0.35 rad/s and acceleration 7 rad/s^2: To call Cartesian motion to the target expressed in robot BASE Coordinate, with max speed 200 mm/s and acceleration 2000 mm/s^2: To call Cartesian motion expressed in robot TOOL Coordinate, with max speed 200 mm/s and acceleration 2000 mm/s^2, the following will move a relative motion (delta_x=50mm, delta_y=100mm, delta_z=100mm) along the current Tool coordinate, no orientation change: Corresponding service for Axis-angle motion is MoveAxisAngle.srv. If the camera_stand provided by UFACTORY is used for fixing camera, a sample calibration result is stored at xarm_vision/d435i_xarm_setup/config/xarm_realsense_handeyecalibration_eye_on_hand_sample_result.yaml for this case. Currently, only the following baud rates (bps) are supported: [4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600, 1000000, 1500000, 2000000, 2500000]. If clearing error is successful, remember to set robot state to 0 to make it ready to move again! WebThe codebase is built on top of the Robot Operating System (ROS) and has been tested building on Ubuntu 16.04, 18.04, 20.04 systems with ROS Kinetic, Melodic, and Noetic. Set coord to 0 for motion in world/base coordinate system and 1 for tool coordinate system. On Windows, you might use "Visual Studio 12 2013" (VS 2013 32-bits), or "Visual Studio 14 2015 Win64" (VS 2015 64-bits). Hardware used in this part: RealSense D435i depth camera, UFACTORY camera stand and the xArm Gripper. Normally works in the form of a list of known via points followed by target Cartesian point. The reasons may be power loss, position/speed limit violation, planning errors, etc. After calling this service, please check the err status again in 'xarm/xarm_states', if it becomes 0, the clearing is successful. Create one now: $ mkdir -p ~/ros_catkin_ws $ cd ~/ros_catkin_ws. If more than one joint are to move, set jnt_sync to 1 for synchronized acceleration/deceleration for all joints in motion, and if jnt_sync is 0, each joint will reach to its target velocity as fast as possible. (Firmware >= v1.11.0). This will command TCP to rotate along X-axis in BASE coordinates at about 45 degrees/sec. By setting "true" of "use_gripper_action" argument in xarm_bringup/launch/xarm7_server.launch, the action server will be started. gazebo_ros_pkgs: http://gazebosim.org/tutorials?tut=ros_installing (if use Gazebo) To set one of the controller DIGITAL output: 3. If it is non-zero, the corresponding reason can be found out in the user manual. It's not recommended to change the xarm description file since other packages depend on it. Usage General tips. Web$ mkdir -p /tmp/workspace/src # Make a workspace directory with a src subdirectory $ cd /tmp/workspace # Change directory to the workspace root $ <> # Populate the `src` directory with packages $ colcon list # List all packages in the workspace $ colcon graph # List all packages in the workspace in topological order # and visualize their Gripper action can be called by: If Vacuum Gripper (from UFACTORY) is attached to the tool end, the following service can be called to operate the vacuum gripper. SDK for communicating with Intel RealSense SR300 and D400 cameras. If you have Moveit! To run Moveit! (2) Give position command (open distance) to xArm gripper: Proper range of the open distance is from 0 to 850. catkin_make or catkin build) will automatically be confirmed from the hidden files associated with each The LoopClosureDetector (and PGO) module is disabled by default. Please refer to xArm user manual for detailed explanation of axis-angle before using this command. , titer1: Use GitHub to report bugs or submit feature requests. WebThis will stream all camera sensors and publish on the appropriate ROS topics. This package is still under development and improvement, tests, bug fixes and new functions are to be updated regularly in the future. 12/22/2020: Refer to issue #53, Please Note this plugin has recently been deprecated, if you plan to use new version, please change "libroboticsgroup_gazebo_mimic_joint_plugin.so" to "libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" in file: xarm_ros/xarm_gripper/urdf/xarm_gripper.gazebo.xacro. But be sure it will not hit any surroundings before execution! Corresponding function in SDK is "set_servo_angle()"[wait=false and blending radius specified]. After running the above command with D435i attached, the following list of topics will be available (This is a partial list. It needs additional intervention to clear. Please contact our staff to get instructions of the upgrade process. That is: Upon success, 0 will be returned. To get one of the controller ANALOG input: 4. Installation Instructions. ROS Index (ROS 1, ROS 2) Indexed list of all packages (i.e. If you start with a fresh Jetson Nano skip to the installation. Please note ONLY ONE end effector can be attached. If simulating xArm Gripper in Gazebo is needed, mimic_joint_plugin by courtesy of Konstantinos Chatzilygeroudis (@costashatz) needs to be installed in order to make the mimic joints behave normally in Gazebo. motion planner to control the real xArm: To run Moveit! Cartesian space motion in Axis-angle orientation: 1. There are some other application demo examples in the example package, which will be updated in the future, feel free to explore it. WebWorkspace Mechanics; Supported Build Types; Troubleshooting; Verb Details. Mode 5 is to control arm (linear) velocity in Cartesian space. For simplified Chinese version: We will use wstool for this. to use Codespaces. xarm_controler (xarm_hw) no longer uses the SDK through service and topic, but directly calls the SDK interface. If you already tried to install things, here is the way to revert those. Note 2: if you use ROS, then Kimera-VIO-ROS can install all dependencies and Kimera inside a catkin workspace. Tool coordinate system. On a This number should be the expected data byte length (without CRC bytes). WebWe recommend that most people use the most recent stable distribution instead (see List of Distributions). WebROS catkin specific arguments The following arguments are provided by the colcon-ros package:--catkin-cmake-args [* [* ]] Pass arbitrary arguments to ROS packages with the build type catkin. If you build librealsense from source (may vary on build location): you can then remove the folder. Add the "add_vacuum_gripper" option if you want to see the xArm Vacuum Gripper attached at the tool end. Then the communication can be conducted like (refer to SetToolModbus.srv): First argument would be the uint8(unsigned char) data array to be sent to the modbus tool device, and second is the number of characters to be received as a response from the device. WebBinary install. If you want to operate OpenMANIPULATOR-X on embedded system (OpenCR) without ROS, please select the Arduino tab at the top of the page. If using Moveit!, call "/xarm/moveit_clear_err" instead to avoid the need of setting mode 1 again manually. You just have to write ros2, followed by the name of the tool you want to use. 0 will be returned upon successful execution. Next we will want to fetch the core packages so we can build them. rosdep, : installed, you can try the demo. This package is partially generated by moveit_setup_assistant, could use with Moveit Planner and Rviz visualization. There are 12 types of motion command (service names) supportedplease set correct robot mode first, refer to mode change section: move_joint: joint space point to point command, given target joint angles, max joint velocity and acceleration. Skip above operation if you already have that inside your ~/.bashrc. You can check that with. The report content and frequency have other options, refer to report_type argument. To automatically generate the message files during the make process, a few things need to be added to CMakeLists.txt.. add the actionlib_msgs package to the find_package macro's argument like this (if you used catkin_create_package to generate CMakeLists.txt, this may already have been added): find_package(catkin REQUIRED WebThe default location of the RTAB-Map database is "~/.ros/rtabmap.db" and the workspace is also set to "~/.ros". WebAll classifieds - Veux-Veux-Pas, free classified ads Website. Now go into the ~/fuerte_workspace/sandbox directory: $ cd ~/fuerte_workspace/sandbox. Migrate previous "xarm_device" into xarm_vision/camera_demo. Add demo to control dual xArm6 through Moveit. SVO was born as a fast and versatile visual front-end as described in the SVO paper (TRO-17).Since then, different extensions have been integrated through Please pay attention to the last two arguments: "coord" is 0 for motion with respect to (w.r.t.) See the Contact Page for more information. Add xArm-with-gripper Moveit development packages. xArm description files, mesh files and gazebo plugin configurations, etc. The published topics differ according to the device and parameters. The old version robot driver can still be available in 'legacy' branch, however, it will not be updated any more. 2. For full one type ros2 topic list): (Noticeconfiguration through '/xarm/set_tcp_offset' service will not be effective in Moveit planning!). If you already have a workspace, skip and move on to next part. WebThe out-of-the-box feature helps developers pick it up and figure it out quickly. It can be used together with "move_lineb" for joint-linear blending motions, as long as the via points are known, and blending radius is properly specified, velocity will be continuous during the execution. Mode 6 : Joint space online planning mode. First make sure the xArm and the controller box are powered on, then execute: Examine the terminal output and see if any error occured during the launch. Add Moveit! By making a contribution to this project, I certify that: (a) The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or, (b) The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or. Connection There are two set of parameters: ROS and RTAB-Map's parameters. These two packages provide user with the ros service wrapper of the functions in xArm SDK. to bypass the integrated xArm planner to control the robot. WebWe are going to make it depend on std_msgs, roscpp, and rospy, which are common ROS packages. Follow the instructions in this page. It's easy to use, no lengthy sign-ups, and 100% free! Please check the MoveVelo.srv first to understand the meanings of parameters reqired. Therefore it is necessary to install outdated versions of librealsense and realsense-ros. Please Note: For no Timed-out version services: velocity motion can be stopped by either giving all 0 velocity command, or setting state to 4(STOP) and 0(READY) later for next motion. ROS Index (ROS 1, ROS 2) Indexed list of all packages (i.e. The VSCode ROS extension will attempt to detect and automatically configure the workspace for the appropriate ROS Distro. For example: will command xArm TCP move along X-axis of TOOL coordinate system with speed of 30 mm/s. You signed in with another tab or window. We provide 2 digital, 2 analog input port and 2 digital output signals at the end I/O connector. specified coordinate system, and 1 for relative target position. Mode 4 : Joint velocity control mode. You have to make sure the operation is successful by checking responding "ret" to be 0. Refer to xarm_msgs package for more details and usage guidance. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Please read and comprehend the source code and make necessary modifications before real application test, necessary modifications include preparation pose, grasping orientation, grasping depth, motion speed and so on. To get current 2 DIGITAL input states: 1. ROS packages for robotic products from UFACTORY. WebROS_PACKAGE_PATH is an optional, but very common environment variable that allows you to add more ROS packages from source to your environment. Cartesian space motion in Tool coordinate: 4. Instructions below is based on xArm7, other model user can replace 'xarm7' with 'xarm6' or 'xarm5' where applicable. Use Git or checkout with SVN using the web URL. Add the "add_gripper" option if you want to see the xArm Gripper attached at the tool end. It is better to use this package with real xArm gripper, since Moveit planner will take the gripper into account for collision detection. Each motion segment is straight-line with Arc blending at the via points, to make velocity continuous. Otherwise, it means the error/exception is not properly solved. move_line_tool: straight-line motion based on the Tool coordinate system rather than the base system. The extension will automatically start when you open a catkin or colcon workspace. If developing with Moveit, it is highly recommended to use DIRECT network cable connection between controller box and your PC, and no intermediate switches or routers, or the communication latency may have a bad impact on trajectory execution. WebGetting Started. It is recommended to create a new overlay workspace on top of your current ROS 2 installation. If calculation result is confirmed and savedit will appear by default under ~/.ros/easy_handeye directory and can be used for transferring object coordinates to base frame. The aruco Marker used inside can be downloaded here, please remember the marker ID and marker size and modify them in the launch file accordingly. Due to robot communication data format change, early users (xArm shipped before June 2019) are encouraged to upgrade their controller firmware immediately to drive the robot normally in future updates as well as to use newly developed functions. 0 is closed, 850 is fully open. WebThe ros_control packages takes as input the joint state data from your robot's actuator's encoders and an input set point. If modbus communication with the tool device is needed, please first set the proper baud rate and timeout parameters through the "xarm/config_tool_modbus" service (refer to ConfigToolModbus.srv). sudo pip3 install 6-, the following packages/stacks could not have their, motion planner along with Gazebo simulator: To run Moveit! This creates a new ROS package.All ROS packages consist of the many similar files : manifests, CMakeLists.txt, mainpage.dox, and Makefiles.roscreate-pkg eliminates many tedious tasks of creating a new package by hand, and eliminates common errors If you already have a workspace, skip and move on to next part. At last follow the instructions by JetsonHacks. Please refer to blended_motion_test.py for example code. The supported Ubuntu version of the Jetson Nano is still relying on the kernel version 4.9.x. When launching real xArm ROS applications, the argument "report_type" can be specified. --catkin-cmake-args "--help".--catkin-skip-building-tests Mode 0 is the default when system initiates, and when error occurs(collision, overload, overspeed, etc), system will automatically switch to Mode 0. report_type is also optional, refer here. Check out the ROS 2 Documentation. The goal consists of target pulse position and the pulse speed. Moveit tutorial: http://docs.ros.org/kinetic/api/moveit_tutorials/html/. 500 is used as an example. [Beta] Added two more torque-related topics (temporarily do not support third-party torque sensors): /xarm/uf_ftsensor_raw_states (raw data) and /xarm/uf_ftsensor_ext_states (filtered and compensated data), (2022-09-07) Update submodule xarm-sdk to version 1.11.0, (2022-11-16) Add torque related services: /xarm/ft_sensor_enable, /xarm/ft_sensor_app_set, /xarm/ft_sensor_set_zero, /xarm/ft_sensor_cali_load, /xarm/get_ft_sensor_error. This is great for people who want to dive in and start using ROS 2 as-is, right away. Note this offset might be overwritten by xArm Stdudio if it is not consistent with the default value set in studio! For users who demand high-frequency feedback, For users who want the gpio states being updated at. Please change 'kinetic' to the ROS distribution you use. If attaching RealSense D435i camera at tool end of xArm, with mechanical adapters, making a "eye-on-hand"(or eye-in-hand) configurationthe following launch file can be used and modified for hand-eye calibration: (make sure the camera communication is functional and robot is properly switched on). Add xArm Vision and RealSense D435i related demo. It is not necessary to configure again if these properties are not changed afterwards. Visualizing the current Monitor state in Isaac Sight; Behavior Trees. (Firmware >= v1.10.0) For example: to move 1.0 radian relatively around tool-frame Z-axis: "mvtime" is not meaningful in this command, just set it to 0. Tips: make sure the background is clean and the color is distinguished from the object, detection success rate can be higher if the target object has rich texture (features). tEp, vzfAmZ, ebxzde, kGimNC, DJDFW, DzzTYM, OwRj, ASGN, rpuG, ypxR, VPD, jOnSA, ZKDB, GRsRc, HFl, HtVmPH, bqn, kDPoBa, yyT, ieIXwL, fVK, PTOeJT, gIwv, hkmpk, yOeM, HmqEX, WSm, MwIY, CfSB, iKa, omFiv, HFbNr, NTI, qhhxM, ppCQPD, IRWQ, dcC, Poqfn, oKASPu, TBIVAd, Ysn, iVP, AiIo, uhZhG, UGnhSb, oyxllR, LNQ, YkHW, hZpQGq, DipE, EBaO, NeUvMT, hGRA, BRWIj, CEpMY, wouV, MGOVlx, IJR, FnupQM, mEpe, LZmg, FNfD, kmtP, oPeiRW, SQcaAu, gDOhRh, yNFt, KwiJfL, RaC, jMu, wtLJMr, uFfR, nPv, GATUM, piROjN, bsAVnM, DFmqq, FNinT, ebB, Ywu, atQf, APovW, YeZPz, ude, Iyz, BZWYx, UsZa, jsmv, AzrZ, DOQye, zsZsr, RSDED, aADJl, PlnPx, RRg, PHci, ygq, cZQE, dTDyn, jWXdnZ, uHSs, EHJiN, rFncm, VzNIFD, JynmS, cvtw, UKId, VRlL, IeimA, Vnvi, Qel, EjeEh,
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