From 049e394885144962642bb9dcb48ec2bd832ae646 Mon Sep 17 00:00:00 2001 From: haitomatic Date: Fri, 19 Jul 2024 13:54:33 +0000 Subject: [PATCH] Add ssrc models support for default px4 sitl build --- .../airframes/4004_gz_standard_vtol | 1 - ...z_ssrc_fog_x => 4401_gz_ssrc_holybro_x500} | 6 +- .../airframes/4404_gz_ssrc_standard_vtol | 115 + .../airframes/4440_gz_ssrc_skywalker_x8 | 6 +- ...ut_mini_rover => 50005_gz_ssrc_scout_mini} | 6 +- .../init.d-posix/airframes/CMakeLists.txt | 6 +- .../meshes/garmin_lidar_v3.stl | Bin 0 -> 38034 bytes .../ssrc_holybro_x500/meshes/ssrc_fog_x.stl | Bin 0 -> 3999884 bytes .../meshes/ssrc_fog_x_prop_ccw.dae | 160 + .../meshes/ssrc_fog_x_prop_cw.dae | 160 + .../ssrc_holybro_x500/meshes/x500_arm.dae | 24982 +++ .../meshes/x500_central_body.dae | 150381 +++++++++++++++ .../ssrc_holybro_x500/meshes/x500_motor.dae | 33329 ++++ .../meshes/x500_propeller.dae | 46482 +++++ .../ssrc_holybro_x500/meshes/x500_rplidar.dae | 33606 ++++ .../gz/models/ssrc_holybro_x500/model.config | 16 + .../gz/models/ssrc_holybro_x500/model.sdf | 915 + .../models/ssrc_holybro_x500/model.sdf.jinja | 927 + .../model.sdf.last_generated | 915 + .../ssrc_scout_mini/meshes/antenna_link.STL | Bin 0 -> 25584 bytes .../ssrc_scout_mini/meshes/battery_link.STL | Bin 0 -> 49984 bytes .../ssrc_scout_mini/meshes/chassis_link.STL | Bin 0 -> 3084 bytes .../ssrc_scout_mini/meshes/housing_link.STL | Bin 0 -> 128784 bytes .../models/ssrc_scout_mini/meshes/rplidar.dae | 33606 ++++ .../meshes/scout_mini_base_link2.dae | 4558 + .../ssrc_scout_mini/meshes/top_link.STL | Bin 0 -> 110684 bytes .../models/ssrc_scout_mini/meshes/wheel.dae | 610 + .../ssrc_scout_mini/meshes/wheel_link.STL | Bin 0 -> 554484 bytes .../meshes/wheel_link_simple.STL | Bin 0 -> 182084 bytes .../gz/models/ssrc_scout_mini/model.config | 17 + .../gz/models/ssrc_scout_mini/model.sdf | 465 + .../gz/models/ssrc_scout_mini/model.sdf.jinja | 477 + .../ssrc_scout_mini/model.sdf.last_generated | 465 + .../meshes/x8_elevon_left.dae | 56 + .../meshes/x8_elevon_right.dae | 56 + .../ssrc_skywalker_x8/meshes/x8_prop_ccw.dae | 160 + .../ssrc_skywalker_x8/meshes/x8_prop_cw.dae | 160 + .../ssrc_skywalker_x8/meshes/x8_wing.dae | 56 + .../gz/models/ssrc_skywalker_x8/model.config | 16 + .../gz/models/ssrc_skywalker_x8/model.sdf | 426 + .../models/ssrc_skywalker_x8/model.sdf.jinja | 438 + .../model.sdf.last_generated | 426 + .../meshes/iris_prop_ccw.dae | 160 + .../meshes/iris_prop_cw.dae | 160 + .../meshes/x8_elevon_left.dae | 56 + .../meshes/x8_elevon_right.dae | 56 + .../ssrc_standard_vtol/meshes/x8_wing.dae | 56 + .../gz/models/ssrc_standard_vtol/model.config | 15 + .../gz/models/ssrc_standard_vtol/model.sdf | 852 + .../models/ssrc_standard_vtol/model.sdf.jinja | 864 + .../model.sdf.last_generated | 852 + Tools/simulation/gz/worlds/default.sdf | 10 + packaging/entrypoint_sitl_gzsim.sh | 3 +- .../simulation/gz_bridge/CMakeLists.txt | 7 - src/modules/simulation/gz_bridge/GZBridge.cpp | 2 +- 55 files changed, 337083 insertions(+), 15 deletions(-) rename ROMFS/px4fmu_common/init.d-posix/airframes/{4401_gz_ssrc_fog_x => 4401_gz_ssrc_holybro_x500} (93%) create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol rename ROMFS/px4fmu_common/init.d-posix/airframes/{50005_gz_ssrc_scout_mini_rover => 50005_gz_ssrc_scout_mini} (94%) create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/garmin_lidar_v3.stl create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/ssrc_fog_x.stl create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/ssrc_fog_x_prop_ccw.dae create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/ssrc_fog_x_prop_cw.dae create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/x500_arm.dae create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/x500_central_body.dae create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/x500_motor.dae create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/x500_propeller.dae create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/meshes/x500_rplidar.dae create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/model.config create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf.jinja create mode 100644 Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf.last_generated create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/antenna_link.STL create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/battery_link.STL create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/chassis_link.STL create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/housing_link.STL create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/rplidar.dae create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/scout_mini_base_link2.dae create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/top_link.STL create mode 100755 Tools/simulation/gz/models/ssrc_scout_mini/meshes/wheel.dae create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/wheel_link.STL create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/meshes/wheel_link_simple.STL create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/model.config create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/model.sdf create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/model.sdf.jinja create mode 100644 Tools/simulation/gz/models/ssrc_scout_mini/model.sdf.last_generated create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_elevon_left.dae create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_elevon_right.dae create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_prop_ccw.dae create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_prop_cw.dae create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_wing.dae create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/model.config create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf.jinja create mode 100644 Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf.last_generated create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/meshes/iris_prop_ccw.dae create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/meshes/iris_prop_cw.dae create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/meshes/x8_elevon_left.dae create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/meshes/x8_elevon_right.dae create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/meshes/x8_wing.dae create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/model.config create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf.jinja create mode 100644 Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf.last_generated diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol index 9841c988c614..65bdaa84e2b3 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol @@ -12,7 +12,6 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_RUN_GZSIM 0 param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_holybro_x500 similarity index 93% rename from ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x rename to ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_holybro_x500 index 475d78e20a72..86f117824f19 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_holybro_x500 @@ -12,8 +12,12 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=holybro_x500} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_RUN_GZSIM 0 param set-default SIM_GZ_SHOME 1 +if [ "$PX4_RUN_GZSIM" = "0" ]; then + param set-default SIM_GZ_RUN_GZSIM 0 +else + param set-default SIM_GZ_RUN_GZSIM 1 +fi param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol new file mode 100644 index 000000000000..2b24b898c91e --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol @@ -0,0 +1,115 @@ +#!/bin/sh +# +# @name Standard VTOL +# +# @type Standard VTOL +# + +. ${R}etc/init.d/rc.vtol_defaults + +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=ssrc_standard_vtol} + +param set-default SIM_GZ_EN 1 +param set-default SIM_GZ_SHOME 1 +if [ "$PX4_RUN_GZSIM" = "0" ]; then + param set-default SIM_GZ_RUN_GZSIM 0 +else + param set-default SIM_GZ_RUN_GZSIM 1 +fi + +param set-default SENS_EN_GPSSIM 1 +param set-default SENS_EN_BAROSIM 1 +param set-default SENS_EN_MAGSIM 1 +param set-default SENS_EN_ARSPDSIM 1 + +# TODO: Enable motor failure detection when the +# VTOL no longer reports 0A for all ESCs in SITL +param set-default FD_ACT_EN 0 +param set-default FD_ACT_MOT_TOUT 500 + +param set-default CA_AIRFRAME 2 + +param set-default COM_PREARM_MODE 2 + +param set-default CA_ROTOR_COUNT 5 +param set-default CA_ROTOR0_PX 0.1515 +param set-default CA_ROTOR0_PY 0.245 +param set-default CA_ROTOR0_KM 0.05 +param set-default CA_ROTOR1_PX -0.1515 +param set-default CA_ROTOR1_PY -0.1875 +param set-default CA_ROTOR1_KM 0.05 +param set-default CA_ROTOR2_PX 0.1515 +param set-default CA_ROTOR2_PY -0.245 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.1515 +param set-default CA_ROTOR3_PY 0.1875 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_ROTOR4_AX 1.0 +param set-default CA_ROTOR4_AZ 0.0 +param set-default CA_ROTOR4_PX 0.2 + +param set-default SIM_GZ_EC_FUNC1 101 +param set-default SIM_GZ_EC_MIN1 10 +param set-default SIM_GZ_EC_MAX1 1500 +param set-default SIM_GZ_EC_FUNC2 102 +param set-default SIM_GZ_EC_MIN2 10 +param set-default SIM_GZ_EC_MAX2 1500 +param set-default SIM_GZ_EC_FUNC3 103 +param set-default SIM_GZ_EC_MIN3 10 +param set-default SIM_GZ_EC_MAX3 1500 +param set-default SIM_GZ_EC_FUNC4 104 +param set-default SIM_GZ_EC_MIN4 10 +param set-default SIM_GZ_EC_MAX4 1500 + +param set-default SIM_GZ_EC_FUNC5 105 +param set-default SIM_GZ_EC_MIN5 0 +param set-default SIM_GZ_EC_MAX5 3500 + +param set-default SIM_GZ_SV_FUNC1 201 +param set-default SIM_GZ_SV_FUNC2 202 +param set-default SIM_GZ_SV_FUNC3 203 + +param set-default COM_RC_IN_MODE 1 +param set-default ASPD_PRIMARY 1 + +param set-default CA_SV_CS_COUNT 3 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS2_TRQ_P 1.0 + +param set-default FW_L1_PERIOD 12 +param set-default FW_PR_FF 0.2 +param set-default FW_PR_P 0.9 +param set-default FW_PSP_OFF 2 +param set-default FW_P_LIM_MIN -15 +param set-default FW_RR_FF 0.1 +param set-default FW_RR_P 0.3 +param set-default FW_THR_TRIM 0.25 +param set-default FW_THR_MAX 0.6 +param set-default FW_THR_MIN 0.05 +param set-default FW_T_CLMB_MAX 8 +param set-default FW_T_SINK_MAX 2.7 +param set-default FW_T_SINK_MIN 2.2 + +param set-default MC_AIRMODE 1 +param set-default MC_ROLLRATE_P 0.3 +param set-default MC_YAW_P 1.6 + +param set-default MIS_TAKEOFF_ALT 10 + +param set-default MPC_XY_P 0.8 +param set-default MPC_XY_VEL_P_ACC 3 +param set-default MPC_XY_VEL_I_ACC 4 +param set-default MPC_XY_VEL_D_ACC 0.1 + +param set-default NAV_ACC_RAD 5 + +param set-default VT_FWD_THRUST_EN 4 +param set-default VT_F_TRANS_THR 0.75 +param set-default VT_TYPE 2 +param set-default FD_ESCS_EN 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 index 2badaf651d87..265809d7a8fe 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 @@ -13,8 +13,12 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=skywalker_x8} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_RUN_GZSIM 0 param set-default SIM_GZ_SHOME 1 +if [ "$PX4_RUN_GZSIM" = "0" ]; then + param set-default SIM_GZ_RUN_GZSIM 0 +else + param set-default SIM_GZ_RUN_GZSIM 1 +fi param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini similarity index 94% rename from ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover rename to ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini index 15a248ed2fac..da999f1bcd05 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini @@ -15,8 +15,12 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=scout_mini} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_RUN_GZSIM 0 param set-default SIM_GZ_SHOME 1 +if [ "$PX4_RUN_GZSIM" = "0" ]; then + param set-default SIM_GZ_RUN_GZSIM 0 +else + param set-default SIM_GZ_RUN_GZSIM 1 +fi param set-default CA_AIRFRAME 6 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index ed2d57ae77bc..5bb0bed2a939 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -79,9 +79,11 @@ px4_add_romfs_files( 4004_gz_standard_vtol 4005_gz_x500_vision 4006_gz_px4vision - 4401_gz_ssrc_fog_x + + 4401_gz_ssrc_holybro_x500 4440_gz_ssrc_skywalker_x8 - 50005_gz_ssrc_scout_mini_rover + 4404_gz_ssrc_standard_vtol + 50005_gz_ssrc_scout_mini 6011_gazebo-classic_typhoon_h480 6011_gazebo-classic_typhoon_h480.post diff --git 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 1 0 2 0 3 1 4 1 5 1 5 2 4 2 6 2 5 3 6 3 2 3 2 4 6 4 7 4 2 5 7 5 0 5 8 6 9 6 3 6 3 7 9 7 10 7 3 8 10 8 4 8 11 9 12 9 13 9 14 10 15 10 16 10 17 11 18 11 16 11 16 12 18 12 19 12 16 13 19 13 14 13 20 14 21 14 17 14 17 15 21 15 22 15 17 16 22 16 18 16 13 17 23 17 11 17 11 18 23 18 24 18 11 19 24 19 8 19 8 20 24 20 25 20 8 21 25 21 9 21 26 22 27 22 28 22 28 23 27 23 29 23 28 24 29 24 12 24 12 25 29 25 30 25 12 26 30 26 13 26 14 27 31 27 15 27 15 28 31 28 32 28 15 29 32 29 26 29 26 30 32 30 33 30 26 31 33 31 27 31 34 32 35 32 36 32 36 33 35 33 37 33 36 34 37 34 38 34 39 35 40 35 34 35 34 36 40 36 41 36 34 37 41 37 35 37 37 38 42 38 38 38 38 39 42 39 43 39 38 40 43 40 20 40 20 41 43 41 44 41 20 42 44 42 21 42 45 43 46 43 39 43 39 44 46 44 47 44 39 45 47 45 40 45 48 46 49 46 45 46 45 47 49 47 50 47 45 48 50 48 46 48 0 49 51 49 1 49 1 50 51 50 52 50 1 51 52 51 53 51 53 52 52 52 54 52 53 53 54 53 48 53 48 54 54 54 55 54 48 55 55 55 49 55 56 56 57 56 1 56 1 57 57 57 2 57 57 58 58 58 2 58 2 59 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85 113 86 113 40 114 86 114 41 114 41 115 86 115 87 115 41 116 87 116 35 116 35 117 87 117 88 117 35 118 88 118 37 118 37 119 88 119 89 119 37 120 89 120 42 120 42 121 89 121 90 121 42 122 90 122 43 122 43 123 90 123 91 123 43 124 91 124 44 124 44 125 91 125 92 125 44 126 92 126 21 126 21 127 92 127 93 127 21 128 93 128 22 128 22 129 93 129 94 129 22 130 94 130 18 130 18 131 94 131 95 131 18 132 95 132 19 132 19 133 95 133 96 133 19 134 96 134 14 134 14 135 96 135 97 135 14 136 97 136 31 136 31 137 97 137 98 137 31 138 98 138 32 138 32 139 98 139 99 139 32 140 99 140 33 140 33 141 99 141 100 141 33 142 100 142 27 142 27 143 100 143 101 143 27 144 101 144 29 144 29 145 101 145 102 145 29 146 102 146 30 146 30 147 102 147 103 147 30 148 103 148 13 148 13 149 103 149 104 149 13 150 104 150 23 150 23 151 104 151 105 151 23 152 105 152 24 152 24 153 105 153 106 153 24 154 106 154 25 154 25 155 106 155 107 155 25 156 107 156 9 156 9 157 107 157 108 157 9 158 108 158 10 158 10 159 108 159 109 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url="#arm"/> + </scene> +</COLLADA> diff --git a/Tools/simulation/gz/models/ssrc_holybro_x500/meshes/x500_central_body.dae b/Tools/simulation/gz/models/ssrc_holybro_x500/meshes/x500_central_body.dae new file mode 100644 index 000000000000..4e5573abd8a6 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_holybro_x500/meshes/x500_central_body.dae @@ -0,0 +1,150381 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author/> + <authoring_tool>FBX COLLADA exporter</authoring_tool> + <comments/> + </contributor> + <created>2021-04-16T11:10:15Z</created> + <keywords/> + <modified>2021-04-16T11:10:15Z</modified> + <revision/> + <subject/> + <title/> + <unit meter="1.000000" name="centimeter"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_materials> + <material id="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041" 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url="#Object002-lib"> + <bind_material> + <technique_common> + <instance_material symbol="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041" target="#PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041"/> + <instance_material symbol="FR4" target="#FR4"/> + <instance_material symbol="CarbonFBXASC032FiberFBXASC032-FBXASC032Plain" target="#CarbonFBXASC032FiberFBXASC032-FBXASC032Plain"/> + <instance_material symbol="LeadFBXASC032-FBXASC032Satin" target="#LeadFBXASC032-FBXASC032Satin"/> + <instance_material symbol="PlasticFBXASC032-FBXASC032GlossyFBXASC032FBXASC040BlackFBXASC041" target="#PlasticFBXASC032-FBXASC032GlossyFBXASC032FBXASC040BlackFBXASC041"/> + <instance_material symbol="AluminumFBXASC032-FBXASC032Polished" target="#AluminumFBXASC032-FBXASC032Polished"/> + <instance_material symbol="OpaqueFBXASC04026FBXASC04426FBXASC04426FBXASC041" target="#OpaqueFBXASC04026FBXASC04426FBXASC04426FBXASC041"/> + <instance_material 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<technique_common> + <instance_material symbol="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041" target="#PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041"/> + <instance_material symbol="FR4" target="#FR4"/> + <instance_material symbol="CarbonFBXASC032FiberFBXASC032-FBXASC032Plain" target="#CarbonFBXASC032FiberFBXASC032-FBXASC032Plain"/> + <instance_material symbol="LeadFBXASC032-FBXASC032Satin" target="#LeadFBXASC032-FBXASC032Satin"/> + <instance_material symbol="PlasticFBXASC032-FBXASC032GlossyFBXASC032FBXASC040BlackFBXASC041" target="#PlasticFBXASC032-FBXASC032GlossyFBXASC032FBXASC040BlackFBXASC041"/> + <instance_material symbol="AluminumFBXASC032-FBXASC032Polished" target="#AluminumFBXASC032-FBXASC032Polished"/> + <instance_material symbol="OpaqueFBXASC04026FBXASC04426FBXASC04426FBXASC041" target="#OpaqueFBXASC04026FBXASC04426FBXASC04426FBXASC041"/> + <instance_material 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+ <p/> + </triangles> + <triangles count="0" material="AluminumFBXASC032-FBXASC032Satin"> + <input semantic="VERTEX" offset="0" source="#Object001-VERTEX"/> + <input semantic="NORMAL" offset="1" source="#Object001-Normal0"/> + <p/> + </triangles> + <triangles count="0" material="AluminumFBXASC032-FBXASC032Satin_ncl1_1"> + <input semantic="VERTEX" offset="0" source="#Object001-VERTEX"/> + <input semantic="NORMAL" offset="1" source="#Object001-Normal0"/> + <p/> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="rplidar" name="rplidar"> + <node name="Object001" id="Object001" sid="Object001"> + <matrix sid="matrix">0.010000 0.000000 0.000000 0.000000 0.000000 0.010000 0.000000 0.000000 0.000000 0.000000 0.010000 -0.000008 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Object001-lib"> + <bind_material> + <technique_common> + <instance_material symbol="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041" target="#PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041"/> + <instance_material symbol="FR4" target="#FR4"/> + <instance_material symbol="CarbonFBXASC032FiberFBXASC032-FBXASC032Plain" target="#CarbonFBXASC032FiberFBXASC032-FBXASC032Plain"/> + <instance_material symbol="LeadFBXASC032-FBXASC032Satin" target="#LeadFBXASC032-FBXASC032Satin"/> + <instance_material symbol="PlasticFBXASC032-FBXASC032GlossyFBXASC032FBXASC040BlackFBXASC041" target="#PlasticFBXASC032-FBXASC032GlossyFBXASC032FBXASC040BlackFBXASC041"/> + <instance_material symbol="AluminumFBXASC032-FBXASC032Polished" target="#AluminumFBXASC032-FBXASC032Polished"/> + <instance_material symbol="OpaqueFBXASC04026FBXASC04426FBXASC04426FBXASC041" target="#OpaqueFBXASC04026FBXASC04426FBXASC04426FBXASC041"/> + <instance_material symbol="PaintFBXASC032-FBXASC032EnamelFBXASC032GlossyFBXASC032FBXASC040BlackFBXASC041" target="#PaintFBXASC032-FBXASC032EnamelFBXASC032GlossyFBXASC032FBXASC040BlackFBXASC041"/> + <instance_material symbol="OpaqueFBXASC040177FBXASC04425FBXASC04425FBXASC041" target="#OpaqueFBXASC040177FBXASC04425FBXASC04425FBXASC041"/> + <instance_material symbol="OpaqueFBXASC040245FBXASC044245FBXASC044246FBXASC041FBXASC032FBXASC0401FBXASC041" target="#OpaqueFBXASC040245FBXASC044245FBXASC044246FBXASC041FBXASC032FBXASC0401FBXASC041"/> + <instance_material symbol="OpaqueFBXASC04076FBXASC04476FBXASC04476FBXASC041" target="#OpaqueFBXASC04076FBXASC04476FBXASC04476FBXASC041"/> + <instance_material symbol="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040BlackFBXASC041" target="#PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040BlackFBXASC041"/> + <instance_material symbol="AluminumFBXASC032-FBXASC032Satin" target="#AluminumFBXASC032-FBXASC032Satin"/> + <instance_material symbol="AluminumFBXASC032-FBXASC032Satin_ncl1_1" target="#AluminumFBXASC032-FBXASC032Satin_ncl1_1"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#rplidar"/> + </scene> +</COLLADA> diff --git a/Tools/simulation/gz/models/ssrc_holybro_x500/model.config b/Tools/simulation/gz/models/ssrc_holybro_x500/model.config new file mode 100644 index 000000000000..cce4ae003d68 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_holybro_x500/model.config @@ -0,0 +1,16 @@ +<?xml version="1.0"?> +<model> + <name>Holybro x500 (SSRC Fog drone)</name> + <version>1.0</version> + <sdf version='1.6'>model.sdf</sdf> + + <author> + <name>Jari Nippula</name> + <email>jarix@ssrc.tii.ae</email> + </author> + + <description> + This is a model of the SSRC Fog drone. It is initially just a copy + of Iris model by Lorenz Meier and Thomas Gubler. + </description> +</model> diff --git a/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf b/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf new file mode 100644 index 000000000000..014606889724 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf @@ -0,0 +1,915 @@ +<?xml version="1.0" encoding="utf-8"?> +<sdf version='1.9'> + <model name='holybro_x500'> + <static>false</static> + <pose>0 0 0.182 0 0 0</pose> + + <!-- BODY {--> + <link name='base_link'> + <gravity>true</gravity> + <velocity_decay/> + + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>2.3</mass> + <inertia> + <ixx>0.052689166666666655</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.052689166666666655</iyy> + <iyz>0</iyz> + <izz>0.1035</izz> + </inertia> + </inertial> + + <collision name='base_link_inertia_collision'> + <pose>0 0 0.05 0 0 0</pose> + <geometry> + <cylinder> + <length>0.259</length> + <radius>0.094</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + + <visual name='base_link_inertia_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_central_body.dae</uri> + </mesh> + </geometry> + </visual> + + <sensor name="imu_sensor" type="imu"> + <always_on>true</always_on> + <update_rate>250</update_rate> + </sensor> + + <sensor name="navsat_sensor" type="gps"/> + </link> + <!--} END BODY --> + + <!-- ARMS {--> + + <!-- ARM 0 {--> + <link name="arm_0_link"> + <pose>0 0 0 0 0 1.5708</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_0_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_0_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_0_joint' type='fixed'> + <child>arm_0_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 0 --> + + <!-- ARM 1 {--> + <link name="arm_1_link"> + <pose>0 0 0 0 0 -1.5708</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_1_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_1_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_1_joint' type='fixed'> + <child>arm_1_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 1 --> + + <!-- ARM 2 {--> + <link name="arm_2_link"> + <pose>0 0 0 0 0 3.14159</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_2_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_2_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_2_joint' type='fixed'> + <child>arm_2_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 2 --> + + <!-- ARM 3 {--> + <link name="arm_3_link"> + <pose>0 0 0 0 0 0</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_3_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_3_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_3_joint' type='fixed'> + <child>arm_3_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 3 --> + <!--} END ARMS --> + + <!-- ROTORS {--> + <link name='rotor_0'> + <pose>0.175 -0.175 0.041 0 0 0</pose> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_0_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_0_joint' type='revolute'> + <child>rotor_0</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_1'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>-0.175 0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_1_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_1_joint' type='revolute'> + <child>rotor_1</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_2'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>0.175 0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_2_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>-1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_2_joint' type='revolute'> + <child>rotor_2</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_3'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>-0.175 -0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_3_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>-1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_3_joint' type='revolute'> + <child>rotor_3</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END ROTORS --> + + <!-- PLUGINS {--> + <!-- MOTOR PLUGINS {--> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_0_joint</jointName> + <linkName>rotor_0</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_1_joint</jointName> + <linkName>rotor_1</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>1</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_2_joint</jointName> + <linkName>rotor_2</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>2</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_3_joint</jointName> + <linkName>rotor_3</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>3</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <!--} END MOTOR PLUGINS --> + + <!-- THIRD PERSON CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>50 -50 50</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END THIRD PERSON CAMERA --> + + <!-- GIMBAL CAMERA {--> + <link name="gimbal_camera_link"> + <pose>0 0 0 0 1.57 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.01 0.01 0.01</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <box> + <size>0.01 0.01 0.01</size> + </box> + </geometry> + </visual> + <sensor type="camera" name="onboard-gimbal-camera"> + <camera> + <horizontal_fov>1.047</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>100</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint_tilt' type='revolute'> + <child>gimbal_camera_link</child> + <parent>camera_link_pan</parent> + <axis> + <xyz>0 1 0</xyz> + </axis> + </joint> + <link name="camera_link_pan"> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name="visual"> + <geometry> + <empty/> + </geometry> + <transparency>1</transparency> + </visual> + <collision name="collision"> + <geometry> + <empty/> + </geometry> + </collision> + </link> + <joint name='camera_joint_pan' type='revolute'> + <child>camera_link_pan</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + </axis> + </joint> + <!--} END GIMBAL CAMERA --> + + <!-- RP LIDAR {--> + <link name="2d_scanner_link"> + <pose>0 0 0.089 0 0 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <sensor name="rplidar" type="gpu_lidar"> + <always_on>true</always_on> + <update_rate>20</update_rate> + <visualize>false</visualize> + <ray> + <scan> + <horizontal> + <samples>720</samples> + <resolution>1</resolution> + <min_angle>-3.1241390751</min_angle> + <max_angle>3.1241390751</max_angle> + </horizontal> + </scan> + <range> + <min>0.15</min> + <max>14</max> + <resolution>0.01</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </ray> + </sensor> + <visual name='rplidar_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_rplidar.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='2d_scanner_joint' type='fixed'> + <child>2d_scanner_link</child> + <parent>base_link</parent> + </joint> + <!--} END RP LIDAR --> + + <!-- GARMIN RANGEFINDER {--> + <link name="lidar0_link"> + <pose>-0.007 -0.04 -0.039 0 1.5708 1.5708</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='garmin_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/garmin_lidar_v3.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Black</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + <material> + <script> + <name>Gazebo/DarkGrey</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <sensor name="garmin" type="gpu_lidar"> + <always_on>true</always_on> + <update_rate>100</update_rate> + <visualize>false</visualize> + <ray> + <scan> + <horizontal> + <samples>1</samples> + <resolution>1</resolution> + <min_angle>-0</min_angle> + <max_angle>0</max_angle> + </horizontal> + </scan> + <range> + <min>0.06</min> <!-- do not change: use min_distance (below) for realistic behavior (smaller values cause issues) --> + <max>35</max> <!-- do not change: use max_distance (below) for realistic behavior (bigger values cause issues) --> + <resolution>0.01</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </ray> + <!-- <plugin name="drone-placeholder-1_garmin" filename="libgazebo_lidar_plugin.so"> --> + <!-- <robotNamespace></robotNamespace> --> + <!-- <min_distance>0.1</min_distance> --> + <!-- <max_distance>30.0</max_distance> --> + <!-- </plugin> --> + </sensor> + </link> + <!-- name of the link for garmin has to contain lidar word to be detected by mavlink gazebo plugin --> + <joint name='lidar0_joint' type='fixed'> + <child>lidar0_link</child> + <parent>base_link</parent> + </joint> + <!--} END GARMIN RANGEFINDER --> + + <plugin + filename="gz-sim-pose-publisher-system" + name="gz::sim::systems::PosePublisher"> + <publish_link_pose>true</publish_link_pose> + <publish_nested_model_pose>true</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>true</static_publisher> + <static_update_frequency>1</static_update_frequency> + </plugin> + + <plugin + filename="gz-sim-odometry-publisher-system" + name="gz::sim::systems::OdometryPublisher"> + <dimensions>3</dimensions> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>camera_joint_pan</joint_name> + <p_gain>1</p_gain> + <i_gain>0.1</i_gain> + <d_gain>0.01</d_gain> + <i_max>1</i_max> + <i_min>-1</i_min> + <cmd_max>1000</cmd_max> + <cmd_min>-1000</cmd_min> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>camera_joint_tilt</joint_name> + <p_gain>1</p_gain> + <i_gain>0.1</i_gain> + <d_gain>0.01</d_gain> + <i_max>1</i_max> + <i_min>-1</i_min> + <cmd_max>1000</cmd_max> + <cmd_min>-1000</cmd_min> + </plugin> + + <plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + <joint_name>camera_joint_pan</joint_name> + </plugin> + + <plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + <joint_name>camera_joint_tilt</joint_name> + </plugin> + + + <!--} END PLUGINS --> + </model> +</sdf> \ No newline at end of file diff --git a/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf.jinja b/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf.jinja new file mode 100644 index 000000000000..daf8e5d7d1fb --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf.jinja @@ -0,0 +1,927 @@ +<?xml version="1.0" encoding="utf-8"?> +<sdf version='1.9'> + <model name='holybro_x500'> + <static>false</static> + <pose>0 0 0.182 0 0 0</pose> + + <!-- BODY {--> + <link name='base_link'> + <gravity>true</gravity> + <velocity_decay/> + + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>2.3</mass> + <inertia> + <ixx>0.052689166666666655</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.052689166666666655</iyy> + <iyz>0</iyz> + <izz>0.1035</izz> + </inertia> + </inertial> + + <collision name='base_link_inertia_collision'> + <pose>0 0 0.05 0 0 0</pose> + <geometry> + <cylinder> + <length>0.259</length> + <radius>0.094</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + + <visual name='base_link_inertia_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_central_body.dae</uri> + </mesh> + </geometry> + </visual> + + <sensor name="imu_sensor" type="imu"> + <always_on>true</always_on> + <update_rate>250</update_rate> + </sensor> + + <sensor name="navsat_sensor" type="gps"/> + </link> + <!--} END BODY --> + + <!-- ARMS {--> + + <!-- ARM 0 {--> + <link name="arm_0_link"> + <pose>0 0 0 0 0 1.5708</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_0_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_0_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_0_joint' type='fixed'> + <child>arm_0_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 0 --> + + <!-- ARM 1 {--> + <link name="arm_1_link"> + <pose>0 0 0 0 0 -1.5708</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_1_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_1_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_1_joint' type='fixed'> + <child>arm_1_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 1 --> + + <!-- ARM 2 {--> + <link name="arm_2_link"> + <pose>0 0 0 0 0 3.14159</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_2_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_2_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_2_joint' type='fixed'> + <child>arm_2_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 2 --> + + <!-- ARM 3 {--> + <link name="arm_3_link"> + <pose>0 0 0 0 0 0</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_3_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_3_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_3_joint' type='fixed'> + <child>arm_3_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 3 --> + <!--} END ARMS --> + + <!-- ROTORS {--> + <link name='rotor_0'> + <pose>0.175 -0.175 0.041 0 0 0</pose> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_0_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_0_joint' type='revolute'> + <child>rotor_0</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_1'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>-0.175 0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_1_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_1_joint' type='revolute'> + <child>rotor_1</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_2'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>0.175 0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_2_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>-1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_2_joint' type='revolute'> + <child>rotor_2</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_3'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>-0.175 -0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_3_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>-1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_3_joint' type='revolute'> + <child>rotor_3</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END ROTORS --> + + <!-- PLUGINS {--> + <!-- MOTOR PLUGINS {--> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_0_joint</jointName> + <linkName>rotor_0</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_1_joint</jointName> + <linkName>rotor_1</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>1</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_2_joint</jointName> + <linkName>rotor_2</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>2</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_3_joint</jointName> + <linkName>rotor_3</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>3</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <!--} END MOTOR PLUGINS --> + + <!-- THIRD PERSON CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>50 -50 50</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END THIRD PERSON CAMERA --> + + <!-- GIMBAL CAMERA {--> + <link name="gimbal_camera_link"> + <pose>0 0 0 0 1.57 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.01 0.01 0.01</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <box> + <size>0.01 0.01 0.01</size> + </box> + </geometry> + </visual> + <sensor type="camera" name="onboard-gimbal-camera"> + <camera> + <horizontal_fov>1.047</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>100</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint_tilt' type='revolute'> + <child>gimbal_camera_link</child> + <parent>camera_link_pan</parent> + <axis> + <xyz>0 1 0</xyz> + </axis> + </joint> + <link name="camera_link_pan"> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name="visual"> + <geometry> + <empty/> + </geometry> + <transparency>1</transparency> + </visual> + <collision name="collision"> + <geometry> + <empty/> + </geometry> + </collision> + </link> + <joint name='camera_joint_pan' type='revolute'> + <child>camera_link_pan</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + </axis> + </joint> + <!--} END GIMBAL CAMERA --> + + <!-- RP LIDAR {--> + <link name="2d_scanner_link"> + <pose>0 0 0.089 0 0 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <sensor name="rplidar" type="gpu_lidar"> + <always_on>true</always_on> + <update_rate>20</update_rate> + <visualize>false</visualize> + <ray> + <scan> + <horizontal> + <samples>720</samples> + <resolution>1</resolution> + <min_angle>-3.1241390751</min_angle> + <max_angle>3.1241390751</max_angle> + </horizontal> + </scan> + <range> + <min>0.15</min> + <max>14</max> + <resolution>0.01</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </ray> + </sensor> + <visual name='rplidar_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_rplidar.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='2d_scanner_joint' type='fixed'> + <child>2d_scanner_link</child> + <parent>base_link</parent> + </joint> + <!--} END RP LIDAR --> + + <!-- GARMIN RANGEFINDER {--> + <link name="lidar0_link"> + <pose>-0.007 -0.04 -0.039 0 1.5708 1.5708</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='garmin_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/garmin_lidar_v3.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Black</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + <material> + <script> + <name>Gazebo/DarkGrey</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <sensor name="garmin" type="gpu_lidar"> + <always_on>true</always_on> + <update_rate>100</update_rate> + <visualize>false</visualize> + <ray> + <scan> + <horizontal> + <samples>1</samples> + <resolution>1</resolution> + <min_angle>-0</min_angle> + <max_angle>0</max_angle> + </horizontal> + </scan> + <range> + <min>0.06</min> <!-- do not change: use min_distance (below) for realistic behavior (smaller values cause issues) --> + <max>35</max> <!-- do not change: use max_distance (below) for realistic behavior (bigger values cause issues) --> + <resolution>0.01</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </ray> + <!-- <plugin name="drone-placeholder-1_garmin" filename="libgazebo_lidar_plugin.so"> --> + <!-- <robotNamespace></robotNamespace> --> + <!-- <min_distance>0.1</min_distance> --> + <!-- <max_distance>30.0</max_distance> --> + <!-- </plugin> --> + </sensor> + </link> + <!-- name of the link for garmin has to contain lidar word to be detected by mavlink gazebo plugin --> + <joint name='lidar0_joint' type='fixed'> + <child>lidar0_link</child> + <parent>base_link</parent> + </joint> + <!--} END GARMIN RANGEFINDER --> + + <plugin + filename="gz-sim-pose-publisher-system" + name="gz::sim::systems::PosePublisher"> + <publish_link_pose>true</publish_link_pose> + <publish_nested_model_pose>true</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>true</static_publisher> + <static_update_frequency>1</static_update_frequency> + </plugin> + + <plugin + filename="gz-sim-odometry-publisher-system" + name="gz::sim::systems::OdometryPublisher"> + <dimensions>3</dimensions> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>camera_joint_pan</joint_name> + <p_gain>1</p_gain> + <i_gain>0.1</i_gain> + <d_gain>0.01</d_gain> + <i_max>1</i_max> + <i_min>-1</i_min> + <cmd_max>1000</cmd_max> + <cmd_min>-1000</cmd_min> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>camera_joint_tilt</joint_name> + <p_gain>1</p_gain> + <i_gain>0.1</i_gain> + <d_gain>0.01</d_gain> + <i_max>1</i_max> + <i_min>-1</i_min> + <cmd_max>1000</cmd_max> + <cmd_min>-1000</cmd_min> + </plugin> + + <plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + <joint_name>camera_joint_pan</joint_name> + </plugin> + + <plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + <joint_name>camera_joint_tilt</joint_name> + </plugin> + + {% if hitl_mode %}<plugin + filename="libmavlink_hitl_gazebosim.so" + name="mavlink_interface::GazeboMavlinkInterface"> + <robotNamespace/> + <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic> + <gpsSubTopic>/link/base_link/sensor/navsat_sensor/navsat</gpsSubTopic> + <poseSubTopic>/pose/info</poseSubTopic> + <mavlink_addr>{{ mavlink_addr }}</mavlink_addr> + <mavlink_udp_local_port>{{ mavlink_udp_local_port }}</mavlink_udp_local_port> + <mavlink_udp_remote_port>{{ mavlink_udp_remote_port }}</mavlink_udp_remote_port> + <mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port> + <use_tcp>0</use_tcp> + </plugin>{% endif %} + <!--} END PLUGINS --> + </model> +</sdf> diff --git a/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf.last_generated b/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf.last_generated new file mode 100644 index 000000000000..014606889724 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_holybro_x500/model.sdf.last_generated @@ -0,0 +1,915 @@ +<?xml version="1.0" encoding="utf-8"?> +<sdf version='1.9'> + <model name='holybro_x500'> + <static>false</static> + <pose>0 0 0.182 0 0 0</pose> + + <!-- BODY {--> + <link name='base_link'> + <gravity>true</gravity> + <velocity_decay/> + + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>2.3</mass> + <inertia> + <ixx>0.052689166666666655</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.052689166666666655</iyy> + <iyz>0</iyz> + <izz>0.1035</izz> + </inertia> + </inertial> + + <collision name='base_link_inertia_collision'> + <pose>0 0 0.05 0 0 0</pose> + <geometry> + <cylinder> + <length>0.259</length> + <radius>0.094</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + + <visual name='base_link_inertia_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_central_body.dae</uri> + </mesh> + </geometry> + </visual> + + <sensor name="imu_sensor" type="imu"> + <always_on>true</always_on> + <update_rate>250</update_rate> + </sensor> + + <sensor name="navsat_sensor" type="gps"/> + </link> + <!--} END BODY --> + + <!-- ARMS {--> + + <!-- ARM 0 {--> + <link name="arm_0_link"> + <pose>0 0 0 0 0 1.5708</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_0_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_0_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_0_joint' type='fixed'> + <child>arm_0_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 0 --> + + <!-- ARM 1 {--> + <link name="arm_1_link"> + <pose>0 0 0 0 0 -1.5708</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_1_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_1_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_1_joint' type='fixed'> + <child>arm_1_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 1 --> + + <!-- ARM 2 {--> + <link name="arm_2_link"> + <pose>0 0 0 0 0 3.14159</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_2_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_2_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_2_joint' type='fixed'> + <child>arm_2_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 2 --> + + <!-- ARM 3 {--> + <link name="arm_3_link"> + <pose>0 0 0 0 0 0</pose> + <inertial> + <mass>0.02</mass> + <inertia> + <ixx>0.000166667</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166667</iyy> + <iyz>0</iyz> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='arm_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_arm.dae</uri> + </mesh> + </geometry> + </visual> + <visual name='arm_3_motor'> + <pose>-0.175 -0.175 0.02 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_motor.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='arm_3_collision'> + <pose>-0.155 -0.155 -0.104 0 0 0</pose> + <geometry> + <cylinder> + <length>0.16</length> + <radius>0.01</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + </surface> + </collision> + </link> + <joint name='arm_3_joint' type='fixed'> + <child>arm_3_link</child> + <parent>base_link</parent> + </joint> + <!--} END ARM 3 --> + <!--} END ARMS --> + + <!-- ROTORS {--> + <link name='rotor_0'> + <pose>0.175 -0.175 0.041 0 0 0</pose> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_0_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_0_joint' type='revolute'> + <child>rotor_0</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_1'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>-0.175 0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_1_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_1_joint' type='revolute'> + <child>rotor_1</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_2'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>0.175 0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_2_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>-1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_2_joint' type='revolute'> + <child>rotor_2</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_3'> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>-0.175 -0.175 0.041 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>0.0001</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.0001</iyy> + <iyz>0</iyz> + <izz>0.0001</izz> + </inertia> + </inertial> + <collision name='rotor_3_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.009</length> + <radius>0.128</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>-1 1 1</scale> + <uri>meshes/x500_propeller.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rotor_3_joint' type='revolute'> + <child>rotor_3</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END ROTORS --> + + <!-- PLUGINS {--> + <!-- MOTOR PLUGINS {--> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_0_joint</jointName> + <linkName>rotor_0</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_1_joint</jointName> + <linkName>rotor_1</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>1</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_2_joint</jointName> + <linkName>rotor_2</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>2</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_3_joint</jointName> + <linkName>rotor_3</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1000.0</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.016</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>3</motorNumber> + <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <!--} END MOTOR PLUGINS --> + + <!-- THIRD PERSON CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>50 -50 50</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END THIRD PERSON CAMERA --> + + <!-- GIMBAL CAMERA {--> + <link name="gimbal_camera_link"> + <pose>0 0 0 0 1.57 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <box> + <size>0.01 0.01 0.01</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <box> + <size>0.01 0.01 0.01</size> + </box> + </geometry> + </visual> + <sensor type="camera" name="onboard-gimbal-camera"> + <camera> + <horizontal_fov>1.047</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>100</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint_tilt' type='revolute'> + <child>gimbal_camera_link</child> + <parent>camera_link_pan</parent> + <axis> + <xyz>0 1 0</xyz> + </axis> + </joint> + <link name="camera_link_pan"> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name="visual"> + <geometry> + <empty/> + </geometry> + <transparency>1</transparency> + </visual> + <collision name="collision"> + <geometry> + <empty/> + </geometry> + </collision> + </link> + <joint name='camera_joint_pan' type='revolute'> + <child>camera_link_pan</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + </axis> + </joint> + <!--} END GIMBAL CAMERA --> + + <!-- RP LIDAR {--> + <link name="2d_scanner_link"> + <pose>0 0 0.089 0 0 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <sensor name="rplidar" type="gpu_lidar"> + <always_on>true</always_on> + <update_rate>20</update_rate> + <visualize>false</visualize> + <ray> + <scan> + <horizontal> + <samples>720</samples> + <resolution>1</resolution> + <min_angle>-3.1241390751</min_angle> + <max_angle>3.1241390751</max_angle> + </horizontal> + </scan> + <range> + <min>0.15</min> + <max>14</max> + <resolution>0.01</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </ray> + </sensor> + <visual name='rplidar_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/x500_rplidar.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='2d_scanner_joint' type='fixed'> + <child>2d_scanner_link</child> + <parent>base_link</parent> + </joint> + <!--} END RP LIDAR --> + + <!-- GARMIN RANGEFINDER {--> + <link name="lidar0_link"> + <pose>-0.007 -0.04 -0.039 0 1.5708 1.5708</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <visual name='garmin_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/garmin_lidar_v3.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Black</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + <material> + <script> + <name>Gazebo/DarkGrey</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <sensor name="garmin" type="gpu_lidar"> + <always_on>true</always_on> + <update_rate>100</update_rate> + <visualize>false</visualize> + <ray> + <scan> + <horizontal> + <samples>1</samples> + <resolution>1</resolution> + <min_angle>-0</min_angle> + <max_angle>0</max_angle> + </horizontal> + </scan> + <range> + <min>0.06</min> <!-- do not change: use min_distance (below) for realistic behavior (smaller values cause issues) --> + <max>35</max> <!-- do not change: use max_distance (below) for realistic behavior (bigger values cause issues) --> + <resolution>0.01</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </ray> + <!-- <plugin name="drone-placeholder-1_garmin" filename="libgazebo_lidar_plugin.so"> --> + <!-- <robotNamespace></robotNamespace> --> + <!-- <min_distance>0.1</min_distance> --> + <!-- <max_distance>30.0</max_distance> --> + <!-- </plugin> --> + </sensor> + </link> + <!-- name of the link for garmin has to contain lidar word to be detected by mavlink gazebo plugin --> + <joint name='lidar0_joint' type='fixed'> + <child>lidar0_link</child> + <parent>base_link</parent> + </joint> + <!--} END GARMIN RANGEFINDER --> + + <plugin + filename="gz-sim-pose-publisher-system" + name="gz::sim::systems::PosePublisher"> + <publish_link_pose>true</publish_link_pose> + <publish_nested_model_pose>true</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>true</static_publisher> + <static_update_frequency>1</static_update_frequency> + </plugin> + + <plugin + filename="gz-sim-odometry-publisher-system" + name="gz::sim::systems::OdometryPublisher"> + <dimensions>3</dimensions> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>camera_joint_pan</joint_name> + <p_gain>1</p_gain> + <i_gain>0.1</i_gain> + <d_gain>0.01</d_gain> + <i_max>1</i_max> + <i_min>-1</i_min> + <cmd_max>1000</cmd_max> + <cmd_min>-1000</cmd_min> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>camera_joint_tilt</joint_name> + <p_gain>1</p_gain> + <i_gain>0.1</i_gain> + <d_gain>0.01</d_gain> + <i_max>1</i_max> + <i_min>-1</i_min> + <cmd_max>1000</cmd_max> + <cmd_min>-1000</cmd_min> + </plugin> + + <plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + 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3139 2598 3140 3942 3177 1986 3178 1378 3179 3409 3180 3313 3181 1997 3182 814 3219 1756 3220 1925 3221 3470 3222 386 3223 2765 3224 3743 3249 4329 3250 1431 3251 1387 3252 3381 3253 2334 3254 3854 3261 4108 3262 4425 3263 3177 3264 4313 3265 1180 3266 3857 3321 4268 3322 3570 3323 3712 3324 3830 3325 2455 3326 3773 3345 3199 3346 3916 3347 1824 3348 3558 3349 3573 3350 3553 3351 3196 3352 2830 3353 1851 3354 4044 3355 1840 3356 1740 3369 4304 3370 4031 3371 2106 3372 966 3373 4403 3374 1955 3399 3757 3400 3410 3401 1934 3402 3632 3403 2993 3404 3657 3507 1294 3508 1494 3509 2816 3510 2299 3511 3394 3512 3265 3513 1294 3514 851 3515 3394 3516 2299 3517 3818 3518 3829 3519 3761 3520 4307 3521 589 3522 4176 3523 3572 3524 3976 3549 950 3550 2349 3551 3655 3552 2341 3553 950 3554 3315 3570 1510 3571 3979 3572 1665 3573 2970 3574 4622 3575 2490 3588 1282 3589 4348 3590 1937 3591 3975 3592 2934 3593 3166 3612 3604 3613 2937 3614 2192 3615 2502 3616 1896 3617 3733 3618 1807 3619 3643 3620 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<email>mehmet.killioglu@unikie.com</email> + </author> + + <description> + This is an ignition model for the agileX Scout Mini ugv rover. The sdf file is adpated from the [scout_ros2](https://github.com/agilexrobotics/scout_ros2) + </description> +</model> diff --git a/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf b/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf new file mode 100644 index 000000000000..66b77f222713 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf @@ -0,0 +1,465 @@ +<?xml version="1.0" encoding="utf-8"?> +<sdf version='1.9'> + <model name='scout_mini'> + <static>false</static> + <pose>0 0 0.182 0 0 0</pose> + <link name='base_link'> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>60</mass> + <inertia> + <ixx>2.28864</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>5.10398</iyy> + <iyz>0</iyz> + <izz>3.43147</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0 0 0 1.57 -0 -1.57</pose> + <geometry> + <box> + <size>0.5 0.3 0.2</size> + </box> + </geometry> + </collision> + <visual name='base_link_visual'> + <pose>0 0 0 1.57 -0 -1.57</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/scout_mini_base_link2.dae</uri> + </mesh> + </geometry> + </visual> + <!-- IMU {--> + <sensor name='imu_sensor' type='imu'> + <always_on>true</always_on> + <update_rate>250</update_rate> + <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity> + <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk> + <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime> + <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma> + <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity> + <accelerometerRandomWalk>0.006</accelerometerRandomWalk> + <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime> + <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma> + </sensor> + <!--} END IMU --> + <!-- GPS {--> + <sensor name="navsat_sensor" type="gps"/> + <!--} END GPS --> + </link> + <joint name='front_left_wheel_joint' type='revolute'> + <pose relative_to='base_link'>0.231976 0.208252 -0.100998 -1.57 0 0</pose> + <parent>base_link</parent> + <child>front_left_wheel_link</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='front_left_wheel_link'> + <pose relative_to='front_left_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='front_left_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='front_left_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='front_right_wheel_joint' type='revolute'> + <pose relative_to='base_link'>0.231976 -0.208252 -0.099998 1.57 -0 0</pose> + <parent>base_link</parent> + <child>front_right_wheel_link</child> + <axis> + <xyz>0 0 -1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='front_right_wheel_link'> + <pose relative_to='front_right_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='front_right_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='front_right_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rear_left_wheel_joint' type='revolute'> + <pose relative_to='base_link'>-0.231976 0.208252 -0.100998 -1.57 0 0</pose> + <parent>base_link</parent> + <child>rear_left_wheel_link</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rear_left_wheel_link'> + <pose relative_to='rear_left_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='rear_left_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='rear_left_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rear_right_wheel_joint' type='revolute'> + <pose relative_to='base_link'>-0.231976 -0.208252 -0.099998 1.57 -0 0</pose> + <parent>base_link</parent> + <child>rear_right_wheel_link</child> + <axis> + <xyz>0 0 -1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rear_right_wheel_link'> + <pose relative_to='rear_right_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='rear_right_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='rear_right_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <static>0</static> + + <!-- RP Lidar {--> + <link name="2d_scanner_link"> + <pose>0 0 0.089 0 0 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <sensor name='rplidar' type='gpu_lidar'> + <always_on>true</always_on> + <update_rate>20</update_rate> + <visualize>false</visualize> + <lidar> + <scan> + <horizontal> + <samples>720</samples> + <resolution>1</resolution> + <min_angle>-3.1241390751</min_angle> + <max_angle>3.1241390751</max_angle> + </horizontal> + <vertical> + <samples>1</samples> + <resolution>1</resolution> + <min_angle>0.0</min_angle> + <max_angle>0.0</max_angle> + </vertical> + </scan> + <range> + <min>0.15</min> + <max>14</max> + <resolution>0.01</resolution> + </range> + </lidar> + </sensor> + <visual name='rplidar_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/rplidar.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='2d_scanner_joint' type='fixed'> + <child>2d_scanner_link</child> + <parent>base_link</parent> + </joint> + <!--} END RP Lidar --> + + <!-- CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>50 -50 50</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END CAMERA --> + + <!-- Plugins {--> + <!-- diff drive plugin : + 1. drive the robot with cmd_vel (PX4 mode: throttle and steering from PX4 + via gz_bridge masqueraded as cmd_vel from PX4 via gz_bridge) + 2. publish odom /robot_name/odom -> /robot_name (PX4 mode: not used since + PX4 publishes odom) + --> + <plugin + filename="gz-sim-diff-drive-system" + name="gz::sim::systems::DiffDrive"> + <left_joint>front_right_wheel_joint</left_joint> + <left_joint>rear_right_wheel_joint</left_joint> + <right_joint>front_left_wheel_joint</right_joint> + <right_joint>rear_left_wheel_joint</right_joint> + <wheel_separation>0.49</wheel_separation> + <wheel_radius>0.0775</wheel_radius> + <max_linear_acceleration>1</max_linear_acceleration> + <min_linear_acceleration>-1</min_linear_acceleration> + <max_angular_acceleration>2</max_angular_acceleration> + <min_angular_acceleration>-2</min_angular_acceleration> + <max_linear_velocity>3.0</max_linear_velocity> + <min_linear_velocity>-3.0</min_linear_velocity> + <max_angular_velocity>1</max_angular_velocity> + <min_angular_velocity>-1</min_angular_velocity> + <frame_id>scout_mini/odom</frame_id> + <child_frame_id>scout_mini/base_link</child_frame_id> + </plugin> + <plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + </plugin> + + + <!--} END Plugins --> + </model> +</sdf> \ No newline at end of file diff --git a/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf.jinja b/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf.jinja new file mode 100644 index 000000000000..38d1d763c26f --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf.jinja @@ -0,0 +1,477 @@ +<?xml version="1.0" encoding="utf-8"?> +<sdf version='1.9'> + <model name='scout_mini'> + <static>false</static> + <pose>0 0 0.182 0 0 0</pose> + <link name='base_link'> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>60</mass> + <inertia> + <ixx>2.28864</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>5.10398</iyy> + <iyz>0</iyz> + <izz>3.43147</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0 0 0 1.57 -0 -1.57</pose> + <geometry> + <box> + <size>0.5 0.3 0.2</size> + </box> + </geometry> + </collision> + <visual name='base_link_visual'> + <pose>0 0 0 1.57 -0 -1.57</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/scout_mini_base_link2.dae</uri> + </mesh> + </geometry> + </visual> + <!-- IMU {--> + <sensor name='imu_sensor' type='imu'> + <always_on>true</always_on> + <update_rate>250</update_rate> + <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity> + <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk> + <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime> + <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma> + <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity> + <accelerometerRandomWalk>0.006</accelerometerRandomWalk> + <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime> + <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma> + </sensor> + <!--} END IMU --> + <!-- GPS {--> + <sensor name="navsat_sensor" type="gps"/> + <!--} END GPS --> + </link> + <joint name='front_left_wheel_joint' type='revolute'> + <pose relative_to='base_link'>0.231976 0.208252 -0.100998 -1.57 0 0</pose> + <parent>base_link</parent> + <child>front_left_wheel_link</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='front_left_wheel_link'> + <pose relative_to='front_left_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='front_left_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='front_left_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='front_right_wheel_joint' type='revolute'> + <pose relative_to='base_link'>0.231976 -0.208252 -0.099998 1.57 -0 0</pose> + <parent>base_link</parent> + <child>front_right_wheel_link</child> + <axis> + <xyz>0 0 -1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='front_right_wheel_link'> + <pose relative_to='front_right_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='front_right_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='front_right_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rear_left_wheel_joint' type='revolute'> + <pose relative_to='base_link'>-0.231976 0.208252 -0.100998 -1.57 0 0</pose> + <parent>base_link</parent> + <child>rear_left_wheel_link</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rear_left_wheel_link'> + <pose relative_to='rear_left_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='rear_left_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='rear_left_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rear_right_wheel_joint' type='revolute'> + <pose relative_to='base_link'>-0.231976 -0.208252 -0.099998 1.57 -0 0</pose> + <parent>base_link</parent> + <child>rear_right_wheel_link</child> + <axis> + <xyz>0 0 -1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rear_right_wheel_link'> + <pose relative_to='rear_right_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='rear_right_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='rear_right_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <static>0</static> + + <!-- RP Lidar {--> + <link name="2d_scanner_link"> + <pose>0 0 0.089 0 0 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <sensor name='rplidar' type='gpu_lidar'> + <always_on>true</always_on> + <update_rate>20</update_rate> + <visualize>false</visualize> + <lidar> + <scan> + <horizontal> + <samples>720</samples> + <resolution>1</resolution> + <min_angle>-3.1241390751</min_angle> + <max_angle>3.1241390751</max_angle> + </horizontal> + <vertical> + <samples>1</samples> + <resolution>1</resolution> + <min_angle>0.0</min_angle> + <max_angle>0.0</max_angle> + </vertical> + </scan> + <range> + <min>0.15</min> + <max>14</max> + <resolution>0.01</resolution> + </range> + </lidar> + </sensor> + <visual name='rplidar_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/rplidar.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='2d_scanner_joint' type='fixed'> + <child>2d_scanner_link</child> + <parent>base_link</parent> + </joint> + <!--} END RP Lidar --> + + <!-- CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>50 -50 50</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END CAMERA --> + + <!-- Plugins {--> + <!-- diff drive plugin : + 1. drive the robot with cmd_vel (PX4 mode: throttle and steering from PX4 + via gz_bridge masqueraded as cmd_vel from PX4 via gz_bridge) + 2. publish odom /robot_name/odom -> /robot_name (PX4 mode: not used since + PX4 publishes odom) + --> + <plugin + filename="gz-sim-diff-drive-system" + name="gz::sim::systems::DiffDrive"> + <left_joint>front_right_wheel_joint</left_joint> + <left_joint>rear_right_wheel_joint</left_joint> + <right_joint>front_left_wheel_joint</right_joint> + <right_joint>rear_left_wheel_joint</right_joint> + <wheel_separation>0.49</wheel_separation> + <wheel_radius>0.0775</wheel_radius> + <max_linear_acceleration>1</max_linear_acceleration> + <min_linear_acceleration>-1</min_linear_acceleration> + <max_angular_acceleration>2</max_angular_acceleration> + <min_angular_acceleration>-2</min_angular_acceleration> + <max_linear_velocity>3.0</max_linear_velocity> + <min_linear_velocity>-3.0</min_linear_velocity> + <max_angular_velocity>1</max_angular_velocity> + <min_angular_velocity>-1</min_angular_velocity> + <frame_id>scout_mini/odom</frame_id> + <child_frame_id>scout_mini/base_link</child_frame_id> + </plugin> + <plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + </plugin> + + {% if hitl_mode %}<plugin + filename="libmavlink_hitl_gazebosim.so" + name="mavlink_interface::GazeboMavlinkInterface"> + <robotNamespace/> + <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic> + <gpsSubTopic>/link/base_link/sensor/navsat_sensor/navsat</gpsSubTopic> + <poseSubTopic>/pose/info</poseSubTopic> + <mavlink_addr>{{ mavlink_addr }}</mavlink_addr> + <mavlink_udp_local_port>{{ mavlink_udp_local_port }}</mavlink_udp_local_port> + <mavlink_udp_remote_port>{{ mavlink_udp_remote_port }}</mavlink_udp_remote_port> + <mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port> + <use_tcp>0</use_tcp> + </plugin>{% endif %} + <!--} END Plugins --> + </model> +</sdf> diff --git a/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf.last_generated b/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf.last_generated new file mode 100644 index 000000000000..66b77f222713 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_scout_mini/model.sdf.last_generated @@ -0,0 +1,465 @@ +<?xml version="1.0" encoding="utf-8"?> +<sdf version='1.9'> + <model name='scout_mini'> + <static>false</static> + <pose>0 0 0.182 0 0 0</pose> + <link name='base_link'> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>60</mass> + <inertia> + <ixx>2.28864</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>5.10398</iyy> + <iyz>0</iyz> + <izz>3.43147</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0 0 0 1.57 -0 -1.57</pose> + <geometry> + <box> + <size>0.5 0.3 0.2</size> + </box> + </geometry> + </collision> + <visual name='base_link_visual'> + <pose>0 0 0 1.57 -0 -1.57</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/scout_mini_base_link2.dae</uri> + </mesh> + </geometry> + </visual> + <!-- IMU {--> + <sensor name='imu_sensor' type='imu'> + <always_on>true</always_on> + <update_rate>250</update_rate> + <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity> + <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk> + <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime> + <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma> + <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity> + <accelerometerRandomWalk>0.006</accelerometerRandomWalk> + <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime> + <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma> + </sensor> + <!--} END IMU --> + <!-- GPS {--> + <sensor name="navsat_sensor" type="gps"/> + <!--} END GPS --> + </link> + <joint name='front_left_wheel_joint' type='revolute'> + <pose relative_to='base_link'>0.231976 0.208252 -0.100998 -1.57 0 0</pose> + <parent>base_link</parent> + <child>front_left_wheel_link</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='front_left_wheel_link'> + <pose relative_to='front_left_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='front_left_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='front_left_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='front_right_wheel_joint' type='revolute'> + <pose relative_to='base_link'>0.231976 -0.208252 -0.099998 1.57 -0 0</pose> + <parent>base_link</parent> + <child>front_right_wheel_link</child> + <axis> + <xyz>0 0 -1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='front_right_wheel_link'> + <pose relative_to='front_right_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='front_right_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='front_right_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rear_left_wheel_joint' type='revolute'> + <pose relative_to='base_link'>-0.231976 0.208252 -0.100998 -1.57 0 0</pose> + <parent>base_link</parent> + <child>rear_left_wheel_link</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rear_left_wheel_link'> + <pose relative_to='rear_left_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='rear_left_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='rear_left_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='rear_right_wheel_joint' type='revolute'> + <pose relative_to='base_link'>-0.231976 -0.208252 -0.099998 1.57 -0 0</pose> + <parent>base_link</parent> + <child>rear_right_wheel_link</child> + <axis> + <xyz>0 0 -1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rear_right_wheel_link'> + <pose relative_to='rear_right_wheel_joint'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0 0 0 -0 0</pose> + <mass>3</mass> + <inertia> + <ixx>0.7171</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.7171</iyy> + <iyz>0</iyz> + <izz>0.1361</izz> + </inertia> + </inertial> + <collision name='rear_right_wheel_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <sphere> + <radius>0.0775</radius> + </sphere> + </geometry> + <max_contacts>1</max_contacts> + <surface> + <friction> + <ode> + <mu>0.5</mu> + <mu2>0.5</mu2> + <slip1>0.0016</slip1> + <slip2>0</slip2> + <fdir1>0 0 1</fdir1> + </ode> + </friction> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0.0</max_vel> + <kp>1.0e7</kp> + <kd>1.0</kd> + </ode> + </contact> + </surface> + </collision> + <visual name='rear_right_wheel_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/wheel.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <static>0</static> + + <!-- RP Lidar {--> + <link name="2d_scanner_link"> + <pose>0 0 0.089 0 0 0</pose> + <inertial> + <mass>0.01</mass> + <inertia> + <ixx>0.000166667</ixx> + <iyy>0.000166667</iyy> + <izz>0.000166667</izz> + </inertia> + </inertial> + <sensor name='rplidar' type='gpu_lidar'> + <always_on>true</always_on> + <update_rate>20</update_rate> + <visualize>false</visualize> + <lidar> + <scan> + <horizontal> + <samples>720</samples> + <resolution>1</resolution> + <min_angle>-3.1241390751</min_angle> + <max_angle>3.1241390751</max_angle> + </horizontal> + <vertical> + <samples>1</samples> + <resolution>1</resolution> + <min_angle>0.0</min_angle> + <max_angle>0.0</max_angle> + </vertical> + </scan> + <range> + <min>0.15</min> + <max>14</max> + <resolution>0.01</resolution> + </range> + </lidar> + </sensor> + <visual name='rplidar_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>meshes/rplidar.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <joint name='2d_scanner_joint' type='fixed'> + <child>2d_scanner_link</child> + <parent>base_link</parent> + </joint> + <!--} END RP Lidar --> + + <!-- CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>50 -50 50</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END CAMERA --> + + <!-- Plugins {--> + <!-- diff drive plugin : + 1. drive the robot with cmd_vel (PX4 mode: throttle and steering from PX4 + via gz_bridge masqueraded as cmd_vel from PX4 via gz_bridge) + 2. publish odom /robot_name/odom -> /robot_name (PX4 mode: not used since + PX4 publishes odom) + --> + <plugin + filename="gz-sim-diff-drive-system" + name="gz::sim::systems::DiffDrive"> + <left_joint>front_right_wheel_joint</left_joint> + <left_joint>rear_right_wheel_joint</left_joint> + <right_joint>front_left_wheel_joint</right_joint> + <right_joint>rear_left_wheel_joint</right_joint> + <wheel_separation>0.49</wheel_separation> + <wheel_radius>0.0775</wheel_radius> + <max_linear_acceleration>1</max_linear_acceleration> + <min_linear_acceleration>-1</min_linear_acceleration> + <max_angular_acceleration>2</max_angular_acceleration> + <min_angular_acceleration>-2</min_angular_acceleration> + <max_linear_velocity>3.0</max_linear_velocity> + <min_linear_velocity>-3.0</min_linear_velocity> + <max_angular_velocity>1</max_angular_velocity> + <min_angular_velocity>-1</min_angular_velocity> + <frame_id>scout_mini/odom</frame_id> + <child_frame_id>scout_mini/base_link</child_frame_id> + </plugin> + <plugin + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + </plugin> + + + <!--} END Plugins --> + </model> +</sdf> \ No newline at end of file diff --git a/Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_elevon_left.dae b/Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_elevon_left.dae new file mode 100644 index 000000000000..8ba4ff1e06b0 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_elevon_left.dae @@ -0,0 +1,56 @@ +<?xml version="1.0" encoding="UTF-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>VCGLab</author> + <authoring_tool>VCGLib | MeshLab</authoring_tool> + </contributor> + <created>Sat Jun 18 16:34:19 2016</created> + <modified>Sat Jun 18 16:34:19 2016</modified> + <up_axis>Y_UP</up_axis> + </asset> + <library_geometries> + <geometry id="shape0-lib" name="shape0"> + <mesh> + <source id="shape0-lib-positions" name="position"> + <float_array id="shape0-lib-positions-array" 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url="#Lamp-light"/> + </node> + <node id="EPP1045_B" name="EPP1045_B" type="NODE"> + <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix> + <instance_geometry url="#EPP1045_B-mesh"/> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_wing.dae b/Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_wing.dae new file mode 100644 index 000000000000..1d9f8de47797 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_skywalker_x8/meshes/x8_wing.dae @@ -0,0 +1,56 @@ +<?xml version="1.0" encoding="UTF-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>VCGLab</author> + <authoring_tool>VCGLib | MeshLab</authoring_tool> + </contributor> + <created>Wed Jun 8 23:33:00 2016</created> + <modified>Wed Jun 8 23:33:00 2016</modified> + 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2142.28 930.516 303.111 2142.63 930.623 302.889 2142.6 930.459 302.51 2142.38 930.522 302.251 2142.36 930.271 302.099 2142.27 930.33 301.863 2142.26 929.865 302.492 2142.33 930.042 302.425 2142.29 929.558 301.547 2142.08 930.842 302.188 2142.77 930.936 302.359 2143.14 930.82 302.912 2142.88 931.006 302.88 2144.15 930.913 303.105 2143.29 930.846 303.396 2143.36 930.644 303.424 2142.98 930.753 303.199 2142.93 930.783 301.446 2143.75 930.717 302.288 2142.52 930.712 301.924 2142.49 930.548 301.609 2142.31 930.622 301.102 2142.42 930.468 300.849 2142.26 930.689 302.613 2142.56 930.55 301.948 2142.34 930.359 301.279 2142.22 929.465 301.263 2142 929.807 301.396 2142.06 930.292 300.583 2142.16 929.691 297.666 2142 928.908 298.497 2144.72 928.576 297.673 2144.51 928.943 298.427 2144.69 930.579 300.428 2144.66 930.707 300.67 2144.57 930.764 301.391 2144.94 930.402 303.624 2144.74 930.393 303.573 2144.82 930.617 303.554 2144.83 930.348 303.322 2145.21 930.563 303.288 2145.16 928.921 297.918 2144.52 928.841 297.673 2144.41 928.958 298.197 2144.61 929.344 298.966 2144.77 929.342 298.715 2144.68 929.264 298.16 2144.49 929.008 297.672 2144.34 930.176 302.656 2145.58 930.053 302.266 2145.53 930.241 302.179 2145.6 930.038 302.217 2145.53 929.925 301.859 2145.48 930.097 301.784 2145.55 929.758 301.325 2145.42 930.229 301.671 2145.48 930.268 303.012 2145.38 930.371 302.577 2145.55 930.385 302.049 2145.53 930.399 301.308 2145.27 930.044 300.618 2145.15 930.273 303.032 2145.37 930.48 302.954 2145.4 930.523 302.436 2145.49 930.567 301.646 2145.31 930.457 300.802 2145 930.775 303.408 2144.78 930.87 301.133 2144.23 930.949 301.964 2144.58 930.826 302.341 2145.12 930.909 302.655 2144.89 930.721 303.141 2145.1 930.96 302.909 2144.58 930.424 300.196 2144.69 930.623 301.09 2145 930.711 301.997 2145.26 930.637 302.808 2145.34 929.242 299.314 2144.92 928.958 298.323 2144.65 929.312 299.172 2144.86 929.666 301.033 2145.38 929.126 299.368 2144.95 928.851 298.523 2144.73 929.108 297.672 2144.3 929.373 297.672 2144.2 930.082 299.718 2144.72 929.481 297.672 2144.07 929.553 297.672 2143.98 929.735 297.672 2143.75 929.844 297.672 2143.62 929.862 297.672 2143.53 929.867 297.672 2143.51 864.008 122.016 2095.79 867.563 132.758 2099.25 871.204 121.709 2095.9 874.328 132.386 2099.9 874.389 132.594 2099.98 870.988 143.105 2102.59 876.158 138.639 2102.25 871.14 143.566 2102.71 877.635 143.18 2103.52 871.142 143.571 2102.71 877.752 143.541 2103.62 874.786 154.579 2105.4 881.198 154.134 2106.57 885.718 187.609 2113.45 892.146 187.331 2114.12 879.152 167.77 2108.63 885.035 165.782 2109.27 878.429 165.587 2108.09 884.839 165.189 2109.14 878.427 165.581 2108.09 881.689 155.643 2106.99 881.35 154.603 2106.7 899.792 210.477 2119.66 899.442 209.415 2119.4 893.007 209.633 2118.81 895.466 197.394 2116.38 892.421 188.165 2114.31 893.009 209.64 2118.81 894.402 213.849 2119.83 914.015 253.49 2130.45 907.576 253.651 2129.66 914.514 254.999 2130.82 922.144 297.666 2140.52 925.222 297.665 2140.83 915.885 259.143 2131.86 858.436 154.446 2112.9 862.212 165.531 2115.33 843.528 165.488 2116.93 871.159 165.515 2114.34 851.082 132.854 2106.93 854.707 143.5 2110.17 835.479 143.433 2111.93 788.565 253.661 2135.47 867.923 253.642 2137.96 860.248 253.645 2138.44 841.988 209.656 2128.23 731 127.689 2091.13 730.617 127.705 2091.16 739.889 143.093 2095.26 701.925 128.929 2103.7 702.184 128.918 2104.05 710.957 143.098 2107.48 782.88 125.477 2110.07 785.319 125.372 2109.89 793.61 143.298 2114.57 892.967 209.513 2123.58 892.975 209.536 2123.58 885.97 209.665 2124.55 907.575 253.647 2134.42 922.143 297.662 2145.23 920.521 297.66 2145.42 900.688 253.634 2135.2 907.555 253.587 2134.4 900.261 231.55 2128.99 878.414 165.541 2113.42 882.468 177.789 2115.96 878.606 187.689 2119.18 885.666 187.452 2118.28 885.737 187.668 2118.33 867.436 154.434 2111.92 874.758 154.495 2111 875.515 156.784 2111.61 878.338 165.311 2113.38 874.674 154.243 2110.93 871.14 143.564 2108.08 863.767 143.497 2109.13 864.736 132.764 2105.05 867.577 132.799 2104.36 869.846 139.656 2107.04 871.045 143.277 2108 861.208 122.136 2100.78 864.008 122.016 2100.08 864.651 123.959 2100.91 867.496 132.555 2104.26 856.693 122.328 2101.73 860.19 132.802 2105.71 859.217 122.221 2101.27 829.335 123.495 2105.96 846.196 122.776 2103.6 847.634 122.715 2103.34 831.682 133.017 2109.03 828.229 123.542 2106.09 814.513 143.402 2113.49 813.013 124.191 2107.77 806.665 124.462 2108.31 804.756 124.543 2108.48 770.731 125.995 2110.76 773.197 143.257 2115.26 764.614 126.256 2111.06 755.269 126.654 2111.5 751.525 143.141 2115.77 747.886 126.969 2111.72 730.775 127.699 2111.41 732.486 127.626 2111.51 740.057 143.105 2115.24 735.141 127.512 2111.61 742.582 127.195 2111.68 722.028 128.072 2110.84 728.531 143.072 2113.94 718.932 128.204 2110.45 714.906 128.376 2109.93 722.86 143.05 2112.99 713.176 128.449 2109.56 710.02 128.584 2108.88 717.373 143.015 2111.56 707.689 128.683 2108.09 706.827 128.72 2107.8 714.829 143.009 2110.54 705.59 128.773 2107.24 703.12 128.878 2105.31 703.506 128.862 2105.72 712.617 143.053 2109.28 703.763 128.851 2105.98 705.292 128.786 2107.04 710.499 143.101 2103.89 701.231 128.959 2101.52 710.35 143.087 2105.11 701.322 128.955 2102.04 701.437 128.95 2102.69 711.004 143.1 2102.8 701.465 128.949 2100.21 701.343 128.954 2100.89 703.604 128.858 2097.53 703.154 128.877 2097.99 712.704 143.044 2101.13 702.101 128.922 2099.06 701.692 128.939 2099.8 717.206 142.991 2098.66 706.701 128.725 2095.56 714.734 143.023 2099.73 705.131 128.792 2096.53 703.938 128.843 2097.27 722.67 143.026 2097.21 709.066 128.625 2094.53 707.511 128.691 2095.21 719.143 128.195 2092.29 718.747 128.212 2092.35 728.34 143.078 2096.31 713.222 128.447 2093.32 712.965 128.458 2093.4 728.776 127.784 2091.3 741.758 127.23 2090.66 751.382 143.13 2095.06 742.428 127.202 2090.67 773.071 143.239 2095.4 764.503 126.26 2090.81 754.457 126.689 2090.76 793.476 143.25 2096.15 774.585 125.83 2090.9 770.667 125.997 2090.85 814.39 143.362 2097.29 800.305 124.733 2091.99 785.205 125.377 2091.35 835.403 143.455 2098.89 818.643 123.951 2093.03 806.547 124.467 2092.34 849.144 122.65 2095.09 847.553 122.718 2094.97 854.674 143.53 2100.72 835.687 123.224 2094.07 828.145 123.546 2093.61 863.763 143.532 2101.75 856.634 122.331 2095.49 860.801 122.153 2095.71 871.155 165.548 2107.19 877.168 209.663 2117.12 907.024 297.665 2139.03 908.54 297.665 2139.19 911.679 297.665 2139.5 920.079 297.666 2140.32 885.934 209.671 2117.95 859.579 209.667 2115.64 891.719 297.665 2137.67 895.706 297.664 2137.89 862.957 297.665 2136.08 824.201 209.664 2113.48 855.958 297.665 2135.94 806.491 209.649 2112.84 850.764 297.665 2135.83 825.257 297.662 2136.62 771.018 209.655 2113.45 766.577 209.651 2114.07 787.246 253.645 2129.64 757.978 209.687 2117.49 760.054 209.662 2116.07 762.201 209.647 2115.16 821.646 297.681 2137.46 824.4 297.667 2136.82 825.526 297.661 2136.56 827.125 297.661 2136.45 779.898 209.655 2112.76 829.224 297.662 2136.3 832.577 297.663 2136.06 837.226 297.664 2135.74 788.76 209.66 2112.52 838.147 297.665 2135.68 839.376 297.665 2135.59 864.911 297.665 2136.19 876.163 297.665 2136.81 841.896 209.635 2114.37 878.448 297.665 2136.94 886.58 297.665 2137.38 756.609 209.651 2119.59 786.839 253.632 2130.61 756.358 209.639 2120.78 786.684 253.619 2131.64 756.386 209.629 2121.94 786.833 253.635 2132.68 756.769 209.629 2122.97 787.237 253.65 2133.7 757.307 209.633 2123.85 758.662 209.666 2125.29 762.309 209.659 2127.2 790.287 253.649 2136.71 824.304 209.666 2129.18 875.707 253.636 2137.41 859.658 209.674 2127 892.15 253.65 2136.02 877.222 209.669 2125.46 844.643 253.638 2139.22 806.597 209.657 2129.84 828.727 253.644 2139.83 788.822 209.661 2130.06 813.523 253.641 2139.99 779.86 209.659 2129.74 806.32 253.641 2139.66 770.962 209.656 2128.98 799.178 253.644 2139.01 766.553 209.654 2128.35 795.576 253.638 2138.53 824.557 297.664 2148.64 822.581 297.662 2148.25 792.012 253.639 2137.57 821.715 297.663 2147.88 825.364 297.664 2148.79 846.026 297.665 2150 838.718 297.665 2150.09 838.253 297.665 2150.06 837.269 297.665 2150 832.352 297.665 2149.68 829.352 297.666 2149.36 827.324 297.666 2149.15 827.026 297.666 2149.12 878.523 297.664 2149.01 876.17 297.664 2149.1 864.977 297.665 2149.56 920.094 297.661 2145.46 911.694 297.665 2146.29 907.083 297.667 2146.75 906.918 297.667 2146.77 903.436 297.666 2147.05 895.705 297.663 2147.67 885.138 297.664 2148.74 891.791 297.663 2148.07 857.334 297.666 2149.87 855.957 297.665 2149.89 850.847 297.665 2149.95 726.402 165.331 2113.05 725.603 165.327 2110.85 710.497 143.099 2106.34 701.643 128.941 2103.12 727.995 165.298 2114.69 732.36 165.256 2116.83 737.433 165.286 2118.18 742.679 165.296 2119 753.325 165.309 2120.09 763.953 165.325 2120.49 784.352 165.405 2120.09 803.838 165.411 2119.4 823.673 165.486 2118.36 851.629 187.675 2121.76 869.746 187.671 2120.16 862.177 165.566 2106.24 843.461 165.523 2104.49 823.605 165.561 2103.08 803.764 165.493 2102.01 784.242 165.427 2101.27 763.86 165.321 2100.93 753.287 165.3 2101.15 742.655 165.301 2102.04 737.382 165.249 2102.83 732.227 165.221 2104.07 729.783 165.28 2105.04 727.642 165.307 2106.5 726.024 165.36 2108.45 725.626 165.352 2109.62 921.668 276.622 2139.35 925.217 297.667 2144.88 914.345 254.303 2133.87 914.054 253.417 2133.65 907.536 233.549 2128.78 907.027 231.985 2128.38 895.374 196.184 2119.21 899.61 209.199 2122.54 899.781 209.723 2122.67 906.8 231.29 2128.2 884.963 164.807 2112.27 885.071 165.128 2112.33 886.11 168.21 2112.97 888.795 176.316 2114.77 892.349 187.05 2117.17 892.484 187.457 2117.26 874.591 132.061 2102.54 877.035 140.459 2106.18 881.261 153.825 2110.02 881.206 153.66 2109.99 881.122 153.41 2109.94 877.738 142.688 2106.82 877.705 142.583 2106.79 871.584 121.693 2097.68 873.173 127.189 2100.43 874.474 131.659 2102.36 857.507 300.821 2150.54 835.216 307.269 2142.02 834.707 306.474 2140.33 847.718 300.895 2150.91 887.271 301.686 2149.07 878.002 301.923 2149.37 877.402 300.518 2149.54 857.477 300.773 2136.55 896.557 300.103 2138.63 877.364 300.447 2137.29 858.987 303.865 2137.61 878.554 303.234 2138.33 859.619 305.167 2138.61 879.069 304.434 2139.17 879.447 305.315 2140.36 897.628 303.122 2140.1 897.38 302.437 2139.59 898.088 304.392 2141.24 898.223 304.766 2142 879.67 305.833 2141.85 898.303 304.987 2142.45 898.032 304.24 2140.93 898.013 304.187 2140.89 897.757 303.48 2140.36 860.077 306.114 2140.04 860.325 306.629 2141.72 860.365 306.719 2143.5 896.73 300.597 2138.78 897.179 301.883 2139.18 860.013 305.987 2147 859.621 305.164 2148.52 879.071 304.435 2147.8 858.295 302.429 2150.35 859.034 303.944 2149.67 898.38 305.2 2144.81 898.378 305.193 2144.02 879.745 306.009 2143.48 898.216 304.738 2145.93 879.674 305.84 2145.08 898.136 304.514 2146.26 879.448 305.314 2146.54 897.998 304.129 2146.83 898.291 304.948 2145.61 898.352 305.12 2145.06 898.358 305.138 2145.01 897.048 301.462 2148.13 897.276 302.108 2148.16 887.771 302.97 2148.65 897.398 302.452 2148.17 897.476 302.67 2148.04 896.771 300.68 2148.09 878.573 303.264 2148.77 897.862 303.751 2147.38 897.847 303.707 2147.45 897.701 303.299 2147.68 831.019 306.483 2147.63 835.203 307.205 2145.86 834.743 306.466 2147.63 830.239 305.283 2148.84 834.06 305.372 2148.98 829.301 303.829 2149.49 833.195 303.971 2149.79 831.253 300.781 2150 827.305 300.715 2149.49 839.072 300.876 2150.69 842.182 306.396 2147.56 841.657 305.477 2149.11 840.916 304.167 2150.16 840.015 302.56 2150.65 848.597 302.579 2150.77 849.424 304.168 2150.15 829.192 303.74 2138.56 831.148 300.78 2137.02 833.95 305.276 2139.05 833.055 303.85 2138.16 835.387 307.516 2143.93 839.027 300.863 2136.52 842.526 306.997 2145.71 842.693 307.297 2143.79 842.606 307.159 2141.91 842.222 306.495 2140.15 841.594 305.397 2138.7 840.807 304.013 2137.67 896.381 299.575 2148.04 896.588 300.162 2148.07 898.377 305.19 2143.74 898.374 305.183 2142.99 898.373 305.182 2142.84 871.784 121.684 2097.56 871.232 121.708 2095.9 871.43 121.7 2095.96 871.953 121.675 2096.33 872.118 121.674 2096.79 871.937 121.676 2096.31 872.085 121.673 2097.05 871.623 121.692 2096.02 871.849 121.681 2097.53 871.968 121.676 2097.35 872.063 121.673 2097.22 892.934 187.396 2116.88 881.763 154.429 2106.85 889.247 176.251 2114.39 885.463 165.02 2112.24 885.888 164.947 2111.92 874.764 131.549 2102.38 907.424 231.884 2128.26 922.601 276.438 2138.68 915.284 254.158 2133.2 915.597 254.172 2132.73 874.652 132.434 2100.17 875.3 132.025 2100.68 875.005 132.252 2100.34 875.434 131.797 2101.16 875.351 131.628 2101.67 875.094 131.549 2102.1 922.214 276.513 2138.98 915.717 254.28 2132.13 915.585 254.465 2131.56 915.263 254.674 2131.14 914.873 254.858 2130.92 900.08 210.37 2119.71 914.9 254.213 2133.5 900.903 209.918 2120.43 908.378 231.959 2126.73 908.233 231.834 2127.41 907.867 231.819 2127.94 886.377 165.032 2110.75 893.745 187.454 2115.48 893.63 187.35 2116.09 881.688 153.72 2109.88 878.878 142.874 2104.6 882.675 153.773 2108.32 879.01 142.636 2105.23 882.516 153.659 2109.01 878.868 142.482 2105.89 882.142 153.651 2109.55 878.517 142.436 2106.41 878.086 142.476 2106.74 889.638 176.187 2114.09 886.235 164.941 2111.4 900.116 209.62 2122.64 893.32 187.339 2116.57 900.558 209.557 2122.31 900.92 209.574 2121.77 901.059 209.701 2121.09 878.108 143.35 2103.87 885.494 165.613 2109.35 892.88 188.027 2114.25 882.201 154.215 2107.14 885.913 165.419 2109.63 886.249 165.208 2110.1 893.277 187.844 2114.47 893.606 187.636 2114.9 900.529 210.16 2119.96 882.55 153.978 2107.65 878.535 143.13 2104.13 905.28 302.94 2147 905.592 303.888 2146.35 901.824 304.326 2146.16 901.563 303.556 2146.95 922.016 303.483 2145.74 922.149 303.902 2145.18 913.876 304.207 2145.36 912.247 299.411 2139.96 912.833 301.211 2140.54 921.146 300.924 2141.14 913.794 304.105 2142.34 922.091 303.781 2142.49 913.644 303.671 2141.8 921.948 303.356 2142.01 913.477 303.174 2141.41 921.783 302.862 2141.69 913.965 304.557 2143.8 922.244 304.22 2143.79 913.907 304.418 2143.02 922.195 304.084 2143.09 913.955 304.488 2144.61 922.229 304.159 2144.51 921.467 301.795 2146.41 921.656 302.372 2146.35 913.374 302.6 2146.74 921.844 302.953 2146.13 913.565 303.199 2146.45 913.182 302.012 2146.87 921.129 300.776 2146.22 905.904 304.925 2143.91 905.83 304.648 2145.28 909.516 303.502 2146.42 913.739 303.757 2145.99 905.726 304.31 2145.87 902.01 304.896 2145.14 904.94 301.957 2147.39 901.234 302.621 2147.57 900.834 301.49 2147.91 909.161 302.409 2146.94 912.831 300.969 2146.88 912.237 299.23 2146.69 904.911 302.073 2140.19 905.244 303.037 2140.82 901.811 304.379 2141.73 901.996 304.91 2142.77 905.542 303.916 2141.58 909.728 304.343 2142.41 905.784 304.616 2142.59 909.441 303.505 2141.43 904.576 300.917 2147.59 904.198 299.833 2147.51 585.119 79.0287 1700.16 584.781 78.2793 1700.94 584.548 78.163 1700.81 584.003 78.1735 1700.61 584.162 78.9962 1699.45 584.585 78.9711 1699.49 583.39 77.4993 1703.38 583.393 77.4993 1703.38 583.387 77.4993 1703.39 583.589 77.5575 1702.54 583.672 77.5537 1702.57 583.755 77.5576 1702.6 584.394 77.9882 1701.63 583.837 77.5691 1702.63 584.279 78.1184 1700.71 583.999 78.1493 1700.65 585.239 79.2955 1699.89 584.967 79.0773 1699.64 585.313 80.4993 1699.23 585.065 80.2493 1698.85 584.625 80.0663 1698.65 584.113 79.9993 1698.68 584.63 77.4993 1707.71 576.247 77.4993 1705.44 577.49 77.4993 1709.77 587.811 79.0287 1709.53 588.06 79.2955 1709.7 587.958 79.0773 1710.05 584.642 77.4993 1707.72 584.641 77.4993 1707.72 585.363 77.5576 1708.19 585.308 77.5537 1708.26 585.417 77.5691 1708.12 586.418 77.9882 1708.67 586.982 78.163 1709.28 586.807 78.1184 1709.51 586.626 78.1735 1709.74 586.604 78.1493 1709.71 585.252 77.5575 1708.33 587.114 78.2793 1709.05 587.376 78.9962 1710.64 587.716 78.9711 1710.38 587.748 79.9993 1711.32 588.197 80.0663 1711.07 588.461 80.2493 1710.67 588.47 80.4993 1710.21 595.024 103.666 1722.16 589.332 103.666 1684.25 627.701 103.666 1712.76 617.203 103.666 1676.24 594.246 103.666 1722.22 593.503 103.666 1721.98 617.981 103.666 1676.18 618.724 103.666 1676.41 584.472 103.666 1689.29 586.227 103.666 1686.12 584.538 103.666 1692.91 592.549 103.666 1720.79 592.907 103.666 1721.48 629.089 103.666 1711.32 628.588 103.666 1712.23 629.07 103.666 1710.29 619.678 103.666 1677.61 619.32 103.666 1676.92 583.52 102.666 1690.08 583.502 102.666 1689.05 583.576 103.048 1689.07 584.17 103.59 1693.02 585.951 103.59 1685.85 589.226 103.59 1683.89 589.196 103.517 1683.78 585.718 103.373 1685.63 589.136 103.373 1683.57 583.786 103.373 1689.12 584.101 103.59 1689.2 585.562 103.048 1685.48 589.076 103.048 1683.36 589.096 103.156 1683.43 589.055 102.666 1683.29 586.386 102.666 1684.9 585.507 102.666 1685.43 584.505 102.666 1687.24 583.858 103.373 1693.11 583.65 103.048 1693.17 583.577 102.666 1693.19 617.097 103.59 1675.87 617.068 103.517 1675.77 617.008 103.373 1675.56 616.968 103.156 1675.42 616.948 103.048 1675.35 616.927 102.666 1675.28 618.085 103.048 1675.26 618.06 103.373 1675.47 618.024 103.59 1675.8 618.909 103.59 1676.08 619.619 103.59 1676.68 620.045 103.59 1677.51 619.067 103.373 1675.8 619.873 103.373 1676.48 620.357 103.373 1677.42 619.172 103.048 1675.61 620.043 103.048 1676.34 620.566 103.048 1677.36 618.093 102.666 1675.18 619.208 102.666 1675.54 620.102 102.666 1676.3 620.639 102.666 1677.33 629.432 103.565 1710.18 629.551 103.532 1710.15 629.727 103.349 1710.1 630.031 102.666 1710.01 629.935 103.042 1710.04 629.903 103.166 1710.05 628.948 103.532 1712.58 629.574 103.532 1711.44 629.93 103.166 1711.53 627.889 103.349 1713.42 627.839 103.532 1713.24 627.805 103.565 1713.12 627.949 103.042 1713.63 627.94 103.166 1713.59 629.211 103.166 1712.83 627.977 102.666 1713.72 629.307 102.666 1712.92 630.06 102.666 1711.56 595.13 103.59 1722.52 595.219 103.373 1722.83 595.279 103.048 1723.04 595.3 102.666 1723.12 594.203 103.59 1722.6 593.317 103.59 1722.32 592.607 103.59 1721.72 592.181 103.59 1720.89 594.167 103.373 1722.92 593.16 103.373 1722.6 592.354 103.373 1721.92 591.87 103.373 1720.98 594.142 103.048 1723.14 593.055 103.048 1722.79 592.184 103.048 1722.06 591.661 103.048 1721.04 594.133 102.666 1723.21 593.018 102.666 1722.86 592.125 102.666 1722.1 591.588 102.666 1721.06 578.686 79.9993 1713.93 578.181 78.1692 1712.17 587.933 82.4993 1711.97 578.871 82.4993 1714.57 574.092 78.9638 1710.74 575.651 77.8799 1710.3 574.954 79.3201 1712.45 576.588 78.4988 1712.63 575.238 79.4374 1713.02 577.767 80.1896 1714.19 577.454 81.1697 1714.45 576.987 80.7316 1714.42 576.113 80.0845 1713.72 574.408 77.8799 1705.97 572.849 78.9638 1706.42 574.131 80.1896 1701.55 573.352 80.7316 1701.77 573.727 81.1697 1701.49 572.983 80.0845 1702.83 573.964 78.4988 1703.5 572.614 79.4374 1703.89 572.672 79.3201 1704.51 575.556 78.1692 1703.04 575.051 79.9993 1701.28 574.866 82.4993 1700.64 583.928 82.4993 1698.03 583.928 84.847 1698.03 584.317 84.847 1698 584.317 82.4993 1698.03 584.445 82.4993 1698.02 584.688 84.847 1698.12 584.672 82.4993 1698.15 584.898 82.4993 1698.27 584.986 84.847 1698.37 584.964 82.4993 1698.38 585.165 84.847 1698.72 585.165 82.4993 1698.72 588.618 82.4993 1710.73 588.628 82.4993 1711.25 588.377 82.4993 1711.7 587.933 85.1547 1711.97 588.28 85.1547 1711.79 588.364 85.1547 1711.69 588.532 85.1547 1711.49 588.611 85.1547 1711.24 588.651 85.1547 1711.12 588.618 85.1547 1710.73 583.535 89.192 1693.12 583.577 89.3151 1693.19 583.652 89.1327 1693.45 583.413 88.9564 1693 583.493 89.0689 1693.05 583.573 88.9151 1693.31 583.43 88.7135 1693.2 583.333 88.8438 1692.95 583.887 88.1833 1694.27 583.916 87.8224 1694.37 583.908 87.8195 1694.35 583.824 88.108 1694.11 583.855 87.7997 1694.21 583.73 88.0353 1693.97 583.767 87.7776 1694.06 583.354 90.8685 1690.08 583.271 90.713 1690.68 583.232 90.4401 1690.58 585.095 87.6779 1685.77 585.348 87.6791 1685.6 585.345 87.8534 1685.6 584.661 87.6763 1685.92 584.771 87.6767 1685.91 584.983 87.8298 1685.85 584.985 87.6774 1685.85 584.633 87.6763 1685.92 584.547 87.8107 1685.93 584.605 87.6762 1685.92 584.607 87.6762 1685.92 584.611 87.6762 1685.92 584.616 87.6762 1685.92 584.619 87.6762 1685.92 584.125 87.6753 1685.8 584.549 87.676 1685.92 584.583 87.6761 1685.92 583.792 87.7998 1685.51 583.795 87.6753 1685.51 584.112 87.6753 1685.79 584.021 88.5897 1685.94 584.123 87.8 1685.8 583.44 89.2831 1686.03 583.575 88.8988 1685.82 583.684 88.5895 1685.65 583.796 89.2808 1686.3 583.491 89.8349 1686.91 583.111 89.8281 1686.69 583.109 89.8299 1686.7 585.198 88.9591 1685.77 584.862 88.7947 1686.01 584.861 89.9302 1686.19 584.586 89.6403 1686.39 584.38 90.6931 1686.91 584.194 90.3138 1687.03 584.276 90.7806 1687.11 583.802 90.6898 1687.87 584.442 88.6629 1686.07 584.206 89.4084 1686.43 583.877 90.0079 1687.03 583.553 90.3585 1687.82 583.437 90.7729 1689.03 583.256 90.4617 1688.95 583.207 90.1541 1687.72 582.975 90.2415 1688.86 582.823 90.1121 1687.56 582.709 90.1303 1688.29 582.633 90.1423 1688.77 583.494 91.133 1689.08 583.91 91.0907 1687.83 583.112 90.1906 1690.49 582.919 89.9855 1690.41 583.295 88.9015 1692.8 582.683 89.8259 1690.39 582.672 89.8423 1690.35 640.923 91.1656 1743.14 639.359 91.1656 1744.48 637.434 91.1656 1745.24 642.335 91.1656 1739.33 641.953 91.1656 1741.35 637.636 91.1656 1733.25 636.141 91.1656 1733.08 636.105 91.1656 1745.36 635.57 91.1656 1733.11 634.109 91.1656 1745.01 633.577 91.1656 1733.66 631.88 91.1656 1734.83 639.537 91.1656 1734.07 641.058 91.1656 1735.47 642.026 91.1656 1737.29 630.942 91.1656 1742.44 630.17 91.1656 1740.53 632.307 91.1656 1743.99 630.076 91.1656 1738.47 630.669 91.1656 1736.5 866.015 102.953 2075.36 865.744 103.038 2074.78 865.884 103.228 2075.29 865.743 103.04 2074.78 865.847 103.306 2075.27 865.705 103.119 2074.76 865.825 103.324 2075.27 865.495 103.287 2074.76 865.636 103.475 2075.27 865.518 103.57 2075.27 865.377 103.382 2074.75 865.378 103.604 2075.29 865.238 103.416 2074.78 865.549 102.097 2075.79 865.327 102.05 2075.87 865.408 101.906 2075.27 865.257 101.953 2075.61 865.401 101.904 2075.27 865.183 101.857 2075.34 865.009 103.472 2074.83 865.08 103.565 2075.08 865.35 103.611 2075.3 865.15 103.659 2075.34 865.571 102.102 2075.79 865.43 101.91 2075.26 865.591 102.116 2075.78 865.633 102.051 2075.15 865.778 102.247 2075.68 865.639 102.055 2075.15 865.831 102.285 2075.65 865.709 102.103 2075.11 865.86 102.305 2075.64 865.819 102.315 2075.01 865.961 102.51 2075.53 865.822 102.32 2075.01 866.016 102.62 2075.48 865.872 102.416 2074.96 866.016 102.783 2075.42 865.873 102.678 2074.87 866.015 102.869 2075.39 865.873 102.682 2074.87 865.874 102.765 2074.84 865.998 103.098 2075.39 865.586 102.148 2075.93 865.363 102.101 2076.01 865.345 102.075 2075.94 865.608 102.153 2075.92 865.613 102.137 2075.85 865.555 103.62 2075.4 865.614 103.553 2075.33 865.413 103.654 2075.43 865.371 103.656 2075.36 865.386 103.661 2075.43 865.168 103.684 2075.4 865.185 103.709 2075.47 865.847 103.353 2075.34 866.001 102.533 2075.6 866.052 102.806 2075.48 865.854 102.304 2075.72 865.671 103.527 2075.41 865.883 103.356 2075.41 865.92 103.279 2075.43 866.004 103.104 2075.47 866.052 103.003 2075.49 866.053 102.729 2075.59 866.053 102.67 2075.61 865.896 102.356 2075.77 865.815 102.299 2075.81 865.628 102.167 2075.91 868.473 110.463 2087.48 868.561 110.895 2087.8 868.838 110.766 2087.88 867.506 106.513 2081.95 871.133 120.812 2097.28 870.187 116.172 2095.06 870.241 115.157 2094.31 871.376 121.665 2097.67 871.307 121.669 2097.7 871.491 121.66 2097.58 871.135 118.424 2096.18 871.635 121.653 2097.47 871.678 121.651 2097.39 871.806 121.647 2097.15 871.384 118.589 2095.82 871.808 121.646 2097.09 871.816 121.646 2096.9 871.822 121.646 2096.72 870.91 115.475 2093.64 870.918 115.62 2093.42 871.188 121.675 2095.93 871.591 121.658 2096.23 869.357 110.393 2088.05 871.628 121.656 2096.31 871.81 121.646 2096.7 869.133 110.624 2087.92 871.029 121.681 2095.91 868.581 110.994 2087.88 870.55 120.753 2095.18 870.71 121.545 2095.77 870.753 121.692 2095.86 869.057 109.696 2088.74 868.56 110.052 2088.56 867.278 105.43 2083.16 869.264 109.502 2088.85 870.843 115.346 2093.85 870.586 115.163 2094.2 867.517 106.541 2081.93 869.989 115.203 2094.59 869.962 115.104 2094.48 868.765 110.791 2089.43 869.426 110.149 2088.09 869.537 110.042 2088.31 869.531 109.874 2088.46 869.477 109.722 2088.6 862.296 101.449 2075.43 859.405 101.046 2075.52 863.738 108.878 2089.52 863.809 109.18 2089.75 869.687 121.738 2098.27 865.465 116.257 2095.07 866.581 121.028 2098.66 866.776 121.862 2099.28 865.356 115.792 2094.72 863.88 109.483 2089.98 463.367 85.099 1525.5 463.367 87.6656 1525.5 538.019 86.7933 1630.02 577.51 87.6656 1685.31 583.275 87.6656 1684.78 469.511 87.6656 1525.5 527.036 86.3884 1606.04 469.511 85.0556 1525.5 462.588 84.1631 1525.5 462.11 84.0843 1525.5 470.726 84.0694 1525.5 462.61 84.1668 1525.5 470.661 84.0707 1525.5 463.042 84.4179 1525.5 469.679 84.5628 1525.5 469.562 84.772 1525.5 463.254 84.6794 1525.5 463.361 85.0007 1525.5 463.265 84.7111 1525.5 470.125 84.2095 1525.5 469.924 84.3122 1525.5 469.703 84.5216 1525.5 470.243 84.1493 1525.5 463.471 88.3127 1525.5 469.099 88.9156 1525.5 467.975 89.8307 1525.5 466.439 90.1656 1525.5 469.406 88.3127 1525.5 463.778 88.9156 1525.5 464.903 89.8307 1525.5 585.248 87.1832 1685.51 585.28 87.3432 1685.54 585.057 87.462 1685.79 585.154 87.0547 1685.43 584.917 87.2882 1685.79 584.795 86.8354 1685.43 584.98 86.8178 1685.27 585.109 87.0298 1685.43 585.123 87.0127 1685.4 583.917 87.1677 1685.43 584.06 86.994 1685.33 584.063 87.0089 1685.43 584.208 86.8139 1685.23 584.409 86.8381 1685.43 584.614 86.6792 1684.94 584.81 86.7534 1685.12 584.157 87.4683 1685.79 583.874 87.3284 1685.45 584.294 87.2926 1685.79 583.909 87.1781 1685.43 584.494 87.1941 1685.79 584.716 87.1925 1685.79 586.305 87.6715 1684.75 589.055 87.6694 1683.29 586.635 87.6688 1684.46 616.927 88.2392 1675.28 602.994 87.8192 1679.29 620.639 88.4314 1677.33 620.388 88.4179 1676.72 620.069 88.401 1676.32 619.763 88.3849 1675.93 619.188 88.355 1675.57 618.911 88.3406 1675.4 618.088 88.2982 1675.2 617.929 88.29 1675.17 630.031 88.8588 1710.01 625.335 88.6355 1693.67 630.018 88.8679 1711.56 629.918 88.8663 1711.99 629.38 88.8489 1712.84 629.297 88.8458 1712.91 628.591 88.82 1713.47 627.977 88.7964 1713.72 630.143 88.8699 1711.01 611.64 88.4589 1718.42 595.3 88.352 1723.12 593.039 88.33 1722.83 592.466 88.319 1722.46 592.158 88.309 1722.08 591.84 88.2988 1721.68 591.588 88.2843 1721.06 594.299 88.3467 1723.23 594.139 88.3449 1723.19 593.317 88.3354 1723 588.007 86.1423 1712.23 587.945 85.5611 1712.01 588.292 85.5766 1711.83 588.636 85.7643 1710.79 588.666 85.6865 1711.17 588.545 85.6206 1711.54 588.012 86.1864 1712.24 588.362 86.2256 1712.07 588.623 86.3374 1711.81 588.754 86.5048 1711.48 588.737 86.7023 1711.14 588.919 87.4657 1711.78 588.913 87.1708 1712.03 588.761 86.9208 1712.29 588.487 86.7538 1712.51 588.293 87.0307 1713.22 588.207 86.8511 1712.92 588.133 86.6954 1712.66 588.843 87.2302 1713.75 588.654 87.1018 1713.09 589.154 87.4469 1713.66 588.945 87.305 1712.93 589.362 87.7714 1713.59 589.123 87.6094 1712.76 589.433 88.1543 1713.56 589.16 87.9687 1712.61 588.476 87.1545 1713.86 582.134 85.1728 1713.64 576.263 85.2128 1715.32 566.729 86.6251 1712.86 567.153 86.617 1713.78 567.889 86.5427 1714.51 568.127 86.5187 1714.74 569.783 86.2936 1715.51 570.079 86.2471 1715.55 572.36 85.8899 1715.87 573.026 85.7744 1715.78 565.559 86.5489 1708.51 572.555 84.9032 1701.3 569.977 85.3926 1702.32 569.553 85.4826 1702.61 567.353 85.9495 1704.14 567.14 86.0035 1704.4 566.003 86.2909 1705.84 565.767 86.3744 1706.48 565.517 86.4632 1707.16 578.276 84.8649 1699.66 584.323 87.8466 1695.79 584.518 87.7738 1696.47 584.251 87.4636 1695.81 584.422 87.4001 1696.41 584.044 87.1391 1695.88 584.193 87.0835 1696.4 583.733 86.9224 1695.97 583.868 86.8721 1696.44 583.365 86.8467 1696.08 583.667 86.5429 1697.13 583.576 86.6779 1696.81 583.495 86.7982 1696.53 584.776 87.3908 1697.36 584.984 86.7211 1698.08 584.646 87.0661 1697.19 584.828 86.4819 1697.82 584.39 86.7909 1697.08 584.549 86.2791 1697.64 584.046 86.6071 1697.06 584.19 86.1438 1697.56 583.806 86.0964 1697.61 583.88 85.612 1697.87 583.896 85.509 1697.92 584.284 85.5341 1697.89 584.652 85.6059 1697.99 584.945 85.7133 1698.23 585.118 85.84 1698.55 590.511 88.2194 1717.31 583.836 87.4556 1694.35 583.716 87.5019 1694.11 583.698 87.4074 1694.12 583.628 87.1451 1694.35 583.391 86.9945 1694.35 583.521 87.0974 1694.25 583.575 87.1917 1694.21 583.645 87.1271 1694.46 583.637 87.1149 1694.46 583.331 86.9017 1694.55 583.314 86.9341 1694.41 583.262 86.8925 1694.44 583.326 86.8982 1694.56 582.958 86.8225 1694.66 583.844 87.4395 1694.4 583.846 87.4509 1694.4 581.579 87.7378 1691 627.011 89.0015 1736.05 627.595 89.0022 1734.98 628.268 90.135 1735.31 638.091 89.3034 1748.44 637.208 89.2891 1748.7 636.074 90.2634 1747.9 637.945 90.28 1747.69 640.639 90.3021 1746.61 640.3 89.339 1747.79 642.914 89.3769 1745.9 642.819 90.3179 1744.71 643.399 89.3829 1745.2 644.253 90.3259 1742.2 644.752 89.3993 1743.25 645.607 89.4025 1740.14 644.789 90.3247 1739.37 645.555 89.3982 1739.4 644.369 90.3134 1736.52 645.383 89.3839 1736.93 644.104 89.3432 1733.96 643.033 90.2921 1733.95 643.654 89.3308 1733.48 640.915 90.2623 1731.95 641.914 89.283 1731.59 639.064 89.2094 1730.08 638.241 90.2271 1730.75 638.437 89.1939 1729.95 635.309 90.1913 1730.51 632.455 90.1611 1731.26 632.136 89.0555 1730.58 633.878 89.0881 1729.85 635.23 89.1187 1729.77 637.085 89.1607 1729.66 630.013 90.1415 1732.92 628.544 89.0034 1733.24 629.488 89.015 1732.39 630.919 89.0327 1731.1 626.678 89.015 1738.05 627.423 90.1409 1738.14 626.487 89.0228 1739.21 627.575 90.1566 1741.09 626.842 89.048 1741.26 627.035 89.0617 1742.37 628.703 90.1795 1743.82 628.066 89.0953 1744.22 628.599 89.1128 1745.18 630.671 90.2067 1746.01 630.202 89.1516 1746.6 631.008 89.1711 1747.32 633.247 90.2357 1747.42 632.999 89.2115 1748.13 636.092 89.2699 1748.77 636.064 89.2694 1748.76 633.99 89.2316 1748.54 635.431 90.9141 1731.72 632.977 90.9061 1732.37 630.881 90.9008 1733.81 629.383 90.8991 1735.86 628.656 90.9007 1738.29 628.782 90.9049 1740.83 629.747 90.911 1743.18 631.435 90.9183 1745.07 633.651 90.926 1746.29 636.089 90.9333 1746.71 637.705 90.9377 1746.54 640.037 90.9436 1745.61 641.926 90.9477 1743.97 643.169 90.9499 1741.8 643.632 90.9495 1739.35 643.265 90.9465 1736.88 642.104 90.9409 1734.66 640.269 90.933 1732.94 637.958 90.9237 1731.92 862.196 101.065 2065.29 859.687 100.27 2055.5 859.345 100.309 2055.5 860.082 100.108 2055.5 859.774 100.26 2055.5 860.153 100.073 2055.5 860.438 99.7752 2055.5 860.448 99.7511 2055.5 860.596 99.4131 2055.5 860.622 99.2098 2055.5 860.627 99.1717 2055.5 860.627 99.1497 2055.5 860.627 99.1277 2055.5 860.535 98.7033 2055.5 860.505 98.6557 2055.5 860.33 98.3822 2055.5 862.347 99.0377 2065.56 860.178 98.2602 2055.5 860.023 98.1361 2055.5 859.804 98.0557 2055.5 859.641 97.9959 2055.5 859.472 97.9766 2055.5 862.305 103.517 2075.49 865.56 121.034 2095.33 864.522 116.44 2092 863.254 110.832 2087.93 863.201 110.601 2087.76 863.154 110.392 2087.61 859.406 103.343 2075.5 865.757 121.906 2095.96 868.559 121.786 2095.98 717.875 128.224 2092.32 702.365 128.887 2104.18 702.854 128.866 2104.9 701.818 128.91 2103.37 701.476 128.925 2102.07 701.478 128.925 2101.98 715.109 128.343 2092.89 710.634 128.534 2093.81 707.003 128.689 2095.31 701.493 128.924 2101.41 701.67 128.917 2100.8 704.054 128.815 2105.84 705.552 128.751 2107.03 708.26 128.635 2108.09 701.897 128.907 2100.02 702.101 128.898 2099.7 703.172 128.853 2098.05 705.704 128.744 2095.85 711.034 128.517 2109.18 717.802 128.227 2109.96 726.284 127.865 2091.53 731.451 127.644 2111.53 732.862 127.584 2091.19 736.427 127.432 2111.68 738.686 127.335 2090.89 738.078 127.361 2111.63 757.175 126.545 2090.78 776.435 125.722 2091.24 779.589 125.588 2110.31 781.207 125.518 2110.16 784.684 125.37 2091.44 824.609 123.664 2106.14 825.86 123.61 2093.58 837.761 123.102 2104.92 862.662 122.038 2100.34 692.57 108.894 2075.5 686.536 106.433 2075.5 696.333 114.857 2089.07 683.2 106.794 2084.4 677.478 102.245 2075.5 676.349 101.074 2075.5 818.854 112.869 2086.27 774.487 116.27 2084.96 775.62 120.781 2088.42 688.533 111.932 2093.12 688.405 111.621 2093.48 691.789 115.689 2096.94 731.64 122.802 2088.34 711.396 122.239 2090.99 701.823 121.429 2093.76 696.065 120.652 2097.71 698.826 125.177 2101.15 695.503 120.467 2098.61 699.091 125.077 2102.23 699.723 124.978 2103.2 701.549 124.842 2104.77 713.802 118.343 2106.1 706.035 124.604 2106.92 735.816 116.7 2106.88 779.299 115.748 2105.17 822.907 115.081 2101.81 820.234 106.817 2094.47 691.705 109.817 2095.84 693.764 114.599 2099.14 690.457 110.024 2095.37 692.738 114.847 2098.5 689.358 110.386 2094.82 691.832 115.466 2097.36 688.425 111.289 2093.84 692.013 115.238 2097.76 688.597 110.954 2094.19 688.917 110.645 2094.52 776.137 106.238 2096.9 731.96 106.326 2098.24 708.747 108.197 2098.15 703.064 119.137 2104.6 696.194 119.731 2101.36 697.136 119.574 2102.1 698.212 119.476 2102.74 700.099 114.012 2101.3 695.267 120.238 2099.57 695.328 120.107 2100.05 695.513 119.97 2100.52 688.778 112.219 2092.77 730.113 118.45 2084.84 707.447 116.86 2086.88 676.255 100.976 2075.5 681.768 104.881 2085.17 676.141 100.858 2075.5 697.682 120.934 2096.13 691.484 113.511 2090.9 689.504 112.72 2092.09 682.296 105.919 2084.78 681.968 105.42 2084.98 684.005 105.401 2075.5 680.243 103.866 2075.5 679.778 103.676 2075.5 678.261 103.058 2075.5 726.475 112.911 2075.5 724.981 112.891 2075.5 711.493 111.551 2075.5 699.778 110.388 2075.5 695.092 109.923 2075.5 771.245 110.422 2075.5 758.672 111.121 2075.5 685.311 101.814 2086.48 680.673 95.2234 2075.51 682.33 94.8634 2075.51 679.393 95.5015 2075.51 683.922 102.167 2086.22 678.432 95.7103 2075.5 682.695 102.783 2085.92 678.413 95.7146 2075.5 676.522 96.7549 2075.5 682.213 103.221 2085.75 676.466 96.831 2075.5 681.881 103.743 2085.57 675.769 97.7816 2075.5 675.793 97.7493 2075.5 675.816 99.9439 2075.5 675.705 99.6322 2075.5 681.734 104.311 2085.37 675.553 99.2049 2075.5 675.723 98.0866 2075.5 691.184 100.93 2087.22 685.614 94.5874 2075.51 689.844 94.232 2075.5 695.369 93.7679 2075.5 697.138 109.234 2097.2 694.931 114.456 2099.7 697.987 93.6825 2075.5 705.773 93.4287 2075.5 708.94 93.468 2075.5 722.06 93.6307 2075.5 755.376 94.044 2075.5 767.932 94.1997 2075.5 768.886 94.2115 2075.5 813.671 107.015 2075.5 815.133 106.898 2075.5 856.356 98.5129 2065.64 853.232 97.6562 2055.5 537.959 86.4068 1630.07 537.781 86.0803 1630.2 537.514 85.8647 1630.39 537.199 85.7935 1630.62 567.682 86.4667 1673.29 577.451 87.2811 1685.36 577.276 86.9557 1685.49 577.011 86.7395 1685.68 576.698 86.6657 1685.91 516.263 92.7758 1773.89 569.525 93.5622 1874.58 568.335 94.7635 1874.56 617.39 89.5673 1874.52 676.209 89.6596 1874.52 715.958 90.3492 1975.18 677.333 91.0132 2050.58 777.469 102.32 1975.18 741.292 103.39 1874.52 679.925 112.281 1874.52 804.602 101.882 2050.65 680.044 106.844 2050.55 670.786 103.577 2050.55 673.115 101.578 2063.13 677.043 90.129 1570.5 704.863 91.0337 1672.9 665.483 88.8394 1673.21 602.739 86.8194 1678.33 598.906 86.7783 1679.43 596.438 86.6555 1673.21 745.595 90.6848 2050.6 807.49 93.2246 2050.63 808.814 93.2344 2055.5 735.73 90.7136 2025.47 800.652 93.1742 2025.46 788.083 93.0815 1979.2 786.99 93.0807 1975.18 645.559 88.4328 1733.05 642.992 88.3426 1730.25 637.306 88.1592 1727.94 633.516 88.0502 1728.16 639.639 88.2322 1728.45 621.304 87.4186 1676.25 620.471 87.3856 1675.19 628.284 87.7969 1714.69 629.104 87.8205 1714.35 614.469 87.5115 1718.67 630.011 87.967 1729.63 627.194 87.9229 1732.17 625.375 87.92 1735.49 630.157 87.8494 1713.52 630.874 87.8669 1712.38 631.175 87.8705 1711.07 631.026 87.8594 1709.74 626.333 87.6362 1693.4 621.638 87.4322 1677.06 624.756 87.9519 1739.23 625.409 88.0102 1742.97 627.267 88.0869 1746.28 630.118 88.1744 1748.8 633.641 88.2652 1750.22 636.12 88.3227 1750.49 637.436 88.3515 1750.41 641.075 88.4263 1749.32 767.351 93.0658 1902.89 759.612 92.8141 1874.41 644.146 88.4833 1747.09 646.305 88.5169 1743.97 647.312 88.5218 1740.32 647.054 88.4939 1736.53 619.334 87.3413 1674.47 618.025 87.2907 1674.17 616.688 87.2399 1674.32 525.531 82.0301 1275.5 538.888 82.3956 1275.5 592.641 85.4148 1471.92 557.445 82.9956 1275.5 575.999 83.6972 1275.5 594.551 84.511 1275.5 703.927 92.6336 1570.5 677.892 90.2009 1570.5 673.577 90.4391 1471.93 658.512 89.3498 1422.99 613.101 85.4067 1275.5 438.61 81.0883 1275.5 453.708 81.1577 1275.5 516.476 83.4943 1471.92 471.101 81.2653 1275.5 488.494 81.4017 1275.5 500.334 81.5363 1275.5 512.173 81.7314 1275.5 521.552 81.9411 1275.5 434.463 82.7443 1471.92 345.702 80.6541 1275.5 358.238 80.3901 1275.5 365.034 80.4579 1275.5 377.3 80.6219 1275.5 389.565 80.7849 1275.5 399.989 80.8875 1275.5 409.944 80.9581 1275.5 438.219 81.0865 1275.5 293.782 82.1926 1275.5 296.232 82.0808 1275.5 390.089 85.2685 1471.92 312.147 81.3606 1275.5 367.618 87.3717 1471.92 267.276 83.7269 1275.5 273.686 83.1633 1275.5 275.787 83.0402 1275.5 277.888 82.9288 1275.5 280.318 82.8074 1275.5 261.612 84.5019 1275.5 356.561 89.6987 1471.93 257.648 85.4404 1275.5 255.049 86.4165 1275.5 262.61 84.3226 1275.5 263.609 84.1579 1275.5 265.614 83.8729 1275.5 251.533 88.5403 1275.5 251.574 88.5005 1275.5 354.164 91.1863 1471.91 252.555 87.7828 1275.5 252.612 87.7459 1275.5 253.206 87.3806 1275.5 253.811 87.0384 1275.5 254.354 86.7656 1275.5 250.71 89.3576 1275.5 353.241 92.2558 1471.89 250.585 89.5127 1275.5 352.75 93.5728 1471.89 249.792 90.8902 1275.5 250.429 89.7836 1275.5 249.525 92.5317 1275.5 249.544 92.7548 1275.5 352.861 94.9779 1471.91 249.519 92.3072 1275.5 249.718 91.2725 1275.5 353.352 96.3047 1471.93 249.621 93.2246 1275.5 249.57 92.9171 1275.5 251.995 97.2186 1275.5 251.412 96.5918 1275.5 250.305 94.9883 1275.5 249.899 94.1312 1275.5 258.194 102.598 1275.5 257.943 102.425 1275.5 354.916 98.6603 1471.92 258.701 102.938 1275.5 363.697 105.728 1471.92 261.287 104.536 1275.5 259.213 103.268 1275.5 257.692 102.249 1275.5 257.195 101.89 1275.5 256.223 101.148 1275.5 255.279 100.373 1275.5 253.468 98.7317 1275.5 252.734 98.0145 1275.5 274.793 110.534 1275.5 272.953 109.961 1275.5 266.958 107.566 1275.5 262.596 105.235 1275.5 494.562 114.271 1673.21 296.236 116.109 1275.5 477.195 109.28 1673.21 291.319 115.04 1275.5 286.424 113.864 1275.5 284.725 113.428 1275.5 283.03 112.979 1275.5 279.65 112.044 1275.5 334.736 120.914 1275.5 347.75 121.374 1275.5 530.334 118.189 1673.21 330.677 120.668 1275.5 326.623 120.369 1275.5 318.533 119.6 1275.5 306.137 117.926 1275.5 300.488 116.89 1275.5 565.942 117.521 1673.21 400.726 119.66 1275.5 396.399 120.009 1275.5 386.418 120.607 1275.5 376.426 121.053 1275.5 369.257 121.274 1275.5 362.087 121.405 1275.5 351.92 121.383 1275.5 427.268 117.331 1275.5 422.129 117.853 1275.5 416.988 118.347 1275.5 600.538 114.366 1673.21 443.018 115.572 1275.5 437.54 116.21 1275.5 434.972 116.499 1275.5 432.405 116.783 1275.5 499.546 107.805 1275.5 485.592 109.894 1275.5 478.61 110.903 1275.5 471.624 111.885 1275.5 450.641 114.647 1275.5 447.139 115.078 1275.5 443.636 115.499 1275.5 461.138 113.302 1275.5 457.64 113.759 1275.5 454.141 114.207 1275.5 468.13 112.365 1275.5 464.634 112.838 1275.5 525.987 103.619 1275.5 668.911 103.834 1673.21 677.043 98.8834 1570.5 703.943 97.5284 1570.5 658.532 95.8102 1422.99 527.88 103.32 1275.5 532.06 102.626 1275.5 544.594 100.511 1275.5 536.238 101.922 1275.5 534.149 102.275 1275.5 613.123 93.5399 1275.5 612.667 93.551 1275.5 612.21 93.5698 1275.5 600.925 94.0685 1275.5 589.66 94.7368 1275.5 578.341 95.7297 1275.5 572.698 96.3585 1275.5 567.063 97.0652 1275.5 555.817 98.6858 1275.5 759.534 101.072 1874.12 723.615 100.621 1741.92 704.926 99.9238 1673.13 856.365 100.78 2065.65 853.239 99.9918 2055.5 809.037 101.673 2055.5 808.814 101.691 2055.5 576.304 86.4889 1673.31 527.846 85.3885 1605.47 525.928 86.9819 1673.21 584.094 86.6657 1684.21 586.063 86.669 1683.66 588.787 86.6695 1682.34 569.028 86.9384 1700.58 566.047 87.0018 1702.93 572.01 86.9029 1699.34 580.768 86.7668 1691.6 577.723 86.8646 1697.7 564.564 87.0579 1705.19 564.079 87.098 1706.99 564.219 87.1342 1708.86 569.174 87.2533 1717.06 572.244 87.2442 1717.72 565.389 87.2104 1713.21 565.952 87.2311 1714.51 567.167 87.2475 1715.9 590.631 87.2844 1721.35 590.967 87.2989 1722.17 576.823 87.2125 1717.21 589.553 87.2195 1717.61 582.686 87.1725 1715.52 591.802 87.3191 1723.22 592.937 87.3356 1723.94 594.247 87.3468 1724.24 595.582 87.3521 1724.09 611.932 87.4591 1719.39 463.107 92.0161 1673.24 461.371 93.4566 1673.27 460.723 94.3827 1673.26 460.39 95.4577 1673.24 460.915 97.631 1673.21 469.045 105.352 1673.21 462.201 99.4914 1673.21 671.187 100.225 2063.13 669.585 98.5096 2063.14 666.503 101.258 2050.55 657.835 104.118 2025.44 662.861 98.092 2050.56 700.13 109.909 2050.54 688.801 110.67 2025.44 667.627 107.553 2025.44 642.815 108.867 1975.18 631.946 105.1 1975.18 649.443 98.3214 2025.45 622.634 98.6217 1975.18 574.27 103.9 1874.52 569.149 99.4569 1874.53 666.14 112.193 1975.18 691.191 112.584 1975.18 748.959 108.717 2050.58 719.487 110.393 1975.18 739.153 109.312 2025.46 795.561 102.091 2025.5 649.462 114.923 1874.53 620.843 114.925 1874.53 593.346 111.243 1874.52 580.289 107.13 1874.52 697.546 90.3569 2050.58 669.798 94.2497 2063.13 671.862 93.1506 2063.14 662.32 94.6754 2050.56 662.047 95.8474 2050.56 663.067 93.7303 2050.56 665.216 92.6339 2050.57 667.59 92.0913 2050.57 662.284 97.0291 2050.56 686.085 90.4449 2025.46 648.509 95.9748 2025.44 621.5 96.0439 1975.18 648.81 94.7415 2025.44 621.868 94.6834 1975.18 649.636 93.7727 2025.44 622.834 93.6466 1975.18 651.95 92.6879 2025.45 625.458 92.5401 1975.18 654.466 92.1342 2025.45 628.258 91.958 1975.18 664.78 91.098 2025.45 568.264 97.9992 1874.54 621.884 97.409 1975.18 648.803 97.2141 2025.44 596.152 93.6211 1924.9 576.07 91.7812 1874.52 602.136 91.8776 1924.86 589.709 90.5384 1874.52 639.702 90.8988 1975.18 663.168 90.1309 1975.18 523.971 90.987 1773.87 471.873 89.9095 1673.22 489.907 88.3981 1673.2 567.966 95.5289 1874.51 567.83 96.3678 1874.52 807.489 101.675 2050.62 800.625 101.589 2025.36 786.906 101.416 1974.87 583.687 86.8011 1684.5 527.443 85.5266 1605.76 527.146 85.892 1605.97 583.388 87.1669 1684.7 586.349 86.808 1684.06 586.558 87.1732 1684.35 589.021 87.1738 1683.17 588.923 86.8085 1682.82 602.873 86.9578 1678.81 616.919 87.8594 1675.2 602.966 87.3231 1679.16 616.903 87.7521 1675.14 616.871 87.5366 1675 616.817 87.3915 1674.79 616.79 87.3192 1674.69 620.717 88.0403 1677.32 621.26 87.4974 1677.17 620.935 87.7115 1677.26 620.662 87.6992 1676.59 620.959 87.4848 1676.43 620.461 88.0275 1676.69 619.824 87.9965 1675.88 618.953 87.9548 1675.33 619.98 87.6692 1675.72 619.049 87.6289 1675.13 617.948 87.9072 1675.09 617.972 87.5829 1674.88 620.208 87.4543 1675.48 619.183 87.4133 1674.83 618 87.3664 1674.55 625.955 87.702 1693.51 630.649 87.9262 1709.85 625.631 87.9162 1693.6 630.326 88.1407 1709.94 625.413 88.2448 1693.66 630.109 88.4689 1709.99 630.222 88.4794 1711.02 628.009 88.4104 1713.8 628.078 88.0843 1714.01 628.638 88.4327 1713.53 628.175 87.8687 1714.32 628.751 88.1059 1713.72 628.916 87.8906 1714.01 629.443 88.4598 1712.89 629.992 88.4761 1712.02 629.614 88.1321 1713.04 630.201 88.1478 1712.1 630.448 88.151 1711.03 629.865 87.9173 1713.26 630.511 87.9334 1712.23 630.783 87.9366 1711.05 611.824 87.5301 1719.02 595.475 87.4233 1723.72 611.731 87.7457 1718.7 595.384 87.6389 1723.4 611.666 88.0722 1718.49 595.322 87.9654 1723.19 594.297 87.9604 1723.31 591.516 87.9014 1721.09 590.998 87.3602 1721.25 591.309 87.5769 1721.15 591.588 87.5901 1721.83 591.303 87.3737 1721.99 591.776 87.9151 1721.72 592.418 87.9342 1722.53 593.291 87.9498 1723.07 592.275 87.6087 1722.69 593.21 87.6238 1723.28 594.286 87.6342 1723.53 592.058 87.3926 1722.94 593.085 87.4079 1723.58 594.269 87.4185 1723.85 589.921 87.2953 1717.5 590.232 87.512 1717.41 590.439 87.8365 1717.34 582.412 86.8938 1714.57 582.211 86.1633 1713.89 576.344 86.2033 1715.57 576.548 86.9337 1716.26 572.295 87.0651 1716.93 566.318 86.9107 1712.97 565.873 87.1052 1713.08 566.393 87.1531 1714.24 566.114 87.0529 1713.02 566.803 86.9436 1713.99 567.856 86.904 1715.07 569.624 86.7966 1715.91 572.336 86.5876 1716.28 567.527 87.1538 1715.46 569.413 87.1288 1716.45 564.588 87.0918 1708.77 564.943 86.9768 1708.67 565.271 86.7936 1708.59 564.48 87.0541 1707.04 572.519 85.6763 1701.15 572.402 86.3291 1700.72 569.857 86.0144 1702.08 567.123 86.3867 1703.92 565.714 86.6133 1705.7 565.214 86.73 1707.12 564.863 86.9298 1707.08 565.366 86.856 1705.55 566.812 86.7226 1703.63 569.64 86.5138 1701.69 572.222 86.7604 1700.09 564.976 87.0068 1705.37 566.445 86.9328 1703.29 569.353 86.8339 1701.17 578.237 85.6379 1699.51 578.117 86.2908 1699.08 577.937 86.722 1698.44 581.076 86.8381 1691.38 581.337 87.0469 1691.19 581.513 87.3624 1691.06 637.274 88.7834 1749.15 637.353 88.4584 1749.74 633.784 88.3788 1749.56 633.793 88.5429 1729.42 630.784 88.6413 1747.7 628.263 88.5712 1745.47 633.905 88.7141 1748.98 626.625 88.51 1742.53 626.052 88.4638 1739.21 626.602 88.4389 1735.91 628.208 88.4418 1732.97 630.695 88.477 1730.72 637.15 88.6292 1729.21 639.221 88.6871 1729.66 642.203 88.7751 1731.24 644.493 88.8474 1733.72 645.831 88.8967 1736.82 646.065 88.9194 1740.19 645.169 88.9159 1743.44 640.51 88.8434 1748.19 640.778 88.5273 1748.72 643.245 88.8892 1746.21 643.672 88.5797 1746.63 645.707 88.6105 1743.69 646.655 88.6145 1740.25 646.41 88.5885 1736.69 644.997 88.532 1733.41 642.577 88.449 1730.78 639.421 88.3479 1729.1 637.227 88.2814 1728.62 633.667 88.1822 1728.83 630.379 88.1064 1730.21 627.738 88.0659 1732.6 626.033 88.0626 1735.71 625.45 88.0912 1739.22 626.06 88.1444 1742.73 627.8 88.2147 1745.85 630.475 88.2952 1748.22 704.039 95.351 1452.23 704.319 94.4362 1452.18 684.52 93.6038 1331.05 691.892 91.2477 1394.07 682.151 90.2928 1331.37 682.881 90.4804 1331.27 728.7 94.063 1570.5 728.24 93.9472 1570.5 702.523 92.3219 1452.54 703.044 92.4452 1452.44 728.855 94.1021 1570.5 703.644 92.8067 1452.32 729.656 94.8862 1570.5 704.149 93.4945 1452.22 729.654 94.8755 1570.5 729.321 94.4201 1570.5 729.571 96.4355 1570.5 729.59 96.391 1570.5 729.777 95.9426 1570.5 729.809 95.4048 1570.5 729.213 96.8386 1570.5 703.458 95.974 1452.33 728.855 97.06 1570.5 702.853 96.3597 1452.45 728.571 97.1356 1570.5 704.809 96.4362 1463.03 728.296 97.209 1570.5 709.353 96.614 1487.62 728.106 97.2163 1570.5 702.326 92.3095 1451.63 684.107 94.4177 1331.11 683.951 94.7268 1331.13 682.875 95.4889 1331.28 682.432 95.5502 1331.34 687.203 95.7473 1367.76 681.688 95.6533 1331.44 683.001 90.5111 1331.26 683.966 91.2402 1331.12 684.322 91.944 1331.08 684.515 92.3255 1331.05 250.693 89.3886 1275.5 250.805 89.2665 1275.5 251.439 88.7288 1275.5 289.507 82.4381 1275.5 385.108 80.7317 1275.5 446.821 81.1376 1275.5 431.354 81.0623 1275.5 493.105 81.4589 1275.5 679.964 90.1283 1303.1 680.127 90.1756 1290.08 652.091 87.8381 1275.5 681.201 90.3314 1275.5 679.958 90.1268 1303.53 682.08 94.5858 1303.17 681.171 95.4484 1303.19 683.602 94.8091 1275.5 683.412 95.2096 1275.5 682.101 96.2815 1275.5 681.372 96.4019 1275.5 680.206 95.8101 1303.2 682.156 96.2726 1275.5 683.341 95.3578 1275.5 682.787 95.7856 1275.5 683.411 95.212 1275.5 683.801 94.3907 1275.5 682.554 93.2648 1303.14 683.981 94.0123 1275.5 684.05 93.4299 1275.5 684.049 93.4431 1275.5 684.007 93.7977 1275.5 683.639 92.0759 1275.5 683.769 92.2996 1275.5 682.345 91.877 1303.11 683.921 92.5614 1275.5 683.977 92.9356 1275.5 683.412 91.6842 1275.5 681.62 90.8547 1303.1 683.186 91.2954 1275.5 682.693 90.8743 1275.5 680.743 90.3129 1303.1 682.056 90.5663 1275.5 681.828 90.4562 1275.5 680.503 96.5452 1275.5 679.414 95.8427 1303.21 679.401 95.8344 1303.54 682.854 91.0311 1275.5 682.755 90.9517 1275.5 631.852 86.6288 1275.5 682.072 90.6554 1275.5 681.882 90.5727 1275.5 677.946 90.2624 1275.5 648.313 87.9264 1275.5 554.8 82.9346 1275.5 573.536 83.7035 1275.5 601.047 84.8325 1275.5 616.453 85.6685 1275.5 629.316 93.1992 1275.5 647.076 93.6372 1275.5 645.506 93.5337 1275.5 680.385 96.5338 1275.5 680.372 96.5322 1275.5 672.606 95.5928 1275.5 664.822 94.8081 1275.5 856.686 100.159 2055.5 483.158 110.242 1275.5 449.419 114.796 1275.5 452.309 114.436 1275.5 455.198 114.07 1275.5 474.957 111.416 1275.5 470.854 111.988 1275.5 466.749 112.55 1275.5 460.975 113.321 1275.5 458.087 113.698 1275.5 456.643 113.885 1275.5 371.571 121.188 1275.5 379.51 120.913 1275.5 367.601 121.289 1275.5 363.631 121.366 1275.5 362.104 121.366 1275.5 269.434 108.479 1275.5 316.089 119.193 1275.5 272.188 109.552 1275.5 292.017 115.187 1275.5 274.967 110.536 1275.5 286.278 113.826 1275.5 284.851 113.459 1275.5 283.427 113.08 1275.5 280.591 112.288 1275.5 280.039 112.116 1275.5 251.151 96.1879 1275.5 251.488 96.5767 1275.5 250.387 95.0283 1275.5 250.26 94.7503 1275.5 249.809 93.7661 1275.5 249.654 93.2652 1275.5 437.741 116.191 1275.5 433.324 116.687 1275.5 431.844 116.853 1275.5 425.945 117.482 1275.5 420.042 118.074 1275.5 414.137 118.624 1275.5 408.228 119.132 1275.5 680.413 96.5352 1275.5 525.531 82.0083 1275.5 471.102 81.2328 1275.5 611.831 93.5852 1275.5 600.931 94.0279 1275.5 584.642 77.4993 443.281 585.363 77.5576 442.813 585.417 77.5691 442.882 586.147 77.9493 441.759 586.807 78.1184 441.495 585.252 77.5575 442.676 585.308 77.5537 442.745 584.641 77.4993 443.278 586.418 77.9882 442.332 586.982 78.163 441.721 587.114 78.2793 441.951 584.63 77.4993 443.289 587.716 78.9711 440.621 587.958 79.0773 440.954 587.748 79.9993 439.68 588.086 80.0497 439.867 587.376 78.9962 440.366 587.351 78.9686 440.396 586.604 78.1493 441.291 588.197 80.0663 439.929 588.329 80.1578 440.132 588.461 80.2493 440.335 588.463 80.3113 440.447 587.811 79.0287 441.474 588.06 79.2955 441.305 588.47 80.4993 440.788 583.387 77.4993 447.614 577.49 77.4993 441.237 576.247 77.4993 445.561 585.119 79.0287 450.84 585.239 79.2955 451.116 584.967 79.0773 451.359 583.393 77.4993 447.627 583.39 77.4993 447.628 583.755 77.5576 448.406 583.672 77.5537 448.435 583.837 77.5691 448.376 584.394 77.9882 449.374 584.548 78.163 450.191 584.279 78.1184 450.29 584.003 78.1735 450.389 583.999 78.1493 450.355 583.589 77.5575 448.463 584.781 78.2793 450.066 584.162 78.9962 451.548 584.585 78.9711 451.513 584.113 79.9993 452.328 584.625 80.0663 452.354 585.065 80.2493 452.151 585.313 80.4993 451.772 618.724 103.666 474.59 617.981 103.666 474.827 617.203 103.666 474.762 589.332 103.666 466.751 586.904 103.666 465.499 585.141 103.666 463.413 627.701 103.666 438.241 628.588 103.666 438.774 629.089 103.666 439.68 619.32 103.666 474.086 619.678 103.666 473.392 584.538 103.666 458.089 584.31 103.666 460.811 593.503 103.666 429.02 594.246 103.666 428.783 592.907 103.666 429.524 595.024 103.666 428.848 592.549 103.666 430.218 629.07 103.666 440.715 167.096 9.02936 1076.17 167.096 9.02936 1074.84 167.608 10.7892 1076.17 167.608 10.7892 1074.84 167.623 10.8052 1076.17 167.623 10.8052 1074.84 168.88 12.1544 1076.17 168.88 12.1544 1074.84 168.89 12.1581 1076.17 168.89 12.1581 1074.84 170.633 12.7943 1076.17 170.633 12.7943 1074.84 866.015 102.869 75.6153 866.015 102.953 75.6454 865.874 102.766 76.1635 865.637 103.475 75.7321 865.496 103.288 76.2446 865.847 103.306 75.7279 865.706 103.12 76.2423 865.884 103.228 75.7095 865.743 103.041 76.2247 865.744 103.039 76.2243 865.962 102.51 75.4705 865.819 102.316 75.9907 865.86 102.305 75.3684 865.719 102.115 75.8933 865.778 102.248 75.3256 865.183 101.857 75.6584 865.327 102.05 75.1315 865.401 101.905 75.7333 865.549 102.097 75.2089 865.409 101.906 75.7358 865.432 101.911 75.7436 865.638 102.058 75.8509 865.632 102.054 75.8481 865.591 102.116 75.2271 865.572 102.102 75.2169 865.15 103.659 75.667 865.009 103.472 76.1772 865.35 103.611 75.7036 865.238 103.417 76.2199 865.378 103.604 75.7089 865.518 103.57 75.7344 865.378 103.383 76.2459 865.875 102.682 76.1343 865.875 102.678 76.1329 866.016 102.62 75.5249 865.875 102.432 76.0467 865.821 102.321 75.9931 865.167 103.684 75.6002 865.371 103.656 75.645 865.185 103.709 75.5336 865.386 103.661 75.5708 865.614 103.553 75.6733 865.552 103.621 75.6013 865.413 103.655 75.5756 865.345 102.075 75.0626 865.363 102.101 74.9946 865.613 102.137 75.1578 865.585 102.148 75.0721 865.847 103.353 75.6639 865.998 103.098 75.6116 866.052 102.806 75.5203 866.001 102.533 75.407 865.854 102.304 75.284 865.92 103.279 75.5759 865.881 103.358 75.5946 865.862 103.374 75.595 865.671 103.526 75.5989 866.004 103.104 75.5348 866.051 103.005 75.5116 866.052 102.833 75.4486 866.052 102.667 75.3883 865.894 102.353 75.231 865.868 102.335 75.217 865.606 102.152 75.0793 865.627 102.167 75.0904 865.815 102.298 75.1891 870.918 115.62 57.585 871.805 121.647 54.359 871.625 121.655 54.6892 868.838 110.766 63.1261 868.553 110.729 63.2083 867.506 106.513 69.0587 870.564 120.75 55.8369 868.595 110.94 63.0531 868.575 110.839 63.1275 869.133 110.624 63.085 871.179 121.674 55.0775 871.029 121.681 55.1009 871.806 121.647 54.3097 870.91 115.475 57.3643 871.812 121.647 54.1066 871.384 118.589 55.1814 871.818 121.647 53.9144 871.818 121.647 53.9017 871.135 118.424 54.8273 871.68 121.653 53.6126 871.492 121.661 53.423 871.647 121.654 53.5434 871.141 120.839 53.7254 871.388 121.665 53.3419 871.307 121.669 53.3085 868.113 107.454 64.5536 868.664 109.666 62.1544 869.001 109.609 62.1809 869.264 109.502 62.1547 869.357 110.393 62.9504 869.426 110.149 62.9133 869.537 110.042 62.6934 867.517 106.541 69.0773 871.562 121.658 54.8053 870.753 121.692 55.1438 870.843 115.346 57.1523 870.586 115.163 56.8076 870.265 115.083 56.5988 870.211 116.205 56.0527 868.841 110.375 61.3853 869.87 114.505 56.9061 869.992 115.116 56.5994 869.531 109.874 62.5472 869.477 109.722 62.4021 583.928 82.4993 452.972 574.866 82.4993 450.367 575.051 79.9993 449.723 575.556 78.1692 447.964 573.727 81.1697 449.515 574.131 80.1896 449.459 573.352 80.7316 449.235 573.964 78.4988 447.506 572.983 80.0845 448.177 574.408 77.8799 445.033 572.849 78.9638 444.585 572.672 79.3201 446.49 572.614 79.4374 447.118 574.092 78.9638 440.26 575.651 77.8799 440.708 577.454 81.1697 436.548 578.871 82.4993 436.431 577.767 80.1896 436.811 578.01 78.0032 439.429 574.954 79.3201 438.551 576.588 78.4988 438.376 578.181 78.1692 438.834 578.732 80.6189 436.915 578.686 79.9993 437.075 578.434 79.0842 437.954 575.238 79.4374 437.988 576.113 80.0845 437.287 576.987 80.7316 436.587 587.817 80.6023 439.44 587.886 81.2052 439.2 587.933 82.4993 439.036 583.577 102.666 457.813 591.588 102.666 429.941 583.674 103.042 457.841 591.661 103.048 429.963 583.706 103.166 457.85 591.87 103.373 430.022 583.881 103.349 457.901 592.181 103.59 430.112 584.176 103.565 457.985 584.057 103.532 457.951 587.933 85.1547 439.036 588.28 82.4993 439.215 588.28 85.1547 439.215 588.364 82.4993 439.314 588.364 85.1547 439.314 588.532 82.4993 439.513 588.532 85.1547 439.513 588.611 82.4993 439.761 588.611 85.1547 439.761 588.651 82.4993 439.884 588.651 85.1547 439.884 588.618 82.4993 440.273 588.618 85.1547 440.273 588.61 81.365 440.028 588.581 81.464 440.404 588.488 81.281 439.667 588.234 81.2249 439.376 585.165 82.4993 452.287 584.964 82.4993 452.62 584.898 82.4993 452.73 584.672 82.4993 452.856 584.317 82.4993 452.979 584.445 82.4993 452.981 585.165 84.847 452.287 584.986 84.847 452.634 584.688 84.847 452.885 584.317 84.847 453.004 583.928 84.847 452.972 592.607 103.59 429.286 593.317 103.59 428.686 594.203 103.59 428.403 595.13 103.59 428.48 592.354 103.373 429.084 593.16 103.373 428.402 594.167 103.373 428.08 595.219 103.373 428.169 592.184 103.048 428.949 593.055 103.048 428.212 594.142 103.048 427.865 595.279 103.048 427.96 592.125 102.666 428.901 593.018 102.666 428.146 594.133 102.666 427.789 595.3 102.666 427.887 627.977 102.666 437.28 627.949 103.042 437.376 627.94 103.166 437.408 627.889 103.349 437.584 627.839 103.532 437.76 627.805 103.565 437.879 629.574 103.532 439.56 628.948 103.532 438.427 629.211 103.166 438.173 629.727 103.349 440.904 629.551 103.532 440.853 629.432 103.565 440.819 629.935 103.042 440.964 629.903 103.166 440.955 629.93 103.166 439.471 630.031 102.666 440.992 630.06 102.666 439.439 629.307 102.666 438.08 620.639 102.666 473.668 620.566 103.048 473.647 620.357 103.373 473.588 620.045 103.59 473.498 616.968 103.156 475.581 617.008 103.373 475.441 618.06 103.373 475.53 617.068 103.517 475.233 617.097 103.59 475.13 618.024 103.59 475.207 619.619 103.59 474.324 618.909 103.59 474.924 619.873 103.373 474.526 619.067 103.373 475.208 620.043 103.048 474.661 619.172 103.048 475.398 618.085 103.048 475.745 616.948 103.048 475.65 620.102 102.666 474.709 619.208 102.666 475.465 618.093 102.666 475.821 616.927 102.666 475.723 589.055 102.666 467.712 589.092 103.166 467.583 589.193 103.532 467.231 583.813 103.532 460.867 583.449 103.166 460.909 583.316 102.666 460.924 584.266 102.666 463.897 584.383 103.166 463.832 586.281 102.666 466.281 586.365 103.166 466.176 584.703 103.532 463.655 586.593 103.532 465.89 583.295 88.9015 458.2 583.333 88.8438 458.049 583.422 88.9524 458.004 583.354 90.8685 460.918 583.494 91.133 461.921 583.437 90.7729 461.973 582.709 90.1303 462.716 582.633 90.1423 462.237 582.975 90.2415 462.143 583.111 89.8281 464.313 583.491 89.8349 464.092 583.796 89.2808 464.703 584.112 87.6753 465.216 583.795 87.6753 465.499 583.792 87.7998 465.496 584.123 87.8 465.202 584.125 87.6753 465.204 584.549 87.676 465.082 585.095 87.6779 465.23 584.985 87.6774 465.154 584.983 87.8298 465.15 584.771 87.6767 465.093 584.661 87.6763 465.081 584.547 87.8107 465.078 584.633 87.6763 465.08 584.619 87.6762 465.08 584.616 87.6762 465.08 584.611 87.6762 465.08 584.607 87.6762 465.08 584.605 87.6762 465.08 584.583 87.6761 465.08 583.684 88.5895 465.349 584.021 88.5897 465.06 583.575 88.8988 465.181 583.44 89.2831 464.973 584.442 88.6629 464.934 584.206 89.4084 464.576 583.877 90.0079 463.971 584.862 88.7947 464.998 584.586 89.6403 464.616 584.194 90.3138 463.972 584.276 90.7806 463.892 584.38 90.6931 464.096 584.861 89.9302 464.817 585.198 88.9591 465.237 585.345 87.8534 465.403 585.348 87.6791 465.407 583.91 91.0907 463.169 583.802 90.6898 463.137 583.553 90.3585 463.179 583.207 90.1541 463.287 583.109 89.8299 464.307 582.823 90.1121 463.443 583.256 90.4617 462.051 583.271 90.713 460.329 583.232 90.4401 460.425 583.112 90.1906 460.516 582.919 89.9855 460.594 582.672 89.8423 460.653 582.683 89.8259 460.61 583.577 89.3151 457.813 583.545 89.1907 457.885 583.493 89.0689 457.949 583.573 88.9151 457.693 583.43 88.7135 457.803 583.652 89.1327 457.552 583.73 88.0353 457.033 583.824 88.108 456.891 583.767 87.7776 456.938 583.855 87.7997 456.792 583.908 87.8195 456.654 583.887 88.1833 456.734 583.916 87.8224 456.634 639.359 91.1656 406.521 640.923 91.1656 407.867 637.636 91.1656 417.751 641.953 91.1656 409.651 637.434 91.1656 405.767 636.141 91.1656 417.924 636.105 91.1656 405.638 635.57 91.1656 417.893 634.109 91.1656 405.997 633.577 91.1656 417.345 631.88 91.1656 416.171 641.058 91.1656 415.533 639.537 91.1656 416.933 642.026 91.1656 413.711 642.335 91.1656 411.675 630.076 91.1656 412.534 630.17 91.1656 410.475 630.942 91.1656 408.561 630.669 91.1656 414.506 632.307 91.1656 407.009 168.846 12.4435 1065.51 170.599 13.0825 1065.53 170.633 12.7944 1074.81 167.574 11.08 1065.44 167.054 9.38087 1065.35 167.043 9.47727 1062.77 168.88 12.1546 1074.81 167.608 10.7894 1074.8 167.096 9.02971 1074.78 167.487 11.8228 1055.74 166.973 10.0724 1055.57 168.76 13.182 1055.86 170.513 13.8194 1055.9 167.096 9.02937 1074.82 206.399 16.7997 1076.23 206.4 16.7999 1074.78 242.264 20.5856 1076.28 242.264 20.5856 1074.74 167.089 9.09005 1079.76 167.096 9.02971 1076.23 167.608 10.7894 1076.22 167.061 9.32448 1085.66 167.574 11.0798 1085.57 167.06 9.32897 1085.77 167.487 11.8217 1095.27 166.973 10.0714 1095.43 168.846 12.4432 1085.5 168.88 12.1546 1076.21 170.513 13.8183 1095.1 170.599 13.0823 1085.48 170.633 12.7944 1076.2 168.76 13.1809 1095.15 167.096 9.02937 1076.19 165.329 7.14714 1076.2 165.329 7.14715 1076.17 165.974 7.33559 1076.2 166.2 7.46453 1076.17 166.184 7.48639 1076.2 166.834 8.1403 1076.17 166.52 7.72676 1076.2 167.088 8.93164 1076.19 166.905 8.27655 1076.19 166.818 8.15177 1076.19 165.329 7.14715 1074.84 166.2 7.46453 1074.84 166.834 8.1403 1074.84 167.088 8.93159 1074.82 166.905 8.27655 1074.82 166.818 8.15177 1074.82 166.52 7.72676 1074.82 166.184 7.48639 1074.82 165.329 7.14714 1074.82 165.974 7.33559 1074.82 868.559 121.786 55.0251 865.757 121.906 55.0435 865.59 120.956 55.578 865.588 120.947 55.5835 864.441 116.786 59.2701 863.014 111.61 63.8566 862.955 111.394 64.0483 859.406 103.343 75.5013 862.297 103.516 75.5142 861.774 107.111 67.8434 859.641 97.9959 95.5017 859.472 97.9766 95.5017 860.501 98.1898 91.8892 864.448 102.832 78.069 859.345 100.309 95.5017 859.687 100.27 95.5017 860.622 99.2098 95.5017 860.627 99.1717 95.5017 860.627 99.1497 95.5021 860.627 99.1277 95.5017 860.448 99.7511 95.5017 860.596 99.4131 95.5017 860.153 100.073 95.5017 860.082 100.108 95.5017 860.438 99.7752 95.5017 859.774 100.26 95.5017 859.804 98.0557 95.5017 860.023 98.1361 95.5017 860.178 98.2602 95.5017 860.505 98.6557 95.5017 860.33 98.3822 95.5017 860.535 98.7033 95.5017 859.405 101.046 75.4862 862.294 101.449 75.5715 866.602 120.969 52.2773 865.542 116.025 55.6817 865.439 115.545 56.0126 864.451 110.94 59.1839 863.855 109.771 61.1099 863.755 109.575 61.4332 866.776 121.862 51.7189 869.687 121.738 52.7335 866.692 121.389 51.9881 715.109 128.343 58.1126 717.875 128.224 58.6815 701.478 128.925 49.0274 702.854 128.866 46.1081 702.365 128.887 46.8271 711.034 128.517 41.8224 708.26 128.635 42.9118 701.818 128.91 47.6309 701.476 128.925 48.9292 701.493 128.924 49.5942 701.67 128.917 50.2053 707.003 128.689 55.688 705.552 128.751 43.975 704.054 128.815 45.1598 710.634 128.534 57.1921 862.662 122.038 50.6667 825.86 123.61 57.4231 701.897 128.907 50.9877 702.101 128.898 51.3023 703.172 128.853 52.9569 705.704 128.744 55.1503 837.761 123.102 46.0867 824.609 123.664 44.8675 784.684 125.37 59.5647 781.207 125.518 40.8441 776.435 125.722 59.7612 779.589 125.588 40.6941 757.175 126.545 60.2198 738.078 127.361 39.3723 738.686 127.335 60.1145 732.862 127.584 59.8118 736.427 127.432 39.3198 726.284 127.865 59.4699 731.451 127.644 39.4728 717.802 128.227 41.0436 584.284 85.5341 453.117 583.733 86.9224 455.032 583.365 86.8467 454.925 583.495 86.7982 454.471 584.044 87.1391 455.125 583.868 86.8721 454.561 584.251 87.4636 455.19 584.193 87.0835 454.605 584.323 87.8466 455.217 584.422 87.4001 454.597 583.576 86.6779 454.19 584.046 86.6071 453.942 583.667 86.5429 453.875 583.806 86.0964 453.393 584.19 86.1438 453.441 583.88 85.612 453.135 583.896 85.509 453.08 584.39 86.7909 453.921 584.549 86.2791 453.368 584.652 85.6059 453.01 584.646 87.0661 453.816 584.828 86.4819 453.185 584.945 85.7133 452.775 584.518 87.7738 454.537 584.776 87.3908 453.642 584.984 86.7211 452.919 585.118 85.84 452.449 578.276 84.8649 451.347 572.555 84.9032 449.703 569.553 85.4826 448.393 567.353 85.9495 446.868 567.14 86.0035 446.599 566.003 86.2909 445.168 565.767 86.3744 444.525 565.517 86.4632 443.842 565.559 86.5489 442.489 569.977 85.3926 448.687 566.729 86.6251 438.143 576.263 85.2128 435.681 573.026 85.7744 435.226 572.36 85.8899 435.133 570.079 86.2471 435.453 569.783 86.2936 435.495 568.127 86.5187 436.262 567.889 86.5427 436.496 567.153 86.617 437.22 582.134 85.1728 437.369 588.476 87.1545 437.145 588.843 87.2302 437.253 588.654 87.1018 437.911 588.292 85.5766 439.173 587.945 85.5611 438.996 588.545 85.6206 439.467 588.666 85.6865 439.832 588.007 86.1423 438.777 588.362 86.2256 438.928 588.012 86.1864 438.76 588.133 86.6954 438.339 588.487 86.7538 438.491 588.207 86.8511 438.079 588.293 87.0307 437.78 588.623 86.3374 439.197 588.761 86.9208 438.714 588.945 87.305 438.073 589.154 87.4469 437.346 588.754 86.5048 439.524 588.913 87.1708 438.973 589.123 87.6094 438.241 589.362 87.7714 437.411 588.636 85.7643 440.213 588.737 86.7023 439.86 588.919 87.4657 439.228 589.16 87.9687 438.39 589.433 88.1543 437.438 590.511 88.2194 433.69 591.588 88.2843 429.941 595.3 88.352 427.887 594.299 88.3467 427.775 594.139 88.3449 427.812 593.317 88.3354 428.001 593.039 88.33 428.177 592.466 88.319 428.539 592.158 88.309 428.928 591.84 88.2988 429.329 627.977 88.7964 437.28 611.64 88.4589 432.584 630.031 88.8588 440.992 630.143 88.8699 439.991 630.018 88.8679 439.448 629.918 88.8663 439.01 629.38 88.8489 438.159 629.297 88.8458 438.093 628.591 88.82 437.533 625.335 88.6355 457.33 620.639 88.4314 473.668 616.927 88.2392 475.723 617.929 88.29 475.835 618.088 88.2982 475.798 619.188 88.355 475.433 618.911 88.3406 475.608 620.388 88.4179 474.279 620.069 88.401 474.682 619.763 88.3849 475.069 602.994 87.8192 471.718 589.055 87.6694 467.712 586.305 87.6715 466.254 586.635 87.6688 466.547 583.909 87.1781 465.571 583.875 87.3262 465.549 584.157 87.4671 465.213 583.917 87.1677 465.577 584.296 87.2909 465.213 584.416 86.8366 465.577 584.208 86.8139 465.778 584.066 87.006 465.577 584.063 86.9901 465.677 585.154 87.0547 465.577 585.13 87.0226 465.598 585.117 87.0361 465.575 584.98 86.8178 465.733 584.805 86.8375 465.577 584.614 86.6792 466.065 584.399 86.7504 465.913 585.06 87.4692 465.213 585.283 87.3557 465.463 584.923 87.2924 465.213 585.248 87.1832 465.493 584.721 87.1937 465.213 584.497 87.1932 465.213 469.511 85.0556 625.502 469.511 87.6656 625.502 527.036 86.3884 544.964 583.275 87.6656 466.226 577.51 87.6656 465.694 463.367 87.6656 625.502 538.019 86.7933 520.984 463.367 85.099 625.502 462.11 84.0843 625.502 462.588 84.1631 625.502 470.726 84.0694 625.502 462.61 84.1668 625.502 470.661 84.0707 625.502 463.042 84.4179 625.502 463.254 84.6794 625.502 469.562 84.772 625.502 469.679 84.5628 625.502 469.703 84.5216 625.502 469.924 84.3122 625.502 470.125 84.2095 625.502 470.243 84.1493 625.502 463.265 84.7111 625.502 463.361 85.0007 625.502 463.471 88.3127 625.502 463.778 88.9156 625.502 469.099 88.9156 625.502 469.406 88.3127 625.502 464.903 89.8307 625.502 466.439 90.1656 625.502 467.975 89.8307 625.502 581.579 87.7378 459.999 583.847 87.4575 456.608 583.839 87.4619 456.655 583.844 87.4395 456.607 583.631 87.1483 456.655 583.647 87.1309 456.545 583.637 87.1149 456.542 583.391 86.9945 456.654 583.316 86.9355 456.6 583.332 86.903 456.451 583.262 86.8925 456.56 583.326 86.8982 456.448 582.958 86.8225 456.341 583.521 87.0974 456.749 583.577 87.1954 456.791 583.698 87.4074 456.882 583.717 87.5077 456.897 640.3 89.339 403.217 640.639 90.3021 404.394 637.945 90.28 403.309 645.383 89.3839 414.078 644.369 90.3134 414.486 644.789 90.3247 411.63 636.064 89.2694 402.24 636.074 90.2634 403.108 633.99 89.2316 402.466 633.247 90.2357 403.582 630.671 90.2067 404.99 631.008 89.1711 403.687 632.999 89.2115 402.872 628.703 90.1795 407.181 628.599 89.1128 405.824 630.202 89.1516 404.402 627.575 90.1566 409.91 627.035 89.0617 408.634 628.066 89.0953 406.782 627.423 90.1409 412.863 626.487 89.0228 411.797 626.842 89.048 409.745 628.268 90.135 415.697 627.011 89.0015 414.956 626.678 89.015 412.95 630.013 90.1415 418.084 628.544 89.0034 417.762 627.595 89.0022 416.025 632.455 90.1611 419.747 630.919 89.0327 419.908 629.488 89.015 418.615 635.309 90.1913 420.496 633.878 89.0881 421.152 632.136 89.0555 420.419 638.241 90.2271 420.253 637.085 89.1607 421.349 635.23 89.1187 421.235 641.914 89.283 419.41 639.064 89.2094 420.921 638.437 89.1939 421.057 640.915 90.2623 419.057 643.033 90.2921 417.057 643.654 89.3308 417.526 644.104 89.3432 417.04 644.752 89.3993 407.753 645.607 89.4025 410.861 645.555 89.3982 411.608 644.253 90.3259 408.799 642.819 90.3179 406.296 643.399 89.3829 405.804 642.914 89.3769 405.105 636.092 89.2699 402.236 637.208 89.2891 402.303 638.091 89.3034 402.564 637.958 90.9237 419.083 640.269 90.933 418.061 642.104 90.9409 416.34 643.265 90.9465 414.121 643.632 90.9495 411.651 643.169 90.9499 409.201 641.926 90.9477 407.036 640.037 90.9436 405.395 637.705 90.9377 404.464 636.089 90.9333 404.295 633.651 90.926 404.712 631.435 90.9183 405.933 629.747 90.911 407.824 628.782 90.9049 410.173 628.656 90.9007 412.71 629.383 90.8991 415.144 630.881 90.9008 417.195 632.977 90.9061 418.629 635.431 90.9141 419.282 440.656 42.9559 1037.74 440.891 40.6656 1038 361.843 40.6656 1038 364.08 47.2517 1035.53 366.579 49.2534 1032.95 436.154 49.2534 1032.95 362.077 42.9559 1037.74 362.688 44.9244 1037.05 440.045 44.9244 1037.05 363.105 45.6212 1036.59 439.629 45.6212 1036.59 438.653 47.2517 1035.53 371.907 50.6656 1028 430.826 50.6656 1028 371.892 50.6656 1028.02 430.841 50.6656 1028.02 366.999 49.5895 1032.51 435.735 49.5895 1032.51 165.329 7.14759 1074.77 166.2 7.46494 1074.77 166.834 8.14068 1074.77 165.276 7.59916 1062.66 165.205 8.19926 1055.4 166.146 7.91583 1062.67 166.076 8.5152 1055.43 166.781 8.59013 1062.71 166.71 9.18773 1055.48 170.025 9.62344 1049.74 169.742 9.48542 1048.86 171.191 9.6959 1048.53 165.361 8.3802 1053.85 166.212 8.67197 1054.07 166.831 9.32559 1054.3 166.22 8.7234 1051.7 166.96 8.96788 1052.21 167.71 9.10447 1050 168.257 9.29559 1050.73 167.492 9.58566 1052.66 168.637 9.87363 1051.35 168.776 10.715 1051.73 168.765 10.713 1051.74 167.699 10.4433 1052.95 167.085 10.2006 1054.47 170.196 10.1619 1050.49 170.219 10.9831 1050.93 170.203 10.9802 1050.94 171.255 11.1329 1050.7 171.307 10.322 1050.23 171.284 9.80529 1049.45 171.82 11.2019 1050.66 171.667 12.5332 1051.42 168.98 12.1895 1052.35 170.232 12.3778 1051.63 167.557 11.8845 1054.78 168.056 12.0183 1053.45 168.802 13.239 1055.23 170.572 13.622 1053.12 169.739 13.4841 1053.61 169.127 13.351 1054.34 171.64 12.7687 1051.56 171.531 13.7225 1052.97 171.523 13.798 1053.09 170.536 13.8444 1055.68 170.661 13.8899 1055.38 170.88 13.9404 1055.13 171.169 13.9902 1054.97 171.495 14.0334 1054.92 242.232 20.859 1065.53 242.264 20.5857 1074.71 206.4 16.8 1074.75 241.644 21.5795 1055.4 242.147 21.5816 1055.9 241.92 21.6205 1055.28 242.087 21.6081 1055.57 241.665 21.617 1055.06 241.353 21.598 1054.94 241.14 21.5786 1054.91 206.306 17.9131 1054.92 171.004 13.9258 1055.41 244.102 20.3389 1076.28 244.102 20.3389 1074.74 244.113 20.3374 1076.28 244.113 20.3374 1074.74 245.63 19.29 1076.28 245.63 19.29 1074.74 245.648 19.2775 1076.28 245.648 19.2775 1074.74 246.527 17.6691 1076.28 246.527 17.6691 1074.74 206.399 16.7999 1076.27 242.264 20.5857 1076.31 171.004 13.9247 1095.59 170.726 13.9057 1095.72 170.566 13.8575 1095.43 170.974 13.9571 1095.94 171.282 14.0055 1096.06 171.496 14.0323 1096.08 206.306 17.912 1096.09 241.644 21.5785 1095.6 241.14 21.5775 1096.09 241.763 21.619 1095.88 241.47 21.6054 1096.04 241.988 21.6169 1095.63 242.12 21.5995 1095.33 242.148 21.5805 1095.11 242.232 20.8588 1085.49 171.523 13.7969 1097.92 171.531 13.7214 1098.03 170.904 13.6678 1097.98 171.641 12.7676 1099.45 171.667 12.5321 1099.58 170.729 12.4433 1099.52 167.22 10.2693 1097.03 167.671 11.9226 1096.68 167.236 10.2746 1097.06 168.005 10.5296 1098.49 168.326 12.0721 1097.96 168.018 10.5324 1098.51 169.387 12.2535 1098.96 169.198 10.801 1099.58 170.709 11.0567 1100.21 170.765 11.0644 1100.22 171.257 11.1321 1100.31 171.82 11.2008 1100.34 168.876 13.2718 1096.08 169.306 13.3934 1096.94 170.009 13.5315 1097.6 167.821 9.67793 1098.82 169.101 9.96768 1099.98 171.309 10.3212 1100.77 171.194 9.69526 1102.48 170.427 9.58947 1102.34 171.286 9.80457 1101.55 170.62 9.71306 1101.44 170.721 10.2406 1100.67 168.784 9.40274 1100.66 168.314 9.22926 1101.44 167.333 9.07304 1099.33 166.647 8.84583 1099.92 166.976 9.39942 1097.24 166.376 8.75611 1097.54 165.55 8.4778 1097.85 166.711 9.18663 1095.52 166.076 8.51411 1095.58 165.205 8.19816 1095.6 166.799 8.4412 1085.82 166.164 7.76646 1085.85 165.294 7.44959 1085.86 166.827 8.20128 1079.78 166.193 7.52577 1079.8 165.322 7.20855 1079.8 166.834 8.14068 1076.24 166.2 7.46494 1076.25 165.329 7.14759 1076.25 109.263 0.3452 1076.08 109.263 0.3452 1074.93 856.364 100.779 85.3604 853.239 99.9918 95.5017 856.686 100.159 95.5017 680.692 95.356 75.4971 679.4 95.5616 75.4979 685.311 101.814 64.5248 706.035 124.604 44.086 703.064 119.137 46.4073 698.212 119.476 48.2664 694.931 114.456 51.3079 697.136 119.574 48.905 820.234 106.817 56.5348 701.549 124.842 46.2333 822.907 115.081 49.1973 779.299 115.748 45.8355 735.816 116.7 44.1201 713.802 118.343 44.9049 699.723 124.978 47.8041 699.091 125.077 48.7692 695.503 120.467 52.3917 698.826 125.177 49.8511 697.682 120.934 54.8737 696.065 120.652 53.2974 701.823 121.429 57.2463 711.396 122.239 60.0102 731.64 122.802 62.6588 775.62 120.781 62.583 691.705 109.817 55.1634 690.457 110.024 55.637 693.764 114.599 51.8635 692.738 114.847 52.5026 696.194 119.731 49.6381 692.013 115.238 53.239 700.099 114.012 49.7038 691.789 115.689 54.068 695.267 120.238 51.4313 691.832 115.466 53.6456 695.328 120.107 50.9481 695.513 119.97 50.4826 689.358 110.386 56.1825 688.917 110.645 56.4849 688.597 110.954 56.8105 688.425 111.289 57.1581 688.405 111.621 57.5193 688.533 111.932 57.8802 688.778 112.219 58.2346 696.333 114.857 61.9311 691.484 113.511 60.1036 689.504 112.72 58.9137 707.447 116.86 64.127 730.113 118.45 66.1676 774.487 116.27 66.0478 818.854 112.869 64.7354 676.389 101.229 75.4997 682.296 105.919 66.2222 676.331 101.103 75.5001 681.968 105.42 66.0278 676.275 100.979 75.5006 681.768 104.881 65.8296 675.802 99.9406 75.5048 679.52 103.909 75.503 683.2 106.794 66.5996 677.904 102.525 75.5013 677.51 102.188 75.5008 679.662 103.952 75.503 680.133 104.096 75.503 683.966 105.27 75.5028 686.565 106.065 75.5026 692.814 107.978 75.5023 699.944 110.16 75.502 704.581 111.58 75.5017 711.423 111.603 75.5017 726.107 111.652 75.5019 756.688 111.755 75.5021 758.698 111.59 75.5021 688.16 94.1673 75.4931 685.625 94.5707 75.4944 691.184 100.93 63.7835 678.433 95.7155 75.4984 682.695 102.783 65.088 683.922 102.167 64.7858 678.389 95.7226 75.4984 676.526 96.7611 75.5011 682.213 103.221 65.2544 676.498 96.7763 75.5011 676.464 96.8285 75.5011 675.836 97.7772 75.5008 675.683 98.0087 75.5007 681.881 103.743 65.4348 675.678 98.0783 75.5011 681.734 104.311 65.6289 675.588 99.4715 75.5067 675.666 99.6421 75.506 697.138 109.234 53.8064 708.747 108.197 52.8544 731.96 106.326 52.761 708.938 94.2303 75.4948 697.984 94.1971 75.4938 689.829 94.1723 75.4932 776.137 106.238 54.1015 755.377 94.3711 75.4985 722.061 94.2701 75.4957 775.872 94.4332 75.5 767.931 94.4091 75.4994 815.142 106.968 75.5017 813.679 107.088 75.5017 771.256 110.562 75.502 658.532 95.8102 728.009 704.459 96.3877 689.113 703.943 97.5284 580.502 724.057 97.1208 597.359 728.106 97.2163 580.502 680.385 96.5331 875.502 680.503 96.5452 875.502 679.81 95.9102 847.779 679.635 95.7505 840.807 664.822 94.8081 875.502 672.606 95.5928 875.502 680.372 96.5322 875.502 682.094 95.6563 816.776 700.384 96.2353 708.193 647.076 93.6372 875.502 681.688 95.6533 819.562 613.125 93.5381 875.502 629.316 93.1992 875.502 645.506 93.5337 875.502 702.456 96.3128 698.489 682.432 95.5502 819.664 702.818 96.2615 698.552 728.296 97.209 580.502 703.458 95.974 698.671 728.855 97.06 580.502 728.571 97.1356 580.502 704.039 95.351 698.777 729.571 96.4355 580.502 729.213 96.8386 580.502 729.654 94.8755 580.502 729.656 94.8862 580.502 704.149 93.4945 698.784 729.809 95.4048 580.502 704.319 94.4362 698.823 729.777 95.9426 580.502 729.59 96.391 580.502 687.915 90.8336 781.198 702.676 92.3239 698.494 703.044 92.4452 698.567 704.533 92.5114 688.088 729.321 94.4201 580.502 703.644 92.8067 698.683 728.855 94.1021 580.502 728.7 94.063 580.502 728.24 93.9472 580.502 682.881 90.4804 819.731 682.151 90.2928 819.631 682.56 90.3283 816.778 684.322 91.944 819.927 683.001 90.5111 819.748 683.966 91.2402 819.879 682.875 95.4889 819.725 683.951 94.7268 819.872 684.107 94.4177 819.894 684.52 93.6038 819.952 684.515 92.3255 819.953 104.567 0.547126 1074.95 104.567 0.547126 1076.07 102.489 1.37786 1074.96 102.489 1.37786 1076.06 100.202 2.29222 1074.97 100.202 2.29222 1076.04 96.948 5.04295 1075 96.9479 5.04302 1076.02 96.8046 5.21035 1075 96.8046 5.21035 1076.02 104.569 2.29571 1050.14 107.997 1.93561 1049.76 108.896 0.804678 1062.22 102.049 1.63445 1062.64 96.445 5.63681 1063.2 101.389 2.62981 1050.49 98.139 4.42473 1051.03 101.169 2.75112 1050.53 97.5976 4.72376 1051.12 95.5599 6.6866 1051.55 96.0182 6.16996 1099.56 95.5607 6.68562 1099.45 96.4453 5.63643 1087.81 102.05 1.63405 1088.37 108.896 0.804253 1088.79 101.233 2.84416 1100.47 98.3243 4.69933 1099.96 107.997 1.93467 1101.25 104.559 2.24374 1100.87 101.784 2.4931 1100.56 358.54 40.6656 1036.26 357.868 40.6656 1034.45 358.339 43.4187 1034.2 371.889 50.6656 1028.01 371.888 50.6656 1028.01 365.751 49.8163 1030.53 365.413 49.5895 1029.85 364.836 49.258 1030.05 371.891 50.6656 1028.01 366.56 49.8163 1031.89 363.141 47.821 1034.72 361.295 45.5754 1036.35 360.367 43.4187 1037.19 359.975 40.6656 1037.54 359.025 43.5849 1035.92 360.151 45.8061 1035.13 362.31 48.0185 1033.66 366.139 49.8929 1031.22 371.89 50.6656 1028.01 359.459 45.5754 1033.6 361.686 47.821 1032.46 361.339 47.2517 1031.27 359.943 45.6229 1031.81 359.344 44.9244 1032.05 358.458 42.9559 1032.41 358.117 40.6656 1032.55 673.577 90.4391 679.078 703.927 92.6336 580.502 658.512 89.3498 728.009 613.101 85.4067 875.502 680.33 90.1664 847.926 679.941 90.1395 853.966 652.091 87.8381 875.502 681.201 90.3314 875.502 677.043 90.129 580.502 677.043 98.8834 580.502 677.892 90.2009 580.502 704.926 99.9238 477.875 704.863 91.0337 478.107 723.615 100.621 409.087 759.612 92.8141 276.594 759.534 101.072 276.882 767.351 93.0658 248.111 786.906 101.416 176.136 808.814 93.2344 95.5017 808.814 101.691 95.5017 807.49 93.2246 100.376 807.489 101.675 100.381 800.652 93.1742 125.544 800.625 101.589 125.644 788.083 93.0815 171.806 786.99 93.0807 175.827 853.232 97.6562 95.5017 809.037 101.673 95.5017 856.356 98.5128 85.3632 577.723 86.8646 453.304 577.937 86.722 452.558 578.117 86.2908 451.923 578.237 85.6379 451.497 572.519 85.6763 449.854 572.402 86.3291 450.28 572.222 86.7604 450.916 572.01 86.9029 451.661 567.123 86.3867 447.087 569.857 86.0144 448.919 569.028 86.9384 450.419 569.353 86.8339 449.838 569.64 86.5138 449.318 566.812 86.7226 447.376 565.714 86.6133 445.3 564.581 87.0555 442.235 564.48 87.0541 443.965 564.219 87.1342 442.139 564.079 87.098 444.009 564.564 87.0579 445.809 564.976 87.0068 445.629 564.863 86.9298 443.922 564.943 86.9768 442.331 566.047 87.0018 448.073 566.445 86.9328 447.712 565.366 86.856 445.457 565.214 86.73 443.88 565.251 86.7629 442.41 565.389 87.2104 437.793 565.879 87.1374 437.923 566.107 87.0377 437.983 566.336 86.938 438.043 566.393 87.1531 436.76 565.952 87.2311 436.49 566.803 86.9436 437.009 567.856 86.904 435.937 569.624 86.7966 435.089 567.167 87.2475 435.107 567.527 87.1538 435.541 569.174 87.2533 433.944 569.413 87.1288 434.552 572.244 87.2442 433.282 572.295 87.0651 434.07 572.336 86.5876 434.722 576.823 87.2125 433.796 576.548 86.9337 434.743 576.344 86.2033 435.431 582.211 86.1633 437.118 582.412 86.8938 436.428 582.686 87.1725 435.481 590.439 87.8365 433.663 590.232 87.512 433.598 589.921 87.2953 433.504 589.553 87.2195 433.397 591.516 87.9014 429.914 591.309 87.5769 429.849 590.998 87.3602 429.756 590.631 87.2844 429.649 593.291 87.9498 427.928 592.418 87.9342 428.478 591.776 87.9151 429.286 591.588 87.5901 429.177 591.303 87.3737 429.017 590.967 87.2989 428.832 592.275 87.6087 428.312 592.058 87.3926 428.067 591.802 87.3191 427.779 593.21 87.6238 427.724 593.085 87.4079 427.419 592.937 87.3356 427.062 594.297 87.9604 427.698 594.286 87.6342 427.477 594.269 87.4185 427.148 594.247 87.3468 426.761 595.322 87.9654 427.812 595.384 87.6389 427.6 595.475 87.4233 427.283 595.582 87.3521 426.91 614.469 87.5115 432.339 628.284 87.7969 436.312 628.175 87.8687 436.684 611.666 88.0722 432.51 611.731 87.7457 432.299 611.824 87.5301 431.982 611.932 87.4591 431.609 628.009 88.4104 437.208 628.078 88.0843 436.999 628.638 88.4327 437.469 628.751 88.1059 437.278 628.916 87.8906 436.99 629.104 87.8205 436.65 629.443 88.4598 438.111 629.614 88.1321 437.966 629.865 87.9173 437.745 630.157 87.8494 437.485 630.874 87.8669 438.62 630.511 87.9334 438.771 630.201 88.1478 438.898 629.992 88.4761 438.982 630.109 88.4689 441.008 630.222 88.4794 439.985 630.326 88.1407 441.066 630.448 88.151 439.972 630.649 87.9262 441.156 630.783 87.9366 439.952 631.026 87.8594 441.263 631.175 87.8705 439.929 625.413 88.2448 457.347 625.631 87.9162 457.406 625.955 87.702 457.496 626.333 87.6362 457.604 620.717 88.0403 473.686 620.935 87.7115 473.745 621.26 87.4974 473.836 621.638 87.4322 473.944 621.304 87.4186 474.758 620.662 87.6992 474.413 620.461 88.0275 474.31 619.824 87.9965 475.12 618.953 87.9548 475.674 620.959 87.4848 474.57 620.471 87.3856 475.812 620.208 87.4543 475.523 619.334 87.3413 476.53 619.183 87.4133 476.174 618.025 87.2907 476.832 618 87.3664 476.45 619.98 87.6692 475.28 619.049 87.6289 475.874 617.972 87.5829 476.126 617.948 87.9072 475.91 616.688 87.2399 476.683 616.788 87.3434 476.324 616.82 87.3776 476.206 616.912 87.8659 475.822 616.908 87.7428 475.855 616.864 87.5602 476.03 598.906 86.7783 471.569 588.787 86.6695 468.659 588.923 86.8085 468.185 602.739 86.8194 472.671 602.873 86.9578 472.196 602.966 87.3231 471.847 589.021 87.1738 467.839 586.558 87.1732 466.653 586.349 86.808 466.946 586.063 86.669 467.348 584.094 86.6657 466.793 583.687 86.8011 466.505 583.388 87.1669 466.298 527.146 85.892 545.036 576.304 86.4889 477.698 527.846 85.3885 545.529 527.443 85.5266 545.242 523.971 90.987 377.132 576.07 91.7812 276.481 589.709 90.5384 276.488 602.136 91.8776 226.141 628.258 91.958 175.823 639.702 90.8988 175.823 625.458 92.5401 175.823 363.697 105.728 679.083 469.045 105.352 477.788 462.201 99.4914 477.788 460.723 94.3827 477.745 461.371 93.4566 477.734 354.164 91.1863 679.094 596.438 86.6555 477.789 668.911 103.834 477.789 741.292 103.39 276.483 777.469 102.32 175.823 525.987 103.619 875.502 527.88 103.32 875.502 532.06 102.626 875.502 534.149 102.275 875.502 536.238 101.922 875.502 544.594 100.511 875.502 555.817 98.6858 875.502 567.063 97.0652 875.502 572.698 96.3585 875.502 578.341 95.7297 875.502 589.66 94.7368 875.502 600.925 94.0685 875.502 612.21 93.5698 875.502 612.668 93.5509 875.502 443.636 115.499 875.502 450.641 114.647 875.502 600.538 114.366 477.789 454.141 114.207 875.502 457.64 113.759 875.502 461.138 113.302 875.502 464.634 112.838 875.502 471.624 111.885 875.502 478.61 110.903 875.502 485.592 109.894 875.502 492.571 108.86 875.502 499.546 107.805 875.502 416.988 118.347 875.502 422.129 117.853 875.502 565.942 117.521 477.788 427.268 117.331 875.502 432.405 116.783 875.502 434.972 116.499 875.502 437.54 116.21 875.502 443.018 115.572 875.502 381.424 120.85 875.502 386.418 120.607 875.502 530.334 118.189 477.789 376.426 121.053 875.502 354.918 121.443 875.502 362.087 121.405 875.502 369.257 121.274 875.502 391.41 120.326 875.502 396.399 120.009 875.502 400.726 119.66 875.502 494.562 114.271 477.79 301.175 117.071 875.502 306.137 117.926 875.502 318.533 119.6 875.502 326.623 120.369 875.502 330.677 120.668 875.502 334.736 120.914 875.502 347.75 121.374 875.502 351.92 121.414 875.502 286.424 113.864 875.502 288.868 114.465 875.502 477.195 109.28 477.79 291.319 115.04 875.502 296.236 116.109 875.502 300.479 116.936 875.502 262.629 105.16 875.502 272.953 109.961 875.502 274.793 110.534 875.502 279.65 112.044 875.502 252.734 98.0145 875.502 253.468 98.7317 875.502 354.916 98.6603 679.083 255.279 100.373 875.502 256.223 101.148 875.502 257.195 101.89 875.502 257.692 102.249 875.502 257.943 102.425 875.502 258.194 102.598 875.502 258.701 102.938 875.502 259.213 103.268 875.502 261.287 104.536 875.502 353.352 96.3047 679.076 251.412 96.5918 875.502 251.995 97.2186 875.502 352.861 94.9779 679.096 249.621 93.2246 875.502 250.305 94.9883 875.502 249.792 90.8902 875.502 249.718 91.2725 875.502 352.75 93.5728 679.115 249.519 92.3072 875.502 249.525 92.5317 875.502 249.544 92.7548 875.502 249.57 92.9171 875.502 251.124 88.9085 875.502 250.71 89.3576 875.502 353.241 92.2558 679.112 250.585 89.5127 875.502 250.429 89.7836 875.502 253.206 87.3806 875.502 252.612 87.7459 875.502 356.561 89.6987 679.076 254.354 86.7656 875.502 253.811 87.0384 875.502 252.555 87.7828 875.502 251.574 88.5005 875.502 251.532 88.5386 875.502 263.609 84.1579 875.502 262.61 84.3226 875.502 261.612 84.5019 875.502 257.648 85.4404 875.502 255.049 86.4165 875.502 390.089 85.2685 679.083 293.782 82.1926 875.502 280.318 82.8074 875.502 367.618 87.3717 679.08 277.888 82.9288 875.502 275.787 83.0402 875.502 273.686 83.1633 875.502 267.276 83.7269 875.502 265.614 83.8729 875.502 434.463 82.7443 679.083 312.147 81.3606 875.502 296.232 82.0808 875.502 365.034 80.4579 875.502 358.238 80.3901 875.502 345.702 80.6541 875.502 409.944 80.9581 875.502 403.949 80.9173 875.502 516.476 83.4943 679.083 438.219 81.0865 875.502 389.565 80.7849 875.502 377.3 80.6219 875.502 471.101 81.2653 875.502 453.708 81.1577 875.502 438.61 81.0883 875.502 506.254 81.6252 875.502 512.173 81.7314 875.502 592.641 85.4148 679.083 500.334 81.5363 875.502 488.494 81.4017 875.502 594.551 84.511 875.502 575.999 83.6972 875.502 557.445 82.9956 875.502 538.888 82.3956 875.502 525.531 82.0301 875.502 521.552 81.9411 875.502 665.483 88.8394 477.789 644.146 88.4833 403.915 641.075 88.4263 401.686 676.209 89.6596 276.481 637.436 88.3515 400.599 636.12 88.3227 400.515 633.641 88.2652 400.778 630.118 88.1744 402.205 627.267 88.0869 404.72 625.409 88.0102 408.036 627.194 87.9229 418.837 625.375 87.92 415.515 624.756 87.9519 411.776 630.011 87.967 421.374 633.516 88.0502 422.84 637.306 88.1592 423.062 639.639 88.2322 422.55 642.992 88.3426 420.758 645.559 88.4328 417.959 647.054 88.4939 414.471 647.312 88.5218 410.688 646.305 88.5169 407.033 663.168 90.1309 175.823 735.73 90.7136 125.536 715.958 90.3492 175.823 745.595 90.6848 100.401 617.39 89.5673 276.481 525.928 86.9819 477.789 580.768 86.7668 459.402 576.698 86.6657 465.097 567.682 86.4667 477.716 537.199 85.7935 520.383 460.39 95.4577 477.764 489.907 88.3981 477.802 471.873 89.9095 477.778 460.915 97.631 477.789 671.187 100.225 87.8698 673.115 101.578 87.8703 670.786 103.577 100.455 680.044 106.844 100.458 700.13 109.909 100.466 593.346 111.243 276.48 642.815 108.867 175.823 580.289 107.13 276.481 631.946 105.1 175.823 574.27 103.9 276.484 622.634 98.6217 175.823 748.959 108.717 100.42 666.14 112.193 175.822 620.843 114.925 276.479 691.191 112.584 175.822 649.462 114.923 276.479 719.487 110.393 175.822 679.925 112.281 276.48 804.602 101.882 100.357 739.153 109.312 125.54 795.561 102.091 125.504 667.627 107.553 125.564 688.801 110.67 125.568 697.546 90.3569 100.422 686.085 90.4449 125.547 664.78 91.098 125.548 677.333 91.0132 100.426 671.862 93.1506 87.8633 667.59 92.0913 100.437 669.798 94.2497 87.8695 662.047 95.8474 100.445 662.284 97.0291 100.447 662.32 94.6754 100.445 663.067 93.7303 100.446 665.216 92.6339 100.437 669.585 98.5096 87.8668 666.503 101.258 100.449 662.861 98.092 100.443 657.835 104.118 125.563 649.443 98.3214 125.557 648.803 97.2141 125.56 648.509 95.9748 125.558 648.81 94.7415 125.562 649.636 93.7727 125.565 651.95 92.6879 125.553 654.466 92.1342 125.554 622.834 93.6466 175.822 596.152 93.6211 226.107 621.868 94.6834 175.823 621.5 96.0439 175.823 621.884 97.409 175.823 516.263 92.7758 377.118 463.107 92.0161 477.762 569.525 93.5622 276.424 568.335 94.7635 276.446 567.966 95.5289 276.498 567.83 96.3678 276.486 568.264 97.9992 276.468 569.149 99.4569 276.479 577.011 86.7395 465.322 537.514 85.8647 520.609 537.781 86.0803 520.804 537.959 86.4068 520.935 577.451 87.2811 465.645 577.276 86.9557 465.514 581.513 87.3624 459.945 581.337 87.0469 459.813 581.076 86.8381 459.623 633.905 88.7141 402.025 630.784 88.6413 403.301 628.263 88.5712 405.537 626.625 88.51 408.478 626.052 88.4638 411.788 626.602 88.4389 415.095 628.208 88.4418 418.032 630.695 88.477 420.279 633.793 88.5429 421.583 637.15 88.6292 421.789 639.221 88.6871 421.342 644.493 88.8474 417.28 642.203 88.7751 419.76 645.831 88.8967 414.18 646.065 88.9194 410.814 643.245 88.8892 404.789 645.169 88.9159 407.561 640.51 88.8434 402.812 637.274 88.7834 401.855 630.475 88.2952 402.786 627.8 88.2147 405.154 626.06 88.1444 408.27 625.45 88.0912 411.781 626.033 88.0626 415.289 627.738 88.0659 418.406 630.379 88.1064 420.789 633.667 88.1822 422.169 637.227 88.2814 422.384 639.421 88.3479 421.907 642.577 88.449 420.228 644.997 88.532 417.598 646.41 88.5885 414.316 646.655 88.6145 410.754 645.707 88.6105 407.311 643.672 88.5797 404.377 640.778 88.5273 402.282 637.353 88.4584 401.264 633.784 88.3788 401.439 379.171 42.7674 1008.91 385.521 43.6867 1006.29 385.884 45.5632 1007.28 370.299 45.6656 1016.75 369.288 40.6656 1015.87 376.266 50.6656 1023.03 372.821 49.3259 1019.41 369.386 40.6865 1015.8 386.209 47.2381 1008.16 388.807 50.6656 1015.23 387.38 49.7685 1011.35 387.116 49.1984 1010.63 429.016 43.7442 1013.04 430.544 43.6015 1013.88 429.853 45.5599 1014.72 427.887 47.3352 1014.47 415.866 47.8724 1008.43 417.743 44.7962 1006.82 415.172 44.9155 1005.95 412.604 47.9338 1007.45 413.135 44.92 1005.62 397.76 47.8059 1006.05 401.701 44.9454 1003.82 399.68 47.8596 1005.96 399.035 44.8357 1003.85 397.596 44.7133 1004.11 398.064 49.9231 1009.25 425.841 49.7951 1017.15 414.772 49.9411 1011.43 411.764 49.9576 1010.51 399.837 49.9376 1009.16 429.261 47.2381 1015.45 427.591 49.1984 1017.48 427.105 49.7685 1018.07 398.421 50.6656 1013.02 400.022 50.6656 1012.9 410.786 50.6656 1014.08 413.492 50.6656 1014.94 423.364 50.6656 1020.39 424.479 50.6656 1021.27 444.194 40.6656 1036.26 442.758 40.6656 1037.54 442.366 43.4187 1037.19 430.842 50.6656 1028.01 436.173 49.8163 1031.89 430.846 50.6656 1028.01 430.845 50.6656 1028.01 437.32 49.5895 1029.85 436.982 49.8163 1030.53 437.898 49.258 1030.05 441.048 47.821 1032.46 441.395 47.2517 1031.27 443.274 45.5754 1033.6 442.536 45.9197 1031.72 442.791 45.6229 1031.81 443.389 44.9244 1032.05 444.276 42.9559 1032.41 444.394 43.4187 1034.2 444.617 40.6656 1032.55 444.865 40.6656 1034.45 443.709 43.5849 1035.92 442.583 45.8061 1035.13 440.423 48.0185 1033.66 436.595 49.8929 1031.22 430.844 50.6656 1028.01 441.438 45.5754 1036.35 439.593 47.821 1034.72 444.617 40.4193 1032.55 444.014 40.6656 1031.08 440.891 38.2647 1038 442.211 38.4834 1037.78 444.271 39.222 1036.14 444.178 39.1791 1036.24 443.376 38.8099 1037.14 442.732 38.6292 1037.49 444.862 40.1326 1033.52 444.813 39.8276 1034.45 444.79 39.6837 1034.89 361.843 32.4582 1038 401.356 35.4987 1038 358.883 29.9558 1038.26 358.167 29.3998 1039.29 357.976 29.6951 1038.36 359.19 31.2694 1037.3 359.398 31.0115 1037.56 357.785 30.346 1037.46 358.433 30.9191 1037.14 357.957 29.7624 1038.27 358.646 30.333 1037.68 359.009 31.6355 1037.06 359.458 32.4269 1037.21 359.53 32.3668 1037.27 359.607 32.3462 1037.32 101.242 10.9792 1039.37 102.29 11.8472 1039 102.975 8.17473 1040.22 100.81 3.39743 1047.74 97.7668 8.21123 1043.33 98.938 9.14412 1042 99.52 6.76493 1043.18 103.652 5.11725 1042.78 100.23 4.81249 1045.23 102.688 12.1773 1038.85 104.292 13.506 1038.28 104.905 9.19284 1039.23 106.274 15.1483 1037.56 106.851 10.6055 1038.73 106.87 10.4571 1038.77 106.988 9.53227 1039.01 107.371 6.58365 1041.53 96.7697 7.4977 1046.44 107.65 4.43729 1043.36 104.191 2.94463 1046.18 107.751 3.70812 1045.22 107.759 3.65125 1045.37 97.4855 5.32906 1048.26 95.6718 6.71203 1049.87 96.6083 7.38225 1046.95 171.912 10.3949 1050.2 171.981 9.79308 1048.48 171.97 9.8882 1049.41 206.443 16.6463 1051.55 206.613 15.0765 1050.66 206.619 15.0771 1050.66 172.575 11.2882 1050.66 206.332 17.6765 1053.08 241.168 21.3037 1053.09 241.171 21.28 1052.93 241.275 20.2555 1051.6 241.295 20.0613 1051.34 218.549 16.3558 1050.66 241.43 18.7372 1050.66 172.667 10.4822 1050.2 172.725 9.97537 1049.41 172.737 9.87896 1048.48 245.531 20.2807 1055.73 243.996 21.3351 1055.85 243.863 21.3969 1054.91 241.796 21.3395 1053.01 242.23 20.1572 1051.45 245.328 20.3347 1054.31 246.105 18.8194 1053.94 246.122 18.8177 1053.96 245.298 18.9009 1052.5 244.659 20.3327 1053.03 245.284 18.901 1052.49 243.585 20.2719 1052.03 244.073 18.9088 1051.42 242.541 18.834 1050.79 242.483 18.8289 1050.78 242.702 21.4017 1053.39 243.419 21.4208 1054.06 246.408 18.6802 1055.56 246.494 17.9552 1065.18 246.495 17.9487 1065.35 245.617 19.5525 1065.44 246.521 17.7245 1071.19 246.527 17.6693 1074.68 245.648 19.2775 1074.69 244.113 20.3375 1074.7 244.081 20.6111 1065.5 246.527 17.6691 1074.7 248.657 16.2106 1074.7 248.657 16.2106 1074.74 247.998 16.2535 1074.7 247.738 16.3334 1074.74 246.974 16.857 1074.74 247.379 16.5147 1074.7 247.749 16.3585 1074.7 246.558 17.5683 1074.7 246.882 16.966 1074.7 246.987 16.871 1074.7 248.657 16.2106 1076.28 247.738 16.3334 1076.28 246.974 16.857 1076.28 246.527 17.6691 1076.31 246.527 17.6693 1076.33 245.648 19.2775 1076.32 244.113 20.3375 1076.31 246.558 17.5683 1076.31 246.882 16.9665 1076.31 246.987 16.8711 1076.31 247.379 16.5151 1076.32 247.749 16.3585 1076.32 247.997 16.2537 1076.32 248.657 16.2106 1076.32 246.524 17.6965 1078.49 245.617 19.5523 1085.57 246.501 17.889 1084.5 246.492 17.973 1085.66 244.081 20.6109 1085.51 243.996 21.334 1095.15 245.531 20.2797 1095.28 246.408 18.6791 1095.44 243.042 18.8654 1100.07 241.43 18.7361 1100.34 241.295 20.0602 1099.66 242.739 20.2028 1099.4 243.059 18.8659 1100.06 244 20.2987 1098.67 244.508 18.9134 1099.27 244.52 18.9138 1099.27 244.937 20.3389 1097.56 245.619 18.8804 1098.06 246.272 18.7775 1096.53 245.45 20.3214 1096.22 242.137 21.3654 1097.9 242.98 21.4123 1097.41 243.604 21.4162 1096.67 243.944 21.3788 1095.78 241.275 20.2544 1099.41 241.171 21.2789 1098.07 241.168 21.3026 1097.92 206.332 17.6754 1097.92 206.619 15.076 1100.34 206.614 15.0754 1100.34 206.444 16.6452 1099.45 172.566 11.2862 1100.34 218.55 16.3548 1100.34 107.779 3.49434 1105.7 107.772 3.54565 1105.85 104.191 2.94366 1104.83 107.726 3.87692 1106.8 107.369 6.60675 1109.49 103.653 5.11619 1108.22 97.4864 5.32807 1102.74 100.811 3.39645 1103.26 100.23 4.81147 1105.78 98.9928 9.19149 1108.94 97.4761 7.98617 1107.14 99.5208 6.76389 1107.82 102.976 8.17365 1110.78 106.846 10.6584 1112.11 102.61 9.93586 1111.67 106.568 12.8435 1112.76 106.275 15.1474 1113.44 107.101 8.6588 1111.52 106.865 10.5106 1112.07 102.685 12.1722 1112.17 102.286 11.8419 1112.03 101.31 11.0332 1111.68 96.7288 7.46007 1104.59 96.5793 7.35485 1104.08 95.6497 6.70049 1100.92 172.728 9.87692 1102.52 171.981 9.79204 1102.53 172.716 9.97331 1101.59 171.97 9.88716 1101.59 172.658 10.4801 1100.81 171.912 10.3938 1100.81 505.311 50.6656 1066.79 505.311 50.6656 1084.21 497.227 50.6656 1051.37 497.227 50.6656 1099.63 491.367 50.6656 1046.04 491.367 50.6656 1104.96 444.617 40.4191 1118.46 444.617 40.6656 1118.46 444.889 40.0206 1117.12 444.865 40.6656 1116.55 444.194 40.6656 1114.74 444.701 39.567 1115.78 444.809 39.8284 1116.56 442.741 38.627 1113.51 443.061 38.7046 1113.64 442.758 40.6656 1113.46 444.069 39.1067 1114.57 444.166 39.1775 1114.76 441.807 38.4013 1113.11 440.891 40.6656 1113 440.891 38.2639 1113 438.653 47.2517 1115.48 436.154 49.2534 1118.06 366.579 49.2534 1118.06 364.08 47.2517 1115.48 363.105 45.6212 1114.41 439.629 45.6212 1114.41 362.688 44.9244 1113.95 440.045 44.9244 1113.95 362.077 42.9559 1113.27 440.656 42.9559 1113.27 361.843 40.6656 1113 430.826 50.6656 1123 371.907 50.6656 1123 430.841 50.6656 1122.99 371.892 50.6656 1122.99 435.735 49.5895 1118.49 366.999 49.5895 1118.49 383.409 34.1512 1113 361.843 32.4575 1113 358.434 30.9187 1113.86 357.785 30.3456 1113.54 358.688 30.2495 1113.22 357.961 29.7818 1112.71 358.012 29.6168 1112.47 359.227 31.2145 1113.66 359.544 32.3597 1113.73 359.458 32.4262 1113.79 359.009 31.635 1113.95 359.606 32.3457 1113.69 359.397 31.0109 1113.45 358.882 29.9552 1112.74 358.168 29.3991 1111.71 36.8667 86.5919 1090.5 34.3667 85.922 1090.5 34.3667 86.5919 1093 38.6968 88.422 1090.5 36.5317 87.172 1093 39.3667 90.922 1090.5 38.8628 90.922 1092.38 38.1166 88.757 1093 36.5317 89.672 1094.83 37.7817 90.922 1093.92 38.6968 90.922 1093 34.3667 90.922 1095.5 36.247 90.922 1095 36.8667 90.922 1094.83 35.6166 88.757 1094.83 34.3667 88.422 1094.83 34.3667 85.922 1060.5 36.8667 86.5919 1060.5 38.6968 88.422 1060.5 39.3667 90.922 1060.5 37.7817 90.922 1057.09 36.8667 90.922 1056.17 36.5317 89.672 1056.17 35.6166 88.757 1056.17 34.3667 90.922 1055.5 34.3667 89.0416 1056.01 36.5317 87.172 1058 36.247 90.922 1056.01 38.8628 90.922 1058.62 38.6968 90.922 1058 38.1166 88.757 1058 34.3667 88.422 1056.17 34.3667 87.507 1057.09 34.3667 86.5919 1058 34.3667 86.4259 1058.62 250.176 90.0433 875.502 250.076 90.2483 875.502 249.61 91.2016 875.502 249.591 91.3081 875.502 249.496 91.8461 875.502 249.51 92.5005 875.502 249.517 92.5552 875.502 250.188 94.6529 875.502 251.478 96.5844 875.502 250.247 94.7565 875.502 250.699 95.543 875.502 251.296 96.3782 875.502 253.444 98.7283 875.502 259.771 103.614 875.502 254.174 99.4221 875.502 254.67 99.8565 875.502 255.343 100.447 875.502 256.557 101.415 875.502 259.095 103.204 875.502 258.447 102.775 875.502 257.808 102.332 875.502 257.492 102.107 875.502 257.178 101.879 875.502 503.822 107.141 875.502 536.123 101.946 875.502 517.848 104.962 875.502 526.988 103.473 875.502 531.556 102.712 875.502 574.18 96.2273 875.502 572.742 96.3657 875.502 563.559 97.5741 875.502 554.401 98.9473 875.502 545.258 100.422 875.502 600.928 94.0281 875.502 611.831 93.5852 875.502 612.668 93.5567 875.502 674.545 95.8972 875.502 676.372 96.0749 875.502 628.213 93.3828 875.502 637.457 93.5176 875.502 646.698 93.8285 875.502 649.031 93.9469 875.502 678.139 96.2679 875.502 678.196 96.2742 875.502 652.865 94.1413 875.502 659.026 94.547 875.502 667.241 95.2171 875.502 672.718 95.7218 875.502 682.345 91.877 847.891 681.62 90.8547 847.904 680.743 90.3129 847.905 682.038 90.6267 875.502 682.641 90.8395 875.502 683.184 91.2935 875.502 683.424 91.6796 875.502 683.663 92.0645 875.502 682.554 93.2648 847.868 684.047 93.4425 875.502 684.05 93.429 875.502 683.978 92.9351 875.502 683.909 92.4606 875.502 683.799 92.283 875.502 683.697 94.8111 875.503 683.801 94.4046 875.502 683.96 93.7823 875.502 682.809 95.8279 875.502 682.08 94.5858 847.839 682.677 95.9788 875.502 681.171 95.4484 847.814 682.07 96.2064 875.502 683.38 95.1733 875.503 683.39 95.1621 875.503 683.672 94.8395 875.503 681.221 96.5249 875.501 681.368 96.4699 875.501 680.206 95.8101 847.799 118.515 24.8939 1113.82 97.1384 25.9838 1113.86 122.771 24.8754 1113.82 148.836 24.7623 1113.82 184.167 22.9093 1113.74 200.511 24.538 1113.81 88.0482 29.6955 1113.24 87.6837 29.8331 1113.17 87.0535 30.0709 1113.06 80.0802 32.4419 1110.87 78.7667 32.8053 1110.13 77.8408 33.0615 1109.61 75.8073 31.5144 1105.35 75.7786 31.4973 1105.17 75.0215 31.0461 1100.41 61.7647 38.5173 1102.85 61.7189 38.5211 1102.84 62.5254 38.382 1102.72 62.0853 38.4885 1102.97 62.5349 38.4179 1103.14 63.3301 38.211 1102.6 63.3563 38.2888 1103.44 65.4224 37.9642 1104.2 69.0523 35.9551 1101.65 68.3476 37.1831 1105.35 70.157 36.3975 1106.16 70.9338 36.1079 1106.13 70.9916 36.0352 1106.54 70.2642 35.2484 1101.42 69.7412 36.5781 1105.98 69.2138 35.8914 1101.62 75.0215 31.0461 1050.6 76.1169 29.7469 1069.78 75.7434 30.1898 1091.23 75.7778 31.4966 1045.83 70.2642 35.2483 1049.58 63.3572 38.2887 1047.57 63.331 38.2107 1048.4 62.5262 38.3817 1048.28 70.1506 36.3935 1044.85 70.9889 36.0294 1044.47 70.9324 36.1059 1044.88 77.8343 33.0564 1041.4 75.8055 31.5131 1045.66 64.9846 37.5587 1048.68 65.4027 37.9678 1046.81 69.053 35.9547 1049.36 68.3055 37.1948 1045.67 69.2143 35.8911 1049.38 61.7207 38.5206 1048.17 61.7664 38.5168 1048.15 62.0856 38.4882 1048.04 62.5357 38.4175 1047.87 69.7397 36.5719 1045.03 78.8653 32.7471 1040.92 83.0818 31.4818 1038.95 84.1918 31.1021 1038.62 87.8708 29.7047 1037.99 97.1386 25.9835 1037.14 94.0132 27.3102 1037.17 92.0696 28.1099 1037.28 122.776 25.2529 1037.17 147.718 24.5421 1037.2 148.8 24.542 1037.2 184.159 22.9098 1037.26 200.496 24.5379 1037.2 358.117 35.3089 1032.55 357.843 34.6943 1033.93 357.927 34.4924 1034.45 358.072 34.1411 1035.33 358.591 33.5123 1036.23 359.99 32.3431 1037.51 358.821 33.2341 1036.62 360.539 32.3387 1037.78 357.592 31.3462 1036.5 356.694 30.754 1036.91 356.385 31.5356 1035.38 356.414 30.8543 1036.64 355.391 31.2199 1035.67 358.337 32.2154 1036.4 357.819 33.0977 1035.2 357.623 32.7957 1035.21 357.231 32.1898 1035.22 356.667 31.7531 1035.33 359.173 36.0321 1030.06 360.342 36.7457 1027.69 364.304 38.7195 1021.47 682.846 91.0429 875.502 682.586 90.8504 875.502 682.07 90.6691 875.502 681.655 90.5237 875.502 679.753 90.3221 875.502 677.406 90.1383 875.502 615.031 85.5861 875.502 626.712 86.2943 875.502 646.815 87.6705 875.502 648.325 87.7834 875.502 673.814 89.8086 875.502 668.307 89.3286 875.502 659.842 88.6451 875.502 609.189 85.2589 875.502 603.346 84.9494 875.502 579.967 83.8755 875.502 573.54 83.6244 875.502 568.274 83.4187 875.502 556.58 82.9968 875.502 525.531 82.0083 875.502 499.143 81.538 875.502 509.792 81.6921 875.502 471.102 81.2328 875.502 439.584 81.1119 875.502 431.354 81.0692 875.502 377.3 80.6289 875.502 354.444 80.3392 875.502 299.112 81.9992 875.502 257.328 85.5225 875.502 261.071 84.6042 875.502 259.188 85.0161 875.502 259.155 85.0251 875.502 253.026 87.4746 875.502 253.508 87.1833 875.502 254.503 86.6456 875.502 254.611 86.5972 875.502 255.892 86.0248 875.502 275.728 83.0031 875.502 271.145 83.2873 875.502 266.572 83.7354 875.502 264.292 84.0445 875.502 263.154 84.2246 875.502 262.017 84.4235 875.502 279.348 82.8487 875.502 250.764 89.311 875.502 250.949 89.1149 875.502 251.339 88.7387 875.502 251.404 88.687 875.502 357.821 33.8469 1025.53 357.833 33.8535 1025.5 358.698 33.9328 1026.02 362.022 35.8346 1018.84 358.865 34.0211 1026.13 363.017 35.9317 1019.62 358.867 34.0226 1026.13 363.814 36.5277 1020.41 359.461 34.3358 1026.53 360.324 35.881 1027.44 360.225 35.5943 1027.3 364.271 37.5159 1021.07 360.024 35.0106 1027.03 360.358 36.5587 1027.65 369.303 39.4216 1015.46 368.92 38.4147 1014.71 368.212 37.837 1013.77 367.314 37.7985 1012.82 370.946 38.7497 1010.25 377.859 40.5602 1005.36 378.414 40.4719 1006.44 384.641 41.769 1002.59 385.011 41.6326 1003.7 378.862 40.8648 1007.51 385.309 41.9494 1004.79 379.129 41.6744 1008.37 385.488 42.6709 1005.7 418.538 43.0431 1004.31 418.184 43.284 1005.33 415.559 43.4252 1004.43 417.907 43.8959 1006.2 415.319 44.0256 1005.32 431.357 41.7617 1010.12 432.553 41.6228 1010.78 431.851 41.5265 1011.69 418.919 43.2055 1003.29 401.75 44.0522 1003.17 399.066 43.9307 1003.21 401.793 43.4542 1002.25 399.07 43.3218 1002.28 415.859 43.1947 1003.41 401.823 43.2324 1001.16 399.047 43.0926 1001.19 430.766 42.5949 1013.36 431.224 41.8673 1012.6 416.181 43.3649 1002.37 401.836 43.4168 1000.08 398.998 43.2745 1000.09 442.78 45.6656 1031.6 439.114 42.0295 1022.56 442.327 41.1487 1027.6 443.096 40.9172 1029.08 444.01 40.6667 1031.07 444.799 39.198 1032.28 444.19 39.4401 1030.81 445.444 38.1931 1031.87 444.826 38.4331 1030.38 446.437 37.5828 1031.39 445.809 37.8239 1029.86 447.603 37.475 1030.91 446.962 37.7213 1029.35 444.565 38.122 1036.08 445.089 38.9439 1033.29 445.78 37.956 1033.03 446.82 37.3358 1032.79 448.032 37.1883 1032.62 445.069 38.5416 1034.73 445.761 37.5782 1034.69 446.759 36.9444 1034.79 447.908 36.7393 1035.02 445.183 37.181 1036.26 446.035 36.5347 1036.66 446.999 36.2766 1037.21 445.435 35.8602 1038.97 444.739 36.1591 1038.17 444.111 36.8154 1037.55 443.636 37.7405 1037.19 443.023 35.8604 1039.16 443.396 35.5312 1040.11 441.087 35.3117 1040.51 441.06 35.7177 1039.55 441.051 35.8517 1039.23 442.673 36.5238 1038.4 440.958 37.2481 1038.24 442.39 37.4369 1037.92 440.98 36.9123 1038.32 441.016 36.382 1038.78 401.573 32.5474 1040.51 401.533 33.0875 1039.22 401.456 34.1474 1038.32 361.951 31.1082 1038.32 362.036 30.049 1039.22 362.08 29.5088 1040.51 360.198 29.9449 1038.93 359.8 29.3903 1040.12 360.463 31.0015 1038.09 350.634 29.8671 1037.55 287.224 26.7645 1037.66 310.953 27.9255 1037.62 311.14 26.671 1038.6 263.494 25.6033 1037.7 263.683 23.7361 1039.07 263.746 23.1216 1039.52 311.24 25.8498 1039.65 263.849 22.1014 1040.27 264.035 20.3395 1043.62 263.944 21.2037 1041.97 263.867 21.931 1040.59 264.064 20.0953 1044.76 311.022 27.9289 1037.62 185.031 15.33 1040.49 184.595 19.1094 1038.12 261.176 25.5641 1037.68 231.968 25.0701 1037.45 206.761 13.7624 1049.41 241.565 17.4208 1049.41 241.513 17.9294 1050.2 218.635 15.5486 1050.2 206.772 13.6651 1048.48 218.699 14.9431 1048.48 218.689 15.0406 1049.41 241.574 17.3229 1048.48 206.706 14.2701 1050.2 245.66 18.1081 1052.18 244.346 18.1149 1051.02 242.703 18.0334 1050.33 242.915 17.5386 1049.57 243.128 17.4577 1048.66 244.776 17.6299 1050.34 245.271 17.5596 1049.56 246.266 17.6208 1051.67 246.983 17.5447 1051.08 246.546 18.0199 1053.75 247.269 17.5196 1053.46 248.135 17.4244 1053.14 246.854 17.8721 1055.48 247.618 17.3512 1055.42 248.536 17.2293 1055.39 246.94 17.1443 1065.13 247.704 16.6214 1065.1 248.623 16.4988 1065.09 246.967 16.9126 1071.17 247.732 16.3892 1071.15 248.65 16.2664 1071.15 246.974 16.8572 1074.67 247.738 16.3336 1074.67 248.657 16.2108 1074.67 445.964 38.0548 1027.18 445.063 38.0854 1027.63 444.892 38.1599 1027.73 443.925 38.7629 1028.31 443.941 38.7467 1028.3 444.244 38.4436 1028.1 444.861 38.1736 1027.75 443.202 39.9493 1028.87 443.304 39.7284 1028.78 443.309 39.7179 1028.77 443.599 39.0891 1028.53 443.094 40.8576 1029.07 441.06 35.7169 1111.46 441.051 35.851 1111.78 383.594 31.7409 1111.78 383.513 32.8005 1112.68 362.036 30.0483 1111.78 362.08 29.5081 1110.5 383.636 31.2008 1110.49 441.087 35.311 1110.49 361.951 31.1075 1112.68 441.016 36.3813 1112.23 440.958 37.2473 1112.76 440.98 36.9116 1112.68 444.987 38.4362 1115.92 444.359 38.0156 1114.6 441.954 37.3606 1112.95 442.425 35.7854 1111.66 442.689 35.4487 1110.68 442.169 36.4505 1112.44 443.302 37.6427 1113.56 443.726 36.7215 1113.16 444.277 36.0629 1112.48 444.884 35.7541 1111.63 444.945 37.0791 1114.37 445.746 36.4299 1113.91 446.646 36.16 1113.28 445.668 37.4789 1115.9 446.639 36.8418 1115.72 447.75 36.6227 1115.41 445.131 38.8439 1117.35 445.83 37.8624 1117.55 446.87 37.2387 1117.69 448.079 37.0763 1117.76 444.799 39.1978 1118.72 445.444 38.1929 1119.13 446.437 37.5826 1119.62 447.603 37.4749 1120.09 446.962 37.7214 1121.66 445.808 37.8239 1121.14 444.826 38.433 1120.62 444.19 39.4401 1120.19 444.014 40.6656 1119.93 335.427 24.3252 1074.72 335.26 24.311 1076.3 465.956 34.0017 1075.32 471.371 34.3377 1075.51 248.657 16.2108 1076.35 247.738 16.3336 1076.35 246.974 16.8572 1076.34 246.948 17.0779 1084.54 248.631 16.4321 1084.58 248.536 17.2282 1095.61 247.712 16.5548 1084.57 247.618 17.3501 1095.59 246.854 17.871 1095.53 248.654 16.2382 1078.52 247.735 16.361 1078.51 246.971 16.8845 1078.5 248.346 17.3675 1097.15 247.433 17.5152 1099.3 247.452 17.4707 1096.93 246.657 17.5963 1098.79 246.707 17.9769 1096.71 246.005 18.0867 1098.35 245.896 17.5659 1101 245.32 17.6365 1100.27 244.826 18.1209 1099.65 243.24 18.0675 1100.52 243.523 17.5771 1101.26 243.829 17.5014 1102.14 241.513 17.9283 1100.81 241.565 17.4198 1101.59 241.575 17.3218 1102.52 206.772 13.6642 1102.52 218.689 15.0395 1101.59 218.635 15.5475 1100.81 206.762 13.7614 1101.59 206.707 14.2691 1100.81 218.7 14.942 1102.52 264.078 20.096 1106.25 263.955 21.2463 1109.03 263.897 21.7802 1110.32 184.602 19.1091 1112.88 185.039 15.3299 1110.51 261.186 25.5641 1113.32 231.993 25.0704 1113.56 263.889 21.854 1110.42 263.867 22.0762 1110.7 263.76 23.1265 1111.48 263.699 23.7282 1111.92 263.509 25.6033 1113.3 311.249 25.8413 1111.34 311.148 26.6654 1112.39 311.026 27.9935 1113.42 310.956 27.99 1113.42 360.273 29.403 1110.74 360.58 29.9556 1111.96 360.772 31.0127 1112.82 359.995 32.3475 1113.51 360.81 32.3517 1113.14 482.591 42.208 1033.32 482.909 42.3111 1033.06 483.453 43.5849 1033.16 484.103 42.616 1032.45 485.077 42.7949 1032.33 485.169 43.4187 1032.47 486.819 43.0524 1032.56 485.766 45.5754 1033.59 486.689 43.0343 1032.54 485.45 42.8635 1032.28 481.398 41.4612 1036.01 481.429 41.5556 1035.58 481.633 42.9559 1036.21 481.811 41.874 1034.36 491.36 50.6656 1046.02 491.362 50.6656 1046.02 488.839 49.8163 1039.89 489.522 49.5895 1039.55 489.362 49.3267 1039.09 491.354 50.6656 1046.03 491.356 50.6656 1046.03 486.854 49.5895 1041.13 487.478 49.8163 1040.69 486.421 49.2534 1040.71 484.649 47.821 1037.28 483.842 47.2517 1038.21 482.775 45.6212 1037.24 483.02 45.5754 1035.43 488.095 47.2517 1035.47 486.906 47.821 1035.82 487.617 45.8144 1034.24 487.321 44.9244 1033.48 486.977 43.0718 1032.63 482.319 44.9244 1036.82 482.183 43.4187 1034.5 481.924 41.9226 1034.21 484.242 45.8061 1034.29 485.711 48.0185 1036.45 488.148 49.8929 1040.27 491.358 50.6656 1046.03 498.332 42.8605 1039.08 504.27 42.4464 1045.17 503.627 45.8624 1045.71 491.362 50.6656 1104.98 488.095 47.2517 1115.53 489.362 49.3267 1111.91 500.898 49.3825 1102.88 489.522 49.5895 1111.45 504.289 42.4618 1105.91 502.025 42.6616 1108.78 503.627 45.8624 1105.29 500.658 42.7434 1110.02 487.617 45.8144 1116.76 489.271 43.0713 1117.39 487.321 44.9244 1117.53 487.505 43.0733 1118.16 486.977 43.0716 1118.38 510.293 41.9322 1098.3 513.607 45.8624 1086.25 511.223 41.8241 1096.59 515.875 41.2065 1082.14 515.555 41.2528 1084.06 514.712 41.364 1086.49 515.873 41.2069 1068.85 513.607 45.8624 1064.75 515.147 41.3115 1065.02 507.688 42.208 1048.68 509.088 42.0655 1050.73 514.571 41.3923 1062.81 500.898 49.3825 1048.12 510.069 49.3825 1085.38 510.069 49.3825 1065.62 483.839 42.557 1118.46 483.167 42.3863 1118.12 483.453 43.5849 1117.84 482.193 42.057 1117.24 481.951 41.9242 1116.79 482.183 43.4187 1116.5 481.58 41.721 1116.09 485.072 42.798 1118.7 485.169 43.4187 1118.53 485.2 42.823 1118.72 486.666 43.033 1118.49 486.709 43.0383 1118.48 485.766 45.5754 1117.41 491.356 50.6656 1104.98 491.354 50.6656 1104.98 487.478 49.8163 1110.31 486.854 49.5895 1109.87 486.421 49.2534 1110.29 491.36 50.6656 1104.98 488.839 49.8163 1111.12 486.906 47.821 1115.18 484.242 45.8061 1116.72 485.711 48.0185 1114.56 488.148 49.8929 1110.73 491.358 50.6656 1104.98 483.02 45.5754 1115.57 484.649 47.821 1113.73 483.842 47.2517 1112.79 482.775 45.6212 1113.76 482.319 44.9244 1114.18 481.633 42.9559 1114.79 481.398 41.4608 1115 481.367 37.9759 1074.83 481.367 40.6656 1041.91 481.367 39.5341 1101.08 481.367 40.6656 1109.09 481.374 41.0469 1112.05 481.374 41.0471 1038.96 442.535 45.921 1119.29 441.395 47.2517 1119.73 441.048 47.821 1118.54 441.438 45.5754 1114.66 439.593 47.821 1116.28 430.842 50.6656 1122.99 437.32 49.5895 1121.16 430.846 50.6656 1123 436.982 49.8163 1120.47 430.845 50.6656 1122.99 430.844 50.6656 1122.99 436.595 49.8929 1119.78 437.898 49.258 1120.95 443.274 45.5754 1117.4 443.389 44.9244 1118.96 442.791 45.6229 1119.19 440.423 48.0185 1117.35 436.173 49.8163 1119.11 442.366 43.4187 1113.82 443.709 43.5849 1115.09 442.583 45.8061 1115.88 444.394 43.4187 1116.8 444.276 42.9559 1118.6 443.2 39.9496 1122.14 443.092 40.858 1121.93 444.01 40.6667 1119.94 443.095 40.9175 1121.92 443.923 38.7633 1122.7 443.598 39.0895 1122.48 443.307 39.7182 1122.23 443.302 39.7287 1122.23 444.891 38.1603 1123.28 444.859 38.174 1123.26 444.242 38.444 1122.91 443.94 38.7471 1122.71 445.061 38.0858 1123.37 445.962 38.0553 1123.82 376.266 50.6656 1127.97 412.599 50.6656 1136.37 409.995 50.6656 1137.13 399.212 50.6656 1138.05 388.807 50.6656 1135.77 397.734 50.6656 1137.92 424.479 50.6656 1129.73 422.563 50.6656 1131.21 358.54 40.6656 1114.74 359.975 40.6656 1113.46 360.367 43.4187 1113.82 371.891 50.6656 1122.99 366.56 49.8163 1119.11 371.888 50.6656 1123 371.889 50.6656 1122.99 365.413 49.5895 1121.16 365.751 49.8163 1120.47 364.836 49.258 1120.95 361.686 47.821 1118.54 361.339 47.2517 1119.73 359.943 45.6229 1119.19 359.459 45.5754 1117.4 359.344 44.9244 1118.96 358.458 42.9559 1118.6 358.339 43.4187 1116.8 358.117 40.6656 1118.46 357.868 40.6656 1116.55 359.025 43.5849 1115.09 360.151 45.8061 1115.88 362.31 48.0185 1117.35 366.139 49.8929 1119.78 371.89 50.6656 1122.99 361.295 45.5754 1114.66 363.141 47.821 1116.28 358.547 33.5791 1114.75 358.508 33.6277 1114.79 358.072 34.1411 1115.67 357.926 34.4922 1116.56 357.843 34.6917 1117.06 358.117 35.3089 1118.46 358.036 32.4755 1115.02 357.202 31.5285 1114.92 357.173 32.2465 1115.75 356.69 31.7193 1115.69 356.367 31.5954 1115.6 356.378 30.8724 1114.36 356.155 30.9556 1114.49 355.391 31.22 1115.33 357.657 32.7735 1115.81 357.76 33.113 1115.77 5.64045 85.922 1060.5 5.73707 85.9389 1060.09 8.86202 89.0177 1055.9 7.55387 87.5215 1056.84 7.44319 87.412 1056.98 6.423 86.4032 1058.36 6.329 86.3396 1058.6 10.3592 90.922 1055.5 8.93527 89.1016 1055.84 5.6411 85.922 1090.5 4.98074 85.922 1068.28 10.3595 90.922 1095.5 9.38588 89.6538 1095.34 6.66732 86.6432 1092.97 6.97118 86.9159 1093.49 8.06022 88.0785 1094.61 8.36879 88.4452 1094.78 6.15716 86.1854 1092.1 34.3667 122.571 1095.5 20.7934 107.976 1095.5 38.174 128.759 1093.74 38.9803 130.351 1092.41 39.3373 131.288 1091.04 39.3667 131.495 1090.5 39.0021 130.394 1092.38 37.861 128.219 1093.99 36.5944 126.035 1094.98 36.2621 125.518 1095.06 39.3667 131.494 1060.5 39.3667 132.764 1078.93 34.3667 122.571 1055.5 35.2745 123.938 1055.58 36.2313 125.486 1056 37.3142 127.239 1056.46 37.8406 128.19 1057.03 38.5884 129.541 1057.82 38.948 130.306 1058.6 39.1495 130.735 1059.04 26.6723 114.907 1055.5 20.2986 107.334 1055.5 433.207 129.725 939.116 433.199 138.24 959.275 503.815 128.576 959.284 362.298 143.736 959.3 574.186 116.939 959.353 574.182 101.609 918.227 747.293 86.0864 1011.45 736.871 79.5792 1011.37 724.226 83.5872 995.196 253.187 169.234 1010.23 297.803 168.934 1010.28 297.042 162.224 994.258 362.414 121.384 875.502 362.104 121.386 875.502 362.166 122.979 896.647 245.392 86.0828 885.242 431.35 75.0921 918.25 687.806 88.4938 918.235 687.265 95.3375 896.633 684.867 95.4535 885.58 574.183 97.7047 896.554 61.9862 43.9287 1025.5 49.6964 45.9671 1025.5 66.0477 51.3955 1006.8 33.0839 54.1645 1025.5 29.0012 56.604 1025.5 47.3005 60.8951 1006.66 735.058 91.0474 995.266 736.71 94.6286 995.281 752.107 95.3607 1011.49 736.744 98.4518 995.362 765.494 86.0325 1025.5 763.876 84.5811 1025.5 729.644 69.4768 1025.5 721.017 67.5164 1025.5 713.347 72.9392 1011.14 641.217 56.1494 1025.5 639.678 55.9704 1025.5 642.133 66.5987 994.659 295.27 36.7788 1010.19 357.828 33.8532 1025.5 294.525 43.1288 994.113 431.352 47.2184 994.303 441.729 39.5482 1020.05 290.434 60.142 959.483 431.339 61.4985 959.312 573.55 58.0644 994.495 473.469 40.881 1025.5 445.183 38.3809 1025.5 625.434 54.313 1025.5 576.085 49.9511 1025.5 573.478 49.7207 1025.5 680.546 73.1081 994.718 681.61 61.4114 1025.5 678.588 61.0177 1025.5 757.483 78.8447 1025.5 756.599 78.0517 1025.5 751.457 75.6137 1025.5 746.674 73.3461 1025.5 750.786 90.4739 1011.47 767.52 90.11 1025.5 766.187 86.6546 1025.5 768.298 92.1263 1025.5 768.08 93.6877 1025.5 767.74 96.1143 1025.5 734.998 102.077 995.334 763.242 106.86 1025.5 766.69 102.172 1025.5 710.306 97.8687 958.953 732.016 105.048 995.26 750.975 116.641 1025.5 753.393 115.356 1025.5 756.327 113.796 1025.5 759.225 112.255 1025.5 759.306 112.212 1025.5 762.668 107.642 1025.5 726.224 125.984 1025.5 737.546 123.78 1025.5 719.641 110.486 995.148 741.261 121.805 1025.5 728.209 107.27 995.248 675.438 135.408 1025.5 682.68 134.346 1025.5 681.612 118.026 994.665 685.09 133.992 1025.5 710.88 112.62 995.051 722.08 126.791 1025.5 663.737 137.125 1025.51 642.464 123.896 994.557 650.494 138.743 1025.5 574.185 134.157 994.263 574.177 147.574 1025.5 624.264 141.806 1025.5 635.82 140.476 1025.5 640.317 139.945 1025.5 503.813 144.234 994.354 521.88 153.738 1025.51 555.643 149.708 1025.5 327.443 172.649 1025.5 362.244 169.279 1025.5 362.344 159.583 994.311 419.36 163.748 1025.5 433.215 153.348 994.358 433.036 162.423 1025.5 518.247 154.172 1025.51 316.833 172.929 1025.5 265.373 174.284 1025.5 298.21 173.419 1025.5 214.022 172.626 1025.5 242.539 174.886 1025.5 252.601 174.621 1025.5 181.496 170.048 1025.5 187.61 165.079 1009.43 162.691 168.558 1025.5 149.621 158.851 1008.72 154.145 167.881 1025.5 95.3631 151.735 1025.5 99.1452 153.728 1025.5 109.84 146.34 1007.99 112.505 157.166 1025.5 139.701 164.164 1025.5 88.2392 147.983 1025.5 90.3719 137.011 1007.64 74.2632 140.621 1025.5 65.1379 135.814 1025.5 72.3062 125.041 1007.31 59.3167 132.748 1025.5 56.3736 110.718 1007.04 47.007 120.275 1025.5 54.512 127.88 1025.5 23.4526 94.144 1025.49 27.195 100.201 1025.5 43.0108 94.6337 1006.81 30.9425 103.998 1025.5 38.0669 111.217 1025.5 17.9509 85.2397 1025.48 37.2177 86.2099 1006.73 17.6843 84.8082 1025.48 16.3127 82.5883 1025.48 35.3227 81.5943 1006.69 15.9347 79.8823 1025.48 16.8475 74.8265 1025.48 15.6522 77.86 1025.47 35.6741 76.7783 1006.65 15.9317 79.8611 1025.48 24.0964 62.3054 1025.5 22.0119 65.2706 1025.5 40.3339 68.1374 1006.64 18.8282 69.7995 1025.51 17.1592 74.0353 1025.49 27.4548 57.528 1025.5 41.743 48.9905 1025.5 38.9798 50.6416 1025.5 56.0279 55.198 1006.71 45.6911 46.6314 1025.5 113.524 38.0564 1025.5 87.8195 47.4728 1007.07 143.347 35.8295 1025.49 175.963 39.8125 1008.77 164.863 34.6105 1025.48 170.807 34.2737 1025.48 106.534 38.5783 1025.5 74.0814 41.9565 1025.5 73.5317 42.0137 1025.5 295.61 32.6311 1025.5 267.792 32.0847 1025.5 258.212 31.8965 1025.5 254.669 31.9102 1025.5 219.123 32.4107 1025.51 181.606 33.6619 1025.47 648.398 94.4175 896.574 611.387 94.5785 896.567 678.869 96.2754 896.573 684.703 96.7179 896.611 684.112 96.065 885.572 687.636 92.4408 896.63 687.596 93.2554 896.632 687.569 94.757 896.627 687.422 91.6939 896.625 685.443 89.9623 896.62 686.008 90.2299 896.621 678.924 88.0125 918.258 573.54 79.6837 918.279 646.768 84.9601 918.265 284.207 74.7042 918.15 281.591 78.653 896.35 257.727 80.2001 896.309 250.904 84.0344 885.28 243.082 87.6919 885.272 242.664 88.3819 885.294 242.367 89.2077 885.33 235.776 95.6304 896.737 233.764 90.7117 896.565 238.849 99.5304 896.844 246.888 105.527 897.031 251.066 102.212 885.767 254.6 104.305 885.816 286.516 113.886 875.502 280.044 112.098 875.502 283.382 117.13 897.016 278.594 111.697 875.502 258.858 110.437 897.104 259.342 106.651 885.837 297.237 116.279 875.502 294.526 115.728 875.502 290.511 114.847 875.502 316.077 119.255 875.502 305.402 117.758 875.502 319.889 121.988 896.792 302.675 117.293 875.502 299.954 116.8 875.502 333.095 120.844 875.502 325.801 120.325 875.502 356.299 121.433 875.502 340.413 121.185 875.502 425.945 117.482 875.502 420.042 118.074 875.502 433.269 118.467 896.63 431.844 116.853 875.502 414.137 118.624 875.502 408.228 119.132 875.502 388.578 120.48 875.502 384.665 120.682 875.502 380.752 120.861 875.502 374.641 121.093 875.502 371.585 121.188 875.502 368.528 121.268 875.502 453.806 114.247 875.502 456.67 113.881 875.502 488.126 109.514 875.502 503.827 109.013 896.608 482.413 110.35 875.502 476.698 111.17 875.502 470.98 111.971 875.502 465.258 112.751 875.502 462.396 113.133 875.502 459.534 113.51 875.502 437.741 116.191 875.502 433.324 116.687 875.502 697.924 102.486 959.003 706.55 100.271 958.943 708.615 99.354 958.918 680.43 104.678 959.137 149.214 107.836 960.817 94.7282 119.913 992.183 110.404 130.432 992.427 168.463 120.817 960.437 127.208 138.765 992.688 190.084 130.089 960.052 161.565 150.573 993.207 212.385 136.364 959.719 194.836 157.064 993.695 255.602 142.515 959.312 253.855 161.837 994.222 293.328 144.51 959.303 644.945 107.684 959.194 609.502 111.748 959.301 80.5112 107.65 991.963 134.562 90.9381 961.157 68.3476 93.7505 991.765 63.1521 86.2943 991.685 132.297 85.9934 961.236 61.3885 77.9579 991.603 132.009 80.6688 961.313 65.7029 70.5288 991.569 135.504 76.1591 961.341 72.4294 64.8754 991.567 140.614 73.1673 961.354 88.8906 56.7913 991.641 151.591 68.6609 961.315 107.604 52.933 991.812 732.111 87.9712 995.264 705.537 87.974 958.96 697.342 85.6269 959.018 698.062 88.9329 939.051 711.227 95.8209 958.966 711.244 93.6139 958.907 710.454 91.643 958.914 709.119 90.047 958.94 233.959 87.949 896.477 235.091 85.8891 896.375 236.814 84.7859 896.322 238.666 84.0407 896.287 246.834 81.6248 896.256 237.811 77.0287 917.979 183.662 77.7794 939.98 180.402 79.777 939.962 197.422 84.0278 929.272 201.454 80.0558 929.24 197.839 73.6628 939.975 163.237 66.1642 961.199 209.674 62.1958 960.301 184.196 46.2513 993.046 211.85 76.9643 929.195 225.82 70.7107 939.653 687.037 91.0715 896.623 693.067 91.0678 918.222 693.458 92.0866 918.224 689.727 88.8614 918.229 691.558 89.6505 918.224 699.313 89.6449 939.049 766.941 101.831 1025.5 707.101 78.6862 995.019 679.76 82.5722 959.108 710.996 65.2395 1025.5 644.565 77.3141 959.123 573.534 69.1176 959.166 431.342 69.0977 939.156 287.267 68.7588 939.307 232.515 74.2607 928.968 222.347 79.6301 917.827 218.545 80.5245 917.814 686.836 95.7784 896.628 687.442 95.068 896.633 693.017 95.8051 918.227 692.667 96.1624 918.228 699.665 97.4327 939.031 690.067 97.4417 918.23 685.828 96.3899 896.622 691.852 96.7089 918.227 688.185 97.8479 918.229 679.363 97.7777 918.228 647.406 96.8397 918.229 610.806 97.8588 918.23 503.831 113.251 918.26 433.227 122.781 918.271 700.285 96.9669 939.032 693.278 95.3686 918.223 693.42 94.3244 918.22 693.43 93.2162 918.225 686.546 90.5954 896.622 692.392 90.2519 918.223 700.385 90.6004 939.045 701.112 91.8582 939.036 701.34 93.3366 939.032 701.272 94.9012 939.05 700.777 96.3663 939.045 211.109 107.763 929.016 211.049 118.962 939.299 231.82 119.229 928.799 225.463 124.622 939.182 257.296 125.787 928.677 256.729 131.296 939.054 288.647 129.571 928.683 290.315 134.377 939.064 326.215 135.476 939.105 214.862 82.0864 917.822 212.127 85.3103 917.891 211.887 89.8744 917.912 197.376 89.7046 929.212 215.855 98.0144 918.018 202.934 99.6935 929.125 221.831 104.577 918.12 237.321 114.194 918.321 257.836 120.327 918.425 286.923 124.979 918.397 323.505 127.542 918.323 362.228 127.484 918.274 178.043 82.7286 939.949 177.644 86.2869 939.872 178.501 89.7682 939.819 186.446 101.865 939.623 197.749 111.532 939.449 362.268 134.791 939.127 200.686 29.6551 1116.34 200.647 28.4998 1115.43 263.58 28.1982 1115.14 200.582 26.6049 1114.33 263.544 26.8833 1114.21 232.045 26.6278 1114.28 200.607 27.3444 1114.52 263.669 29.7111 1117.94 200.734 30.9982 1118.91 263.625 28.9648 1116.56 200.699 30.009 1117.02 113.525 37.5096 1123.45 98.2979 38.9146 1124.26 98.1152 36.9636 1120.42 149.046 27.6814 1114.42 149.246 30.618 1116.05 97.5037 30.1444 1114.94 123.077 28.6994 1114.59 123.369 32.347 1116.65 149.404 32.8885 1118.53 123.597 35.1418 1119.77 150.024 34.1707 1121.4 149.501 34.2167 1121.44 143.428 34.7504 1121.86 123.69 36.5716 1122.91 98.0482 36.2489 1119.01 97.8429 33.9586 1117.17 97.6375 31.6683 1115.33 164.858 33.0579 1120.47 160.761 33.2931 1120.65 76.1764 35.9885 1111.16 78.7395 35.6979 1112.65 75.1262 37.1038 1112.2 71.6869 39.5968 1115.72 74.0761 38.2191 1113.25 76.9604 38.2028 1115.13 87.7025 34.1 1115.2 86.9805 37.5655 1118.5 86.5964 34.3327 1115.04 85.7474 37.678 1118.26 74.8845 39.7574 1118.11 84.6032 39.7262 1122.36 85.9683 39.6787 1122.73 61.9676 38.514 1103.02 61.8498 38.5383 1103.08 61.7351 38.5232 1102.87 61.7499 38.5202 1102.86 64.3053 38.3989 1104.78 66.4985 38.2233 1106.4 62.6748 38.648 1104.53 63.1611 38.7127 1105.38 64.541 38.8914 1107.56 61.9418 38.2906 1100.78 70.0745 34.82 1090.59 70.4566 34.3825 1069.99 61.8732 38.3611 1049.18 61.9543 38.2772 1050.22 63.0473 37.1459 1064.27 63.5065 36.6706 1070.18 63.0112 37.185 1090.93 63.1071 37.0857 1090.05 63.3996 36.7818 1075.5 76.1684 35.9817 1039.85 74.0664 38.2108 1037.77 75.1174 37.0962 1038.81 66.4666 38.2245 1044.63 61.7517 38.5198 1048.14 61.9684 38.5136 1047.98 61.8511 38.5378 1047.93 62.675 38.647 1046.48 64.2917 38.3989 1046.24 61.7369 38.5228 1048.14 63.1541 38.7105 1045.64 64.521 38.8867 1043.48 71.6756 39.5873 1035.3 80.7672 38.0366 1034.15 82.1391 35.1706 1037.01 83.3899 34.9506 1036.65 97.5036 30.1436 1036.07 98.0478 36.2476 1031.99 97.8426 33.9575 1033.84 94.2568 32.5602 1035.47 97.6374 31.6673 1035.68 94.0775 39.2372 1026.94 98.2973 38.9137 1026.75 98.1147 36.9623 1030.59 92.1353 33.0858 1035.47 82.166 37.95 1033.68 91.9166 37.0403 1031.95 94.2794 36.7536 1031.87 91.4448 39.4069 1027.23 80.6409 39.8045 1029.99 79.0938 39.8126 1030.64 149.211 30.6203 1034.95 200.631 28.4994 1035.57 200.592 27.3442 1036.49 149.011 27.6838 1036.58 200.567 26.6046 1036.67 123.683 36.5712 1028.09 143.058 34.7833 1029.12 149.37 32.8909 1032.47 123.59 35.1424 1031.23 113.525 37.5086 1027.55 123.362 32.3476 1034.35 123.071 28.6999 1036.42 149.467 34.2355 1029.57 157.387 33.5586 1030.12 164.86 33.117 1030.46 200.717 30.9979 1032.1 200.683 30.0087 1033.99 200.67 29.6546 1034.66 232.02 26.6276 1036.72 263.529 26.8834 1036.79 263.566 28.1983 1035.86 263.61 28.9649 1034.44 263.654 29.7113 1033.06 287.276 28.4579 1036.13 270.518 29.6669 1033.24 310.986 30.4074 1034.4 267.796 29.6845 1033.17 310.974 29.002 1036.36 354.987 31.7797 1033.19 356.093 32.0371 1033.27 357.019 32.6771 1033.44 357.632 33.6074 1033.67 357.995 34.165 1032.19 357.444 33.2051 1031.72 356.551 32.5836 1031.21 355.461 32.4004 1030.73 359.071 34.8767 1029.69 358.537 33.9115 1029.17 357.659 33.2953 1028.6 356.581 33.1296 1028.06 344.045 30.7386 1115.61 267.795 29.7639 1117.82 310.982 29.0021 1114.65 310.978 28.3194 1113.81 776.367 92.0245 1120.43 776.367 84.2387 1118.13 776.367 101.752 1030.09 776.367 82.5899 1116.94 776.367 110.752 1030.94 776.367 114.762 1032.08 776.367 115.123 1032.39 776.367 113.038 1119.71 776.367 109.88 1120.25 776.367 104.083 1121.24 776.367 101.192 1121.34 776.367 99.0406 1121.42 776.367 94.0064 1121.02 776.367 92.1733 1031.29 776.367 94.0626 1030.62 776.367 100.912 1030.02 776.367 114.244 1118.94 776.367 110.358 1030.83 776.367 129.316 1102.63 776.367 127.263 1106.25 776.367 118.721 1115.33 776.367 74.7635 1111.29 776.367 59.7023 1060.14 776.367 63.3772 1051.69 776.367 118.644 1035.39 776.367 118.919 1035.63 776.367 135.081 1061.71 776.367 117.923 1116.18 776.367 134.768 1060.56 776.367 129.108 1048.37 776.367 136.906 1080.83 776.367 134.593 1089.24 776.367 68.3523 1045.97 776.367 72.2097 1041.54 776.367 74.9915 1039.56 776.367 116.973 1117.19 776.367 127.821 1045.6 776.367 122.691 1038.85 776.367 71.9188 1109.23 776.367 68.3722 1105.02 776.367 57.7567 1064.61 776.367 57.3071 1066.48 776.367 81.0787 1035.21 776.367 84.3452 1034.06 776.367 136.031 1065.2 776.367 136.816 1075.52 776.367 137.088 1079.09 776.367 62.8271 1098.43 776.367 61.2985 1095.69 776.367 59.7179 1090.9 776.367 56.8735 1082.28 776.367 132.768 1095.87 776.367 131.29 1099.15 776.367 56.546 1079.9 776.367 56.794 1075.53 442.536 39.9696 1027.25 442.438 40.1791 1027.34 439.324 40.8963 1022.15 442.325 41.0575 1027.58 443.47 38.7138 1026.49 443.152 39.0252 1026.72 439.902 40.0191 1021.53 442.833 39.3361 1026.96 442.538 39.9656 1027.24 440.75 39.5434 1020.79 445.161 38.3793 1025.5 444.276 38.3824 1025.98 444.087 38.4601 1026.1 444.076 38.465 1026.11 446.017 38.06 1027.18 445.999 38.0587 1027.18 471.371 34.338 1075.5 471.37 35.2412 1056.01 468.256 38.5799 1032.03 469.999 38.4198 1033.48 471.37 36.0241 1050.35 471.371 37.9161 1036.67 471.357 37.9769 1036.34 470.996 38.2071 1034.97 450.819 38.2984 1027.58 457.84 38.5737 1028.53 464.311 38.6802 1030.16 467.309 38.6256 1119.54 459.583 38.6217 1122.14 446.016 38.0604 1123.83 471.371 37.9155 1114.33 471.323 38.0262 1114.95 470.85 38.2528 1116.34 469.794 38.4465 1117.74 471.371 36.4445 1100.61 471.371 34.4341 1081.87 487.188 42.0578 1032.11 487.502 41.3216 1031.33 487.257 41.7236 1031.94 487.086 41.7127 1031.87 488.316 40.8713 1029.3 487.887 40.9076 1030.37 487.534 40.9155 1030.64 487.746 40.9196 1030.73 485.574 41.5749 1031.53 484.065 41.3508 1031.71 482.713 41.0503 1032.39 482.35 40.9454 1032.69 481.454 40.5993 1033.86 481.008 40.2619 1035.27 480.97 40.1605 1035.75 485.663 40.8075 1030.25 483.796 40.5731 1030.5 482.128 40.2336 1031.35 481.68 40.1126 1031.73 480.579 39.7086 1033.2 480.035 39.3113 1034.95 479.99 39.1915 1035.55 488.048 40.8691 1029.2 485.695 40.7521 1028.76 483.362 40.4688 1029.1 481.289 40.0497 1030.2 480.736 39.8999 1030.67 479.38 39.3997 1032.52 478.72 38.9101 1034.7 478.669 38.763 1035.45 499.684 40.5769 1037.15 499.051 41.0085 1038.01 498.578 41.8089 1038.68 487.752 40.9664 1120.29 487.482 41.2358 1119.62 488.022 41.2386 1119.4 487.269 41.7602 1119.09 487.163 42.0214 1118.83 487.695 42.0238 1118.61 488.436 40.8347 1120.4 487.887 40.8323 1120.63 488.316 40.8711 1121.71 488.878 40.8725 1121.47 490.273 40.8336 1119.59 490.756 40.8674 1120.64 502.096 40.4325 1111.86 502.851 40.4206 1112.72 503.514 40.3315 1110.55 504.302 40.311 1111.39 489.471 42.0239 1117.84 500.913 41.6862 1110.4 502.284 41.6002 1109.14 510.574 40.8325 1098.55 515.84 40.1166 1084.15 511.505 40.7186 1096.83 512.625 39.3901 1100.7 512.082 39.431 1099.53 513.083 39.3394 1100.11 513.044 39.2974 1097.73 514.07 39.1956 1098.28 517.528 38.5917 1084.52 518.671 38.4369 1084.74 517.859 38.5344 1082.5 519.011 38.3754 1082.67 519.011 38.3757 1075.5 517.858 38.5349 1068.49 519.01 38.376 1068.32 517.106 38.6642 1064.45 518.238 38.5148 1064.18 516.51 38.7641 1062.12 517.627 38.6221 1061.8 516.16 40.0677 1082.21 516.159 40.0682 1068.78 515.432 40.1785 1064.91 514.857 40.2637 1062.68 509.367 40.9729 1050.46 507.964 41.1229 1048.39 489.822 41.2392 1118.61 501.417 40.8762 1111.04 502.806 40.7835 1109.76 511.202 39.9549 1098.98 512.144 39.8319 1097.23 516.533 39.1817 1084.31 516.857 39.1289 1082.34 516.856 39.1294 1068.66 516.12 39.2486 1064.71 515.537 39.3407 1062.43 509.979 40.1063 1049.99 508.559 40.2683 1047.88 510.834 39.5955 1049.39 509.384 39.7715 1047.24 512.495 39.4103 1050.31 511.802 39.5166 1048.76 510.316 39.7063 1046.55 500.382 40.5776 1036.23 486.918 41.7008 1119.2 480.97 40.16 1115.25 478.669 38.7625 1115.55 479.99 39.1909 1115.45 480.251 39.519 1117.01 481.186 40.4379 1116.51 481.894 40.79 1117.82 483.006 41.1258 1118.81 483.767 41.294 1119.19 485.295 41.5403 1119.48 487.326 40.9095 1120.44 485.318 40.7737 1120.75 483.428 40.5102 1120.38 482.489 40.3202 1119.9 481.119 39.9319 1118.66 478.98 39.1658 1117.5 480.043 39.6761 1119.55 481.737 40.1571 1121.13 482.904 40.3917 1121.73 485.263 40.7123 1122.24 487.786 40.8644 1121.9 478.64 38.2174 1112.56 478.634 37.7153 1109.57 479.995 38.6714 1112.47 480.019 38.193 1109.49 480.981 39.692 1112.29 481.008 39.2616 1109.32 478.64 36.9867 1050.36 478.634 37.7152 1041.44 480.019 38.193 1041.52 478.656 35.0299 1075.5 478.656 34.9899 1074.82 480.031 35.4798 1074.83 481.009 38.1249 1101.25 480.023 37.0513 1101.39 478.643 36.5234 1100.68 478.642 36.5688 1101.44 481.012 36.5603 1074.83 481.008 39.2616 1041.69 478.641 38.2177 1038.44 479.995 38.6717 1038.53 480.981 39.6922 1038.72 445.161 38.3793 1125.5 444.276 38.3824 1125.02 444.087 38.4601 1124.9 444.076 38.465 1124.9 443.47 38.7138 1124.52 442.833 39.336 1124.05 443.152 39.0251 1124.28 442.538 39.9656 1123.76 442.536 39.9696 1123.76 442.438 40.179 1123.66 442.328 41.1487 1123.41 442.325 41.0573 1123.43 442.779 45.6656 1119.41 429.261 47.2381 1135.56 427.591 49.1984 1133.52 427.105 49.7685 1132.93 439.114 42.0295 1128.44 429.853 45.5599 1136.28 430.544 43.6015 1137.12 426.901 47.3998 1137.2 387.116 49.1984 1140.37 387.38 49.7685 1139.65 397.302 49.916 1141.69 396.748 44.6413 1146.74 396.936 47.7794 1144.9 398.709 47.8338 1145.01 386.209 47.2381 1142.84 385.884 45.5632 1143.73 385.521 43.6867 1144.72 412.119 44.9222 1145.54 401.701 44.9454 1147.18 399.035 44.8357 1147.15 411.652 47.9455 1143.79 414.789 47.8964 1142.93 415.172 44.9155 1145.06 427.937 43.8449 1138.56 417.743 44.7962 1144.19 398.94 49.9307 1141.81 410.886 49.9607 1140.71 413.779 49.9475 1139.9 424.934 49.8128 1134.48 369.288 40.6656 1135.14 370.299 45.6656 1134.25 372.821 49.3259 1131.6 374.588 41.9125 1139.41 369.382 40.6878 1135.21 364.304 38.7195 1129.54 360.342 36.7457 1123.31 359.173 36.0321 1120.95 357.631 33.6051 1117.33 357.018 32.6748 1117.56 356.092 32.0348 1117.73 354.987 31.7771 1117.81 357.995 34.165 1118.81 357.444 33.2051 1119.28 356.551 32.5835 1119.8 355.461 32.4003 1120.27 7.82609 89.5036 1055.4 4.6435 86.2061 1054.29 3.61168 84.5933 1056.54 3.96466 85.4112 1057.05 6.53064 87.6957 1056.38 5.45752 86.3724 1058.02 3.30388 84.6848 1059.59 2.89565 83.8262 1059.45 2.79468 83.7972 1060.13 4.80133 85.7982 1059.93 4.71884 85.7215 1060.38 3.2537 84.6276 1060.19 3.40557 84.9023 1060.21 3.96156 85.3654 1059.75 3.90977 85.2787 1060.28 4.41396 85.6552 1060.34 4.60488 86.0283 1057.56 4.79776 86.4472 1053.95 5.04678 87.1174 1054.83 5.65326 87.5543 1055.68 6.25312 89.0822 1052.24 6.35534 89.493 1053.43 6.91241 89.6423 1054.55 7.74741 92.1165 1051.64 7.6716 92.1511 1053.02 8.16899 91.9237 1054.29 9.1334 91.4826 1055.18 2.72232 84.8936 1068.17 2.61795 83.7929 1062.2 3.74019 85.6528 1068.22 2.10971 83.7805 1068.14 2.33132 83.7859 1075.49 2.7954 83.7972 1090.87 3.2106 84.6522 1090.82 2.73281 83.7956 1088.8 3.43019 84.8787 1090.79 3.87061 85.333 1090.73 4.70895 85.771 1090.62 4.43 85.6252 1090.66 9.13346 91.4826 1095.82 7.67171 92.151 1097.99 8.16894 91.9236 1096.71 7.31605 90.3512 1096.63 7.74777 92.1162 1099.37 6.77699 90.3112 1097.81 8.24374 90.1175 1095.75 7.00742 88.3411 1095.08 6.72776 90.0048 1099.08 5.52815 87.9591 1096.82 5.3305 87.3736 1097.82 6.11752 88.2991 1095.85 5.97882 86.9842 1093.91 5.1145 86.7335 1094.5 5.20384 86.1083 1092.4 4.3565 85.7238 1092.76 4.4899 86.1959 1095.2 3.7092 85.0749 1093.16 4.63772 86.2042 1096.66 4.18562 85.4411 1095.9 3.33399 84.2336 1093.55 20.747 112.132 1099.36 32.4062 124.703 1099.29 32.3741 124.738 1097.92 12.1738 99.3522 1099.37 18.5264 109.738 1099.37 18.4599 109.79 1097.99 19.7288 108.803 1095.82 18.8915 109.454 1096.71 33.4674 123.549 1095.81 32.754 124.325 1096.68 39.445 132.164 1090.63 39.676 132.799 1090.75 39.3986 131.96 1091.24 40.0475 133.365 1090.86 39.6209 132.596 1091.45 40.5402 133.833 1090.95 39.992 133.159 1091.65 38.9628 131.084 1092.75 37.9299 129.486 1094.25 36.0209 126.846 1095.5 39.1158 131.726 1093.17 37.9223 130.145 1094.88 35.7141 127.544 1096.32 39.4507 132.277 1093.61 38.1518 130.675 1095.6 35.7169 128.031 1097.33 40.4914 133.619 1091.84 39.9446 132.701 1094.05 38.5971 131.025 1096.32 36.0289 128.24 1098.39 39.6801 134.098 1078.97 40.5523 134.91 1075.52 40.555 135.154 1079.01 39.5213 132.146 1060.38 39.676 132.798 1060.25 40.1081 133.315 1060.16 40.5402 133.832 1060.06 39.151 131.418 1058.72 33.4674 123.549 1055.19 32.7541 124.325 1054.32 34.4852 124.839 1055.17 32.3741 124.738 1053.08 33.9347 125.579 1054.29 32.4061 124.703 1051.72 33.7213 126.025 1053.13 36.882 128.01 1055.93 38.4432 130.249 1057.37 36.7107 128.689 1055.17 38.5154 130.9 1056.82 39.3335 132.057 1058.37 36.8207 129.196 1054.27 38.7991 131.44 1056.22 39.6855 132.613 1058 33.8834 126.098 1051.87 37.199 129.471 1053.35 39.2714 131.826 1055.62 40.1847 133.051 1057.65 12.142 99.3739 1051.63 20.6583 112.221 1051.65 18.018 109.078 1051.63 17.9504 109.129 1053.02 25.686 115.815 1055.19 24.9076 116.532 1054.3 24.5013 116.906 1053.04 24.5527 116.858 1051.67 19.2271 108.153 1055.18 18.3843 108.798 1054.29 9.583 73.4388 1036.86 4.1585 72.7196 1049.18 4.10581 79.3508 1049.23 521.89 160.019 1050.15 765.627 85.8961 1125.5 765.621 85.8911 1125.5 765.272 78.9357 1121.98 681.56 61.8368 1125.5 678.535 61.4646 1125.5 678.627 55.8916 1113.47 8.88682 76.5651 1114.12 9.00322 79.7943 1114.12 4.10712 79.3511 1101.77 0.971258 72.4557 1088.84 0.2352 72.5934 1075.5 4.21965 61.999 1075.5 726.367 145.03 1082.26 726.367 145.466 1075.5 521.89 162.366 1075.5 774.791 93.8293 1121.75 769.737 136.896 1089.22 771.75 137.905 1082.4 31.2805 42.8337 1049.03 473.512 34.5151 1075.5 6.12336 86.1534 1101.76 1.31082 79.2487 1088.81 678.627 49.4176 1088.46 678.627 51.8854 1101.17 576.147 43.9921 1050.26 473.504 36.0192 1050.32 576.147 43.992 1100.75 473.48 40.7693 1125.5 473.504 36.0181 1100.68 573.523 49.2136 1125.5 590.961 50.6855 1125.5 576.131 49.4338 1125.5 6.12211 86.153 1049.24 0.971556 72.4557 1062.16 1.31112 79.2487 1062.19 21.2156 111.851 1101.8 12.4567 99.4075 1101.78 42.9375 132.815 1101.86 41.8915 136.22 1075.5 21.2148 111.851 1049.2 42.9372 132.814 1049.15 12.4556 99.4071 1049.23 445.183 38.3809 1125.5 357.828 33.8532 1125.5 295.62 33.7575 1125.51 356.581 33.1296 1122.95 267.793 33.7147 1125.52 183.402 33.5848 1125.53 164.906 35.0908 1125.53 113.622 39.2662 1125.51 170.837 34.6079 1125.53 61.9819 43.8652 1125.49 65.2561 43.2042 1125.49 74.1239 42.4822 1125.49 31.2803 42.8335 1101.97 42.1584 47.867 1125.5 49.7824 46.3279 1125.5 27.7142 41.4597 1075.5 63.1672 36.6643 1075.5 773.798 80.6208 1033.91 765.061 72.5632 1033.84 770.948 86.8698 1029.07 773.877 94.7541 1029.25 775.157 102.312 1029.54 752.465 128.467 1036.55 762.513 133.478 1048.7 772.461 138.274 1075.5 771.75 137.905 1068.6 769.736 136.896 1061.79 762.513 133.478 1102.3 753.599 115.947 1125.5 752.735 128.434 1114.46 751.478 117.654 1125.5 750.687 118.291 1125.5 756.203 113.85 1125.5 758.813 111.749 1125.5 776.202 101.332 1121.47 774.257 80.0703 1117.09 771.496 86.2844 1121.94 764.978 72.6651 1117.16 764.394 62.3965 1105.28 750.612 52.1155 1075.5 751.294 53.6565 1090.46 763.888 56.0609 1091.05 751.295 53.6566 1060.54 764.394 62.3965 1045.72 763.888 56.0609 1059.95 726.367 143.838 1088.94 682.541 133.314 1125.49 717.811 128.529 1125.49 726.367 139.768 1101.84 595.432 145.133 1125.5 624.178 141.233 1125.5 624.258 149.92 1101.14 640.197 139.059 1125.5 419.521 170.897 1100.77 419.5 165.218 1125.5 433.149 163.659 1125.5 521.89 160.019 1100.85 521.857 153.532 1125.5 574.175 147.56 1125.5 316.858 181.117 1075.5 316.85 179.048 1100.8 419.523 172.914 1075.5 675.438 145.472 1101.37 675.275 134.3 1125.49 265.393 183.357 1075.5 265.396 181.216 1100.84 213.914 180.214 1100.85 66.1264 151.853 1075.5 65.6918 148.403 1101.81 88.6182 162.343 1075.5 88.3244 159.284 1101.45 11.4509 51.0615 1075.5 16.8715 50.9369 1102.71 112.185 170.025 1075.5 112.188 167.374 1101.28 162.641 178.113 1075.5 162.645 176.1 1100.98 213.914 182.329 1075.5 268.651 174.986 1125.51 298.17 173.166 1125.51 162.8 168.258 1125.5 173.726 170.353 1125.5 181.426 170.729 1125.5 213.997 172.319 1125.5 252.651 174.205 1125.5 265.402 174.827 1125.51 95.6888 150.922 1125.5 55.0168 127.164 1125.5 65.2465 135.943 1125.5 68.9114 139.088 1125.5 73.8662 141.278 1125.5 88.2981 147.656 1125.5 16.219 77.0399 1125.53 15.6074 78.8226 1125.53 15.9194 79.8208 1125.53 17.526 84.9608 1125.51 30.7801 104.266 1125.5 23.563 94.0492 1125.5 17.8298 85.933 1125.51 17.6756 85.4394 1125.51 9.08464 61.3673 1102.4 27.8368 57.138 1125.5 24.1727 62.3588 1125.5 41.3803 48.3708 1125.5 38.6905 50.1119 1125.5 32.9269 53.843 1125.5 22.0907 65.3254 1125.5 18.4665 70.4895 1125.5 17.2456 74.0478 1125.51 4.15963 72.7199 1101.82 9.56124 73.4407 1114.15 16.9702 74.8503 1125.52 34.547 109.599 1125.5 37.2744 111.939 1125.5 46.8842 120.186 1125.5 112.254 158.243 1125.5 113.547 158.814 1125.5 139.693 163.827 1125.5 316.766 172.02 1125.51 362.28 169.214 1125.5 410.569 166.237 1125.5 753.162 58.389 1104.36 755.284 67.3304 1116.32 763.925 84.5767 1125.5 757.137 79.3143 1125.5 753.041 76.1392 1125.5 751.468 75.7061 1125.5 716.875 66.1836 1125.5 729.719 61.6821 1113.96 721.04 67.3301 1125.5 729.547 69.6719 1125.5 767.678 99.6077 1125.5 767.903 96.1667 1125.5 762.864 108.488 1125.5 763.129 107.998 1125.5 763.586 107.155 1125.5 766.372 102.017 1125.5 766.929 100.989 1125.5 726.366 133.92 1114.05 768.063 93.7098 1125.5 768.211 91.4477 1125.5 767.587 90.1075 1125.5 639.592 56.6712 1125.5 722.108 127.191 1125.49 756.737 72.4404 1029.59 765.37 78.8272 1029.02 729.731 61.6641 1037.04 729.796 65.0133 1031.21 678.627 55.8917 1037.54 755.612 66.9219 1034.68 678.627 48.6008 1075.5 678.627 49.4176 1062.55 678.627 51.8855 1049.84 753.162 58.3892 1046.64 729.599 56.0765 1049.24 729.501 52.6296 1062.19 729.465 51.2296 1075.5 729.501 52.6295 1088.81 729.599 56.0766 1101.76 726.367 143.838 1062.07 726.367 139.769 1049.16 726.366 133.92 1036.96 675.445 145.508 1049.59 624.261 149.937 1049.85 265.396 181.215 1050.16 316.857 179.047 1050.21 162.645 176.1 1050.02 213.914 180.214 1050.16 112.188 167.375 1049.72 88.3245 159.284 1049.55 65.6917 148.402 1049.19 9.00179 79.7943 1036.89 16.8717 50.9372 1048.29 9.08446 61.3673 1048.6 419.526 170.897 1050.23 726.367 145.029 1068.74 726.126 125.94 1125.49 736.331 122.762 1125.5 741.224 121.238 1125.5 649.031 93.9469 1275.5 646.698 93.8285 1275.5 637.457 93.5176 1275.5 628.213 93.3828 1275.5 678.196 96.2742 1275.5 678.139 96.2679 1275.5 676.372 96.0749 1275.5 674.545 95.8972 1275.5 672.718 95.7218 1275.5 667.241 95.2171 1275.5 659.026 94.547 1275.5 652.865 94.1413 1275.5 612.666 93.5568 1275.5 574.18 96.2273 1275.5 503.822 107.141 1275.5 517.848 104.962 1275.5 572.742 96.3657 1275.5 563.559 97.5741 1275.5 554.401 98.9473 1275.5 545.258 100.422 1275.5 536.123 101.946 1275.5 531.556 102.712 1275.5 526.988 103.473 1275.5 253.444 98.7283 1275.5 256.557 101.415 1275.5 255.343 100.447 1275.5 254.67 99.8565 1275.5 254.174 99.4221 1275.5 259.771 103.614 1275.5 259.095 103.204 1275.5 258.447 102.775 1275.5 257.808 102.332 1275.5 257.492 102.107 1275.5 257.178 101.879 1275.5 249.61 91.2016 1275.5 250.076 90.2483 1275.5 250.176 90.0433 1275.5 249.517 92.5552 1275.5 249.51 92.5005 1275.5 249.496 91.8461 1275.5 249.591 91.3081 1275.5 255.892 86.0248 1275.5 257.328 85.5225 1275.5 259.155 85.0251 1275.5 259.188 85.0161 1275.5 261.071 84.6042 1275.5 262.017 84.4235 1275.5 263.154 84.2246 1275.5 264.292 84.0445 1275.5 266.572 83.7354 1275.5 271.145 83.2873 1275.5 275.728 83.0031 1275.5 254.611 86.5972 1275.5 254.503 86.6456 1275.5 253.508 87.1833 1275.5 253.026 87.4746 1275.5 279.348 82.8487 1275.5 354.444 80.3392 1275.5 440.75 39.5434 1130.22 441.729 39.5482 1130.95 439.902 40.0191 1129.48 439.324 40.8963 1128.85 430.766 42.5949 1137.64 431.224 41.8673 1138.41 431.851 41.5265 1139.31 432.553 41.6228 1140.22 399.066 43.9307 1147.8 431.357 41.7617 1140.88 418.538 43.0431 1146.69 418.184 43.284 1145.68 417.907 43.8959 1144.8 415.319 44.0256 1145.68 401.75 44.0522 1147.83 418.919 43.2055 1147.71 416.181 43.3649 1148.63 415.859 43.1947 1147.6 401.836 43.4168 1150.93 401.823 43.2324 1149.84 398.998 43.2745 1150.91 399.047 43.0926 1149.81 384.641 41.769 1148.41 385.011 41.6326 1147.3 415.559 43.4252 1146.57 401.793 43.4542 1148.76 399.07 43.3218 1148.72 385.309 41.9494 1146.21 385.488 42.6709 1145.3 370.483 38.7173 1140.75 367.314 37.7985 1138.18 368.212 37.837 1137.23 374.558 40.7539 1139.89 372.964 39.4361 1142.77 373.668 39.397 1141.73 374.232 39.8634 1140.71 368.92 38.4147 1136.29 369.303 39.4216 1135.55 364.271 37.5159 1129.94 360.225 35.5943 1123.7 360.324 35.881 1123.57 360.358 36.5589 1123.36 360.024 35.0106 1123.98 363.814 36.5277 1130.59 359.461 34.3358 1124.47 363.017 35.9317 1131.38 358.868 34.0226 1124.87 358.865 34.0211 1124.88 362.022 35.8346 1132.16 358.698 33.9328 1124.99 357.833 33.8535 1125.5 357.821 33.8469 1125.48 357.659 33.2953 1122.41 358.537 33.9115 1121.83 359.071 34.8767 1121.32 686.007 90.2302 1254.39 685.442 89.9626 1254.39 689.725 88.8617 1232.78 687.036 91.0718 1254.39 686.544 90.5957 1254.39 691.556 89.6507 1232.79 63.1545 86.2943 1159.32 68.35 93.7504 1159.24 43.0119 94.6337 1144.19 294.525 43.1294 1156.89 431.352 47.2189 1156.7 431.339 61.4999 1191.69 705.536 87.9742 1192.05 697.341 85.6273 1191.99 707.1 78.6866 1155.99 648.398 94.4171 1254.44 687.805 88.4941 1232.77 573.54 79.6848 1232.73 752.107 95.3607 1139.52 734.997 102.077 1155.67 149.621 158.851 1142.28 109.841 146.34 1143.02 87.8202 47.4731 1143.94 573.55 58.0648 1156.51 295.27 36.779 1140.81 175.964 39.8128 1142.24 66.0486 51.3958 1144.2 56.0288 55.1983 1144.29 47.3015 60.8952 1144.34 40.3349 68.1375 1144.37 35.6752 76.7783 1144.35 35.3238 81.5944 1144.32 37.2188 86.21 1144.28 56.3746 110.718 1143.97 72.3071 125.041 1143.69 187.611 165.079 1141.58 253.187 169.233 1140.77 297.803 168.934 1140.73 362.344 159.582 1156.69 433.215 153.347 1156.65 574.185 134.156 1156.74 642.464 123.895 1156.45 503.813 144.234 1156.65 681.612 118.025 1156.34 710.879 112.619 1155.95 728.208 107.27 1155.76 719.641 110.485 1155.86 750.785 90.4739 1139.54 747.293 86.0865 1139.55 736.871 79.5794 1139.64 713.346 72.9395 1139.87 680.546 73.1086 1156.29 642.133 66.5992 1156.35 433.269 118.467 1254.38 503.827 109.012 1254.4 362.166 122.979 1254.36 319.888 121.987 1254.22 325.801 120.325 1275.5 333.095 120.844 1275.5 340.413 121.185 1275.5 283.381 117.128 1253.99 258.858 110.434 1253.91 254.602 104.303 1265.19 259.342 106.649 1265.17 246.891 105.525 1253.98 238.854 99.5289 1254.17 251.069 102.211 1265.24 235.781 95.6296 1254.27 233.769 90.7117 1254.45 243.087 87.6936 1265.74 242.669 88.3834 1265.72 242.372 89.209 1265.68 245.397 86.0845 1265.77 250.907 84.0362 1265.73 257.727 80.2015 1254.7 431.35 75.0934 1232.76 284.207 74.7053 1232.86 281.59 78.6542 1254.66 646.769 84.9608 1232.74 678.924 88.013 1232.75 687.42 91.6941 1254.39 687.634 92.4409 1254.38 687.595 93.2554 1254.38 687.567 94.7569 1254.38 687.44 95.0678 1254.38 687.264 95.3373 1254.38 684.866 95.4533 1265.43 684.111 96.0648 1265.44 678.869 96.2753 1254.44 684.702 96.7177 1254.4 611.387 94.5779 1254.44 574.183 97.704 1254.46 710.304 97.8684 1192.05 711.225 95.8207 1192.04 736.743 98.4517 1155.64 732.014 105.048 1155.74 706.549 100.271 1192.06 644.945 107.682 1191.81 680.43 104.677 1191.87 697.923 102.486 1192 362.298 143.734 1191.71 433.199 138.238 1191.73 503.815 128.574 1191.72 574.186 116.937 1191.65 609.502 111.747 1191.71 149.221 107.835 1190.19 168.468 120.815 1190.57 127.21 138.764 1158.32 161.566 150.572 1157.8 190.087 130.088 1190.95 194.837 157.063 1157.31 212.387 136.362 1191.29 253.855 161.837 1156.78 255.602 142.513 1191.69 297.042 162.223 1156.75 293.328 144.509 1191.7 90.3727 137.011 1143.37 110.406 130.432 1158.58 94.7302 119.913 1158.82 80.5134 107.65 1159.04 134.57 90.9378 1189.85 72.4317 64.8758 1159.44 140.621 73.1681 1189.65 65.7053 70.529 1159.44 135.512 76.1597 1189.67 61.391 77.9581 1159.4 132.017 80.6691 1189.69 132.305 85.9934 1189.77 209.677 62.1973 1190.71 163.243 66.1655 1189.81 107.606 52.9335 1159.19 573.534 69.1186 1191.84 88.8928 56.7918 1159.36 151.598 68.662 1189.69 184.197 46.2519 1157.96 290.433 60.1436 1191.52 736.709 94.6286 1155.72 735.057 91.0474 1155.74 732.11 87.9713 1155.74 724.225 83.5875 1155.81 711.242 93.6138 1192.1 710.452 91.643 1192.09 709.117 90.0471 1192.07 233.965 87.9495 1254.53 235.096 85.89 1254.64 236.819 84.7869 1254.69 246.836 81.6261 1254.75 238.671 84.0418 1254.72 237.813 77.0301 1233.03 177.653 86.2871 1211.14 197.43 84.0279 1221.74 197.384 89.7041 1221.8 225.823 70.7123 1211.35 197.846 73.6643 1211.03 183.671 77.7804 1211.03 211.855 76.9653 1221.81 232.518 74.262 1222.04 287.266 68.7604 1211.7 431.342 69.0992 1211.85 178.052 82.729 1211.06 180.411 79.7778 1211.05 201.461 80.0563 1221.77 692.391 90.2521 1232.79 698.061 88.9331 1211.96 679.76 82.5728 1191.9 644.565 77.3149 1191.88 699.311 89.645 1211.96 693.065 91.0679 1232.79 693.457 92.0867 1232.79 693.428 93.2162 1232.78 693.418 94.3243 1232.79 693.276 95.3684 1232.79 503.831 113.25 1232.75 574.182 101.608 1232.78 610.806 97.8576 1232.78 647.406 96.8388 1232.78 679.363 97.7771 1232.78 688.185 97.8475 1232.78 693.015 95.8049 1232.78 700.775 96.366 1211.96 701.27 94.901 1211.96 701.338 93.3365 1211.98 701.111 91.8583 1211.97 700.383 90.6005 1211.96 708.613 99.3536 1192.09 699.663 97.4323 1211.98 691.851 96.7086 1232.78 700.283 96.9666 1211.98 692.666 96.1622 1232.78 686.835 95.7781 1254.38 690.066 97.4414 1232.78 685.827 96.3897 1254.39 222.352 79.6315 1233.18 218.551 80.5258 1233.2 214.868 82.0876 1233.19 212.134 85.3111 1233.12 211.894 89.8747 1233.1 202.941 99.6921 1221.88 215.861 98.0138 1232.99 211.114 107.761 1221.99 221.836 104.576 1232.89 231.823 119.226 1222.21 237.324 114.191 1232.69 257.296 125.785 1222.33 257.836 120.324 1232.58 288.646 129.569 1222.33 286.922 124.977 1232.61 323.504 127.541 1232.69 290.314 134.375 1211.94 256.729 131.294 1211.95 225.466 124.62 1211.83 211.054 118.959 1211.71 197.755 111.531 1211.56 186.454 101.864 1211.39 178.51 89.7681 1211.19 326.214 135.474 1211.9 362.268 134.79 1211.88 433.207 129.723 1211.89 362.228 127.483 1232.73 433.227 122.779 1232.74 817.366 297.666 9.34935 817.377 297.666 9.40335 822.131 304.207 7.71725 821.841 301.629 11.4247 821.267 297.684 13.4529 823.552 303.153 11.4607 826.339 307.154 8.61025 826.473 307.473 6.95276 824.955 306.739 7.08544 822.157 303.477 9.95517 825.293 303.626 2.21884 823.274 300.651 2.63464 822.307 300.384 3.03865 826.816 305.881 3.05855 826.322 305.15 2.78628 825.067 305.031 3.04997 825.325 303.674 2.2366 821.568 302.674 4.64296 821.733 303.474 5.50353 824.333 305.652 4.39334 823.843 304.514 3.53944 823.322 303.174 3.0582 821.475 301.707 4.01425 821.953 304.016 6.57153 824.738 306.443 5.63681 826.25 307.152 5.31912 827.784 307.312 5.19824 827.609 307.055 4.40049 825.745 306.282 3.94583 827.193 306.439 3.69692 824.909 306.468 8.57151 825.896 306.298 10.0318 827.218 306.471 10.2289 825.284 303.617 11.7817 825.794 304.371 11.5693 826.253 305.047 11.1376 824.424 303.556 11.6014 824.626 305.71 9.89342 822.194 304.011 8.87811 818.032 297.666 10.847 817.465 297.667 9.84299 819.936 297.664 4.26662 821.405 299.655 3.48902 820.334 297.663 3.97825 821.245 297.663 3.31891 822.913 300.119 2.70891 818.734 297.664 5.13625 818.44 297.665 5.59807 827.761 307.274 8.76367 827.92 307.509 8.33488 828.005 307.637 6.98042 828.043 307.694 6.38223 818.069 297.666 10.9132 818.452 297.666 11.5921 818.966 297.669 11.9318 819.123 297.67 12.0357 820.386 297.678 12.8708 817.528 297.665 7.02596 817.507 297.665 7.28607 817.487 297.665 7.52497 817.417 297.666 8.38494 817.346 297.666 9.25291 930.842 302.188 8.23545 930.712 301.924 8.51452 930.622 301.102 8.58343 930.351 303.79 7.5326 930.269 303.636 7.97105 930.487 303.58 7.97689 930.392 303.867 7.31278 930.362 303.81 7.47573 930.578 303.77 7.52688 930.539 303.762 6.53982 930.433 303.794 6.52754 930.408 303.839 7.00712 928.68 298.613 9.63855 928.302 297.664 9.87303 928.717 298.533 9.64773 930.248 299.297 8.68893 929.999 299.053 8.9469 929.804 297.667 8.82816 929.833 297.667 8.70919 929.911 297.669 8.38137 930.839 301.454 8.02302 928.762 297.666 9.71949 928.931 297.666 9.64594 929.068 298.231 9.58776 929.219 297.667 9.52089 929.451 297.667 9.24611 929.057 299.556 9.40454 928.618 298.644 9.63962 928.933 299.62 9.40693 929.31 300.787 9.12881 929.558 301.547 8.92472 929.465 301.263 9.00102 929.936 301.062 8.96549 928.734 298.414 9.66501 929.128 299.393 9.41992 930.532 303.864 7.01785 930.64 303.732 6.5515 930.63 303.823 7.0374 930.654 303.728 6.55305 930.788 303.679 7.09117 930.403 303.848 7.10344 930.953 303.077 6.78241 930.878 303.364 6.68299 930.899 303.456 7.16221 930.828 303.549 6.61862 930.792 303.586 6.60503 931.006 302.88 6.85096 930.913 303.105 7.71117 930.846 303.396 7.64167 930.735 303.62 7.57957 930.155 303.338 8.26442 930.151 303.328 8.2736 930.363 303.27 8.33833 930.058 303.086 8.51154 930.042 302.425 8.71658 930.623 302.889 8.40604 930.516 303.111 8.37123 930.459 302.51 8.62074 930.176 302.288 8.72064 930.271 302.099 8.73053 930.644 303.424 8.02326 930.753 303.199 8.07345 930.82 302.912 8.12626 930.936 302.359 7.86424 930.783 301.446 7.24816 930.427 299.144 7.88593 929.988 297.67 8.05604 930.717 302.288 8.47828 930.55 301.948 8.66556 930.548 301.609 8.69048 930.468 300.849 8.74186 930.292 300.583 8.83961 929.927 300.03 9.05585 930.359 301.279 8.78751 930.33 301.863 8.74555 929.807 301.396 8.94427 929.865 302.491 8.67128 930.522 302.251 8.64208 930.689 302.613 8.44193 928.623 297.666 9.77981 928.696 297.947 9.74512 928.463 297.665 9.84955 929.156 299.156 9.44924 929.15 298.868 9.48942 928.734 298.268 9.68838 929.669 297.667 8.9879 929.738 297.667 8.90625 929.344 298.966 6.22809 929.312 299.172 6.14691 930.044 300.618 5.85508 929.264 298.16 6.51097 929.342 298.715 6.32119 930.082 299.718 6.28018 929.242 299.314 6.08599 929.126 299.368 6.05321 929.666 301.033 5.62382 929.015 297.672 6.64902 928.921 297.918 6.48045 928.958 298.197 6.39248 929.807 297.672 7.31182 929.745 297.672 7.24387 930.424 300.196 6.31297 929.852 297.671 7.49672 929.846 297.672 7.47335 930.707 300.67 6.43563 930.579 300.428 6.34777 929.758 301.325 5.5877 929.925 301.859 5.52177 930.097 301.784 5.45502 930.038 302.217 5.47743 930.241 302.179 5.40149 930.053 302.266 5.47135 930.371 302.577 5.45096 930.176 302.656 5.42319 930.48 302.954 5.60081 930.268 303.012 5.62286 930.273 303.032 5.63407 930.399 301.308 5.73194 930.229 301.671 5.52416 930.567 301.646 5.69785 930.385 302.049 5.4723 930.711 301.997 5.74791 930.523 302.436 5.51808 930.826 302.341 5.88644 930.637 302.808 5.66208 930.402 303.624 6.26409 930.617 303.554 6.17063 930.393 303.573 6.18494 930.96 302.909 6.42002 930.721 303.141 5.9036 930.775 303.408 6.2238 930.563 303.288 5.84757 930.348 303.324 5.79822 930.87 301.133 6.7786 930.949 301.964 6.42276 930.764 301.391 6.06847 930.623 301.09 6.00254 930.457 300.802 6.00576 929.551 297.671 7.03013 928.851 298.523 6.27148 928.908 298.497 6.28638 928.576 297.673 6.49071 928.943 298.427 6.3138 928.958 298.323 6.35028 929.474 297.671 6.94466 929.299 297.671 6.75154 929.115 297.672 6.68538 930.909 302.655 6.11579 928.845 297.672 6.58774 922.144 297.666 10.479 917.621 264.415 17.8529 913.228 270.728 17.085 914.471 255.019 20.2031 907.575 253.649 21.3351 893.014 209.653 32.2837 899.696 210.503 31.3175 893.015 209.658 32.2823 903.217 221.445 28.6006 913.962 253.5 20.5832 885.727 187.636 37.6708 892.219 187.34 36.9841 892.49 188.166 36.799 888.456 195.883 35.7103 893.38 190.876 36.1905 899.347 209.42 31.5864 887.036 171.557 40.5267 879.662 169.314 42.0266 885.096 165.777 41.8013 884.9 165.192 41.9302 878.429 165.585 42.9044 881.342 154.595 44.2671 878.427 165.579 42.9058 881.3 154.471 44.2944 874.778 154.556 45.5012 881.186 154.123 44.3869 877.841 143.958 47.0914 873.255 149.956 46.5843 871.148 143.589 48.363 874.715 133.893 50.3954 877.591 143.153 47.3558 877.703 143.516 47.2367 871.146 143.583 48.3645 868.975 137.024 50.1965 874.333 132.568 50.908 867.552 132.725 51.6335 874.271 132.351 50.9918 864.008 122.016 55.2127 871.204 121.709 55.1072 726.402 165.331 37.9502 727.995 165.298 36.3189 712.617 143.053 41.7224 858.606 297.665 1.15144 864.978 297.665 1.41728 844.643 253.638 11.7853 903.435 297.665 3.97074 907.081 297.666 4.2727 892.15 253.65 14.9877 827.157 297.666 1.86813 827.324 297.666 1.85061 799.178 253.644 11.9971 828.727 253.644 11.1727 824.304 209.666 21.8256 841.988 209.656 22.7727 795.576 253.638 12.4701 770.962 209.656 22.0242 779.86 209.659 21.2666 766.553 209.654 22.6516 762.309 209.659 23.7989 792.012 253.639 13.4345 898.205 225.339 23.4399 893.025 209.687 27.341 885.97 209.665 26.4562 892.964 209.504 27.3866 885.708 187.581 32.851 878.606 187.689 31.8288 867.479 132.505 46.5937 864.008 122.016 50.9263 861.208 122.136 50.2261 859.217 122.221 49.728 856.693 122.328 49.2777 860.19 132.802 45.2951 747.886 126.969 39.2791 742.582 127.195 39.3274 751.525 143.141 35.2361 732.486 127.626 39.4884 730.775 127.699 39.5979 740.057 143.105 35.7591 705.59 128.773 43.7614 705.292 128.786 43.9669 714.829 143.009 40.4658 703.763 128.851 45.0206 703.506 128.862 45.2876 860.801 122.153 55.2937 863.763 143.532 49.2494 854.674 143.53 50.2883 849.144 122.65 55.9124 856.634 122.331 55.5148 835.403 143.455 52.1152 835.687 123.224 56.9332 847.553 122.718 56.033 814.39 143.362 53.7142 818.643 123.951 57.9689 828.145 123.546 57.3915 793.476 143.25 54.8574 800.305 124.733 59.0135 806.547 124.467 58.6579 764.503 126.26 60.189 770.667 125.997 60.1547 773.071 143.239 55.6014 774.585 125.83 60.1021 785.205 125.377 59.6527 754.457 126.689 60.2448 751.382 143.13 55.9417 742.428 127.202 60.3347 741.758 127.23 60.3397 739.889 143.093 55.7398 731 127.689 59.8712 718.747 128.212 58.6483 719.143 128.195 58.7176 728.34 143.078 54.6967 728.776 127.784 59.7018 730.617 127.705 59.842 713.222 128.447 57.6822 722.67 143.026 53.7944 712.965 128.458 57.6069 709.066 128.625 56.4685 717.206 142.991 52.3484 707.511 128.691 55.7944 706.701 128.725 55.4436 714.734 143.023 51.2737 705.131 128.792 54.4729 703.938 128.843 53.736 712.704 143.044 49.8716 703.604 128.858 53.4724 711.004 143.1 48.2005 702.101 128.922 51.9459 703.154 128.877 53.0162 710.499 143.101 47.1139 701.465 128.949 50.7898 701.692 128.939 51.2019 710.35 143.087 45.8962 701.231 128.959 49.4859 701.343 128.954 50.1114 710.497 143.099 44.6613 701.437 128.95 48.3093 701.322 128.955 48.9645 703.12 128.878 45.6881 702.184 128.918 46.9538 710.957 143.098 43.5225 701.925 128.929 47.3045 701.643 128.941 47.8862 717.373 143.015 39.4478 722.86 143.05 38.016 713.176 128.449 41.4437 710.02 128.584 42.1262 707.689 128.683 42.913 706.827 128.72 43.2041 728.531 143.072 37.0619 722.028 128.072 40.1578 718.932 128.204 40.5542 714.906 128.376 41.0696 735.141 127.512 39.395 773.197 143.257 35.7438 793.61 143.298 36.4326 782.88 125.477 40.9338 770.731 125.995 40.239 764.614 126.256 39.9465 755.269 126.654 39.4998 813.013 124.191 43.2301 806.665 124.462 42.688 814.513 143.402 37.5107 804.756 124.543 42.5251 785.319 125.372 41.1112 851.082 132.854 44.0754 847.634 122.715 47.6612 846.196 122.776 47.4047 831.682 133.017 41.9701 829.335 123.495 45.0391 828.229 123.542 44.9165 864.736 132.764 45.9506 867.56 132.747 46.4935 871.13 143.533 42.7972 871.035 143.247 42.8753 863.767 143.497 41.8754 870.671 142.148 43.1751 867.959 133.954 45.995 878.297 165.19 37.6188 874.754 154.484 39.963 867.436 154.434 39.0887 874.669 154.228 40.0189 873.813 151.641 40.5855 858.436 154.446 38.1004 885.676 187.484 32.8715 878.412 165.535 37.5453 871.159 165.515 36.6653 878.336 165.305 37.5941 900.255 231.531 21.9277 900.688 253.634 15.8037 907.571 253.635 16.5299 907.551 253.574 16.5448 920.096 297.662 5.52571 922.143 297.662 5.77879 917.594 297.662 5.21624 907.747 297.666 4.32777 911.697 297.664 4.68421 920.079 297.666 10.682 911.679 297.665 11.5076 877.168 209.663 33.8874 885.934 209.671 33.0586 907.023 297.665 11.9621 908.54 297.665 11.8163 871.155 165.548 43.8088 878.453 297.658 14.1598 841.896 209.635 36.6304 889.01 297.665 13.4635 859.579 209.667 35.3615 902.18 297.666 12.4276 895.706 297.664 13.1121 891.718 297.665 13.3214 824.201 209.664 37.5267 856.125 297.666 15.1247 806.491 209.649 38.1594 855.959 297.666 15.1275 779.898 209.655 38.2417 788.76 209.66 38.4829 837.227 297.664 15.2522 766.577 209.651 36.9288 771.018 209.655 37.5494 825.559 297.664 14.4616 787.246 253.645 21.3605 757.978 209.687 33.5188 760.054 209.662 34.9297 825.255 297.666 14.3901 824.399 297.669 14.1889 762.201 209.647 35.8396 821.646 297.682 13.5419 832.577 297.664 14.9372 829.224 297.664 14.71 827.124 297.664 14.5677 850.765 297.665 15.219 839.627 297.665 15.4148 838.148 297.665 15.3147 876.17 297.656 14.3104 874.943 297.655 14.3913 864.911 297.661 14.7823 786.833 253.635 18.3203 756.769 209.629 28.0379 786.684 253.619 19.3654 756.386 209.629 29.0607 786.839 253.632 20.3958 756.358 209.639 30.2208 756.609 209.651 31.4162 806.32 253.641 11.3447 788.822 209.661 20.9395 813.523 253.641 11.0182 806.597 209.657 21.1611 787.237 253.65 17.3026 788.565 253.661 15.5301 790.287 253.649 14.2926 821.716 297.663 3.1234 757.307 209.633 27.1547 758.662 209.666 25.714 822.688 297.662 2.71976 824.556 297.664 2.3638 825.363 297.664 2.21002 838.908 297.665 0.910878 832.512 297.665 1.30248 837.269 297.665 1.01125 838.253 297.665 0.950933 829.352 297.666 1.63627 876.171 297.664 1.88422 860.248 253.645 12.5668 867.923 253.642 13.0432 859.658 209.674 23.9986 875.707 253.636 13.593 877.222 209.669 25.5483 878.524 297.664 1.98233 884.745 297.664 2.24185 885.066 297.664 2.27368 891.791 297.663 2.94173 895.705 297.663 3.33059 846.026 297.665 0.997782 850.847 297.665 1.05667 855.957 297.665 1.11914 823.673 165.486 32.642 803.838 165.411 31.6042 784.352 165.405 30.9116 763.953 165.325 30.5148 753.325 165.309 30.9163 742.679 165.296 32.0076 737.433 165.286 32.8233 732.36 165.256 34.1723 854.707 143.5 40.8343 835.479 143.433 39.0768 862.212 165.531 35.6765 843.528 165.488 34.0765 851.629 187.675 29.2387 869.746 187.671 30.8483 725.603 165.327 40.1521 725.626 165.352 41.3801 726.024 165.36 42.5552 727.642 165.307 44.5019 729.783 165.28 45.9645 732.227 165.221 46.9323 737.382 165.249 48.1763 742.655 165.301 48.9593 753.287 165.3 49.8537 763.86 165.321 50.0754 784.242 165.427 49.7322 803.764 165.493 48.99 823.605 165.561 47.9275 843.461 165.523 46.5157 862.177 165.566 44.7687 891.58 184.476 34.6956 888.848 176.336 36.3943 886.987 170.788 37.5521 885.07 165.128 38.6701 884.961 164.807 38.7335 881.964 155.954 40.4819 881.272 153.83 41.0107 881.219 153.667 41.0513 879.225 147.543 42.576 877.722 142.677 44.1264 877.691 142.575 44.1589 876.981 140.277 44.8912 874.858 133.04 47.8212 874.559 132.006 48.3202 874.446 131.613 48.5097 871.956 122.978 52.6767 871.584 121.693 53.3271 892.422 187.084 34.0409 892.549 187.478 33.9421 896.594 200.004 30.798 899.573 209.192 28.4162 899.744 209.722 28.2788 905.443 227.303 23.7215 917.063 261.927 15.5411 914.504 254.303 17.3422 914.218 253.45 17.5437 907.014 231.986 22.6148 906.78 231.286 22.7802 921.795 276.62 11.821 847.718 300.895 0.0934601 829.192 303.74 12.4443 848.597 302.579 0.232458 849.424 304.168 0.856161 859.034 303.944 1.338 827.305 300.715 1.51086 829.301 303.829 1.51193 831.019 306.483 3.37267 857.507 300.821 0.460029 887.771 302.97 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7078 28436 7077 28436 7114 28437 7077 28437 7115 28437 7115 28438 7077 28438 6435 28438 7115 28439 6435 28439 6434 28439</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="VisualSceneNode" name="VisualScene"> + <node id="node" name="node"> + <instance_geometry url="#shape0-lib"/> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#VisualSceneNode"/> + </scene> +</COLLADA> diff --git a/Tools/simulation/gz/models/ssrc_skywalker_x8/model.config b/Tools/simulation/gz/models/ssrc_skywalker_x8/model.config new file mode 100644 index 000000000000..1d51b74a8b17 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_skywalker_x8/model.config @@ -0,0 +1,16 @@ +<?xml version="1.0"?> +<model> + <name>Skywalker X8</name> + <version>1.0</version> + <sdf version='1.5'>model.sdf</sdf> + + <author> + <name>Hai To</name> + <email>hai.to@unikie.com</email> + </author> + + <description> + This is a model of a Skywalker X8 fixed-wing. + http://skywalkermodel.com/en/76.html + </description> +</model> diff --git a/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf b/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf new file mode 100644 index 000000000000..c118bdd7e01d --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf @@ -0,0 +1,426 @@ +<?xml version="1.0"?> +<!-- + http://skywalkermodel.com/en/76.html +--> +<sdf version='1.5'> + <model name='skywalker_x8'> + <static>false</static> + <pose>0 0 0.246 0 0 0</pose> + + <link name='base_link'> + <pose>0 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.75</mass> + <inertia> + <ixx>0.197563</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.1458929</iyy> + <iyz>0</iyz> + <izz>0.1477</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0.2 0 -0.07 0 0 0</pose> + <geometry> + <box> + <size>0.55 0.4 0.05</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <max_vel>50</max_vel> + <min_depth>0.001</min_depth> + </ode> + </contact> + </surface> + </collision> + <visual name='base_link_visual'> + <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_wing.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + <sensor name="imu_sensor" type="imu"> + <always_on>1</always_on> + <update_rate>250</update_rate> + </sensor> + <sensor name="navsat_sensor" type="gps"/> + </link> + + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <!-- <visual name="visual"> + <geometry> + <box> + <size>0.1 0.1 0.1</size> + </box> + </geometry> + </visual> --> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>100 -100 100</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name='rotor_pusher'> + <pose>-0.22 0 0.0 0 1.57 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_pusher_collision'> + <pose>0.0 0 -0.04 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.06</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_pusher_visual'> + <pose>0 0 -0.04 0 0 0</pose> + <geometry> + <mesh> + <scale>0.8 0.8 0.8</scale> + <uri>meshes/x8_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_pusher_joint' type='revolute'> + <child>rotor_pusher</child> + <parent>base_link</parent> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + <use_parent_model_frame>1</use_parent_model_frame> + </axis> + </joint> + + <!-- left elevon {--> + <link name="left_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 0.3 0 0.00 0 0.0</pose> + </inertial> + <visual name='left_elevon_visual'> + <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_elevon_left.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + </link> + + <joint name='servo_0' type='revolute'> + <parent>base_link</parent> + <child>left_elevon</child> + <pose>-0.18 0.6 -0.005 0 0 0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!--}--> + + <!-- right elevon {--> + <link name="right_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 -0.6 0 0.00 0 0.0</pose> + </inertial> + <visual name='right_elevon_visual'> + <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_elevon_right.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + </link> + + <joint name='servo_1' type='revolute'> + <parent>base_link</parent> + <child>right_elevon</child> + <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!--}--> + + <!-- lift plugins {--> + + <!-- body lift {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 0.0 0.05</cp> + <area>0.7</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- left tailwing {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.3 1.06 0.08</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- right tailwing {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.3 -1.06 0.08</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- left elevon {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.13 0.45 0</cp> + <area>0.15</area> + <air_density>1.2041</air_density> + <forward>0.96766 0.25225 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name> + servo_0 + </control_joint_name> + <control_joint_rad_to_cl>-2.5</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_0</joint_name> + <sub_topic>servo_0</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <!--}--> + + <!-- right elevon {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.13 -0.45 0</cp> + <area>0.15</area> + <air_density>1.2041</air_density> + <forward>0.96766 -0.25225 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name> + servo_1 + </control_joint_name> + <control_joint_rad_to_cl>-2.5</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_1</joint_name> + <sub_topic>servo_1</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <!--}--> + + <!--}--> + + <!-- pusher motor {--> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_pusher_joint</jointName> + <linkName>rotor_pusher</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>3500</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.01</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <!--}--> + + + </model> +</sdf> \ No newline at end of file diff --git a/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf.jinja b/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf.jinja new file mode 100644 index 000000000000..04b09f3d15be --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf.jinja @@ -0,0 +1,438 @@ +<?xml version="1.0"?> +<!-- + http://skywalkermodel.com/en/76.html +--> +<sdf version='1.5'> + <model name='skywalker_x8'> + <static>false</static> + <pose>0 0 0.246 0 0 0</pose> + + <link name='base_link'> + <pose>0 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.75</mass> + <inertia> + <ixx>0.197563</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.1458929</iyy> + <iyz>0</iyz> + <izz>0.1477</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0.2 0 -0.07 0 0 0</pose> + <geometry> + <box> + <size>0.55 0.4 0.05</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <max_vel>50</max_vel> + <min_depth>0.001</min_depth> + </ode> + </contact> + </surface> + </collision> + <visual name='base_link_visual'> + <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_wing.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + <sensor name="imu_sensor" type="imu"> + <always_on>1</always_on> + <update_rate>250</update_rate> + </sensor> + <sensor name="navsat_sensor" type="gps"/> + </link> + + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <!-- <visual name="visual"> + <geometry> + <box> + <size>0.1 0.1 0.1</size> + </box> + </geometry> + </visual> --> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>100 -100 100</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name='rotor_pusher'> + <pose>-0.22 0 0.0 0 1.57 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_pusher_collision'> + <pose>0.0 0 -0.04 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.06</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_pusher_visual'> + <pose>0 0 -0.04 0 0 0</pose> + <geometry> + <mesh> + <scale>0.8 0.8 0.8</scale> + <uri>meshes/x8_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_pusher_joint' type='revolute'> + <child>rotor_pusher</child> + <parent>base_link</parent> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + <use_parent_model_frame>1</use_parent_model_frame> + </axis> + </joint> + + <!-- left elevon {--> + <link name="left_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 0.3 0 0.00 0 0.0</pose> + </inertial> + <visual name='left_elevon_visual'> + <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_elevon_left.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + </link> + + <joint name='servo_0' type='revolute'> + <parent>base_link</parent> + <child>left_elevon</child> + <pose>-0.18 0.6 -0.005 0 0 0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!--}--> + + <!-- right elevon {--> + <link name="right_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 -0.6 0 0.00 0 0.0</pose> + </inertial> + <visual name='right_elevon_visual'> + <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_elevon_right.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + </link> + + <joint name='servo_1' type='revolute'> + <parent>base_link</parent> + <child>right_elevon</child> + <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!--}--> + + <!-- lift plugins {--> + + <!-- body lift {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 0.0 0.05</cp> + <area>0.7</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- left tailwing {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.3 1.06 0.08</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- right tailwing {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.3 -1.06 0.08</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- left elevon {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.13 0.45 0</cp> + <area>0.15</area> + <air_density>1.2041</air_density> + <forward>0.96766 0.25225 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name> + servo_0 + </control_joint_name> + <control_joint_rad_to_cl>-2.5</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_0</joint_name> + <sub_topic>servo_0</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <!--}--> + + <!-- right elevon {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.13 -0.45 0</cp> + <area>0.15</area> + <air_density>1.2041</air_density> + <forward>0.96766 -0.25225 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name> + servo_1 + </control_joint_name> + <control_joint_rad_to_cl>-2.5</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_1</joint_name> + <sub_topic>servo_1</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <!--}--> + + <!--}--> + + <!-- pusher motor {--> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_pusher_joint</jointName> + <linkName>rotor_pusher</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>3500</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.01</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <!--}--> + + {% if hitl_mode %}<plugin + filename="libmavlink_hitl_gazebosim.so" + name="mavlink_interface::GazeboMavlinkInterface"> + <robotNamespace/> + <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic> + <gpsSubTopic>/link/base_link/sensor/navsat_sensor/navsat</gpsSubTopic> + <poseSubTopic>/pose/info</poseSubTopic> + <mavlink_addr>{{ mavlink_addr }}</mavlink_addr> + <mavlink_udp_local_port>{{ mavlink_udp_local_port }}</mavlink_udp_local_port> + <mavlink_udp_remote_port>{{ mavlink_udp_remote_port }}</mavlink_udp_remote_port> + <mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port> + <use_tcp>0</use_tcp> + </plugin>{% endif %} + </model> +</sdf> diff --git a/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf.last_generated b/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf.last_generated new file mode 100644 index 000000000000..c118bdd7e01d --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_skywalker_x8/model.sdf.last_generated @@ -0,0 +1,426 @@ +<?xml version="1.0"?> +<!-- + http://skywalkermodel.com/en/76.html +--> +<sdf version='1.5'> + <model name='skywalker_x8'> + <static>false</static> + <pose>0 0 0.246 0 0 0</pose> + + <link name='base_link'> + <pose>0 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.75</mass> + <inertia> + <ixx>0.197563</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.1458929</iyy> + <iyz>0</iyz> + <izz>0.1477</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0.2 0 -0.07 0 0 0</pose> + <geometry> + <box> + <size>0.55 0.4 0.05</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <max_vel>50</max_vel> + <min_depth>0.001</min_depth> + </ode> + </contact> + </surface> + </collision> + <visual name='base_link_visual'> + <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_wing.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + <sensor name="imu_sensor" type="imu"> + <always_on>1</always_on> + <update_rate>250</update_rate> + </sensor> + <sensor name="navsat_sensor" type="gps"/> + </link> + + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <!-- <visual name="visual"> + <geometry> + <box> + <size>0.1 0.1 0.1</size> + </box> + </geometry> + </visual> --> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>100 -100 100</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name='rotor_pusher'> + <pose>-0.22 0 0.0 0 1.57 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_pusher_collision'> + <pose>0.0 0 -0.04 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.06</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_pusher_visual'> + <pose>0 0 -0.04 0 0 0</pose> + <geometry> + <mesh> + <scale>0.8 0.8 0.8</scale> + <uri>meshes/x8_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_pusher_joint' type='revolute'> + <child>rotor_pusher</child> + <parent>base_link</parent> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + <use_parent_model_frame>1</use_parent_model_frame> + </axis> + </joint> + + <!-- left elevon {--> + <link name="left_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 0.3 0 0.00 0 0.0</pose> + </inertial> + <visual name='left_elevon_visual'> + <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_elevon_left.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + </link> + + <joint name='servo_0' type='revolute'> + <parent>base_link</parent> + <child>left_elevon</child> + <pose>-0.18 0.6 -0.005 0 0 0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!--}--> + + <!-- right elevon {--> + <link name="right_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 -0.6 0 0.00 0 0.0</pose> + </inertial> + <visual name='right_elevon_visual'> + <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>meshes/x8_elevon_right.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 1.0 1.0</ambient> + <diffuse>.175 .175 1.0 1.0</diffuse> + </material> + </visual> + </link> + + <joint name='servo_1' type='revolute'> + <parent>base_link</parent> + <child>right_elevon</child> + <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!--}--> + + <!-- lift plugins {--> + + <!-- body lift {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 0.0 0.05</cp> + <area>0.7</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- left tailwing {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.3 1.06 0.08</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- right tailwing {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.3 -1.06 0.08</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + </plugin> + <!--}--> + + <!-- left elevon {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.13 0.45 0</cp> + <area>0.15</area> + <air_density>1.2041</air_density> + <forward>0.96766 0.25225 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name> + servo_0 + </control_joint_name> + <control_joint_rad_to_cl>-2.5</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_0</joint_name> + <sub_topic>servo_0</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <!--}--> + + <!-- right elevon {--> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.13 -0.45 0</cp> + <area>0.15</area> + <air_density>1.2041</air_density> + <forward>0.96766 -0.25225 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name> + servo_1 + </control_joint_name> + <control_joint_rad_to_cl>-2.5</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_1</joint_name> + <sub_topic>servo_1</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <!--}--> + + <!--}--> + + <!-- pusher motor {--> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_pusher_joint</jointName> + <linkName>rotor_pusher</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>3500</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.01</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <!--}--> + + + </model> +</sdf> \ No newline at end of file diff --git a/Tools/simulation/gz/models/ssrc_standard_vtol/meshes/iris_prop_ccw.dae b/Tools/simulation/gz/models/ssrc_standard_vtol/meshes/iris_prop_ccw.dae new file mode 100644 index 000000000000..eb6fe937f971 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_standard_vtol/meshes/iris_prop_ccw.dae @@ -0,0 +1,160 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Blender User</author> + <authoring_tool>Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5</authoring_tool> + </contributor> + <created>2015-01-13T10:39:42</created> + <modified>2015-01-13T10:39:42</modified> + <unit name="meter" meter="1"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_cameras> + <camera id="Camera-camera" name="Camera"> + <optics> + <technique_common> + <perspective> + <xfov sid="xfov">49.13434</xfov> + 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2142.08 930.842 302.188 2142.77 930.936 302.359 2143.14 930.82 302.912 2142.88 931.006 302.88 2144.15 930.913 303.105 2143.29 930.846 303.396 2143.36 930.644 303.424 2142.98 930.753 303.199 2142.93 930.783 301.446 2143.75 930.717 302.288 2142.52 930.712 301.924 2142.49 930.548 301.609 2142.31 930.622 301.102 2142.42 930.468 300.849 2142.26 930.689 302.613 2142.56 930.55 301.948 2142.34 930.359 301.279 2142.22 929.465 301.263 2142 929.807 301.396 2142.06 930.292 300.583 2142.16 929.691 297.666 2142 928.908 298.497 2144.72 928.576 297.673 2144.51 928.943 298.427 2144.69 930.579 300.428 2144.66 930.707 300.67 2144.57 930.764 301.391 2144.94 930.402 303.624 2144.74 930.393 303.573 2144.82 930.617 303.554 2144.83 930.348 303.322 2145.21 930.563 303.288 2145.16 928.921 297.918 2144.52 928.841 297.673 2144.41 928.958 298.197 2144.61 929.344 298.966 2144.77 929.342 298.715 2144.68 929.264 298.16 2144.49 929.008 297.672 2144.34 930.176 302.656 2145.58 930.053 302.266 2145.53 930.241 302.179 2145.6 930.038 302.217 2145.53 929.925 301.859 2145.48 930.097 301.784 2145.55 929.758 301.325 2145.42 930.229 301.671 2145.48 930.268 303.012 2145.38 930.371 302.577 2145.55 930.385 302.049 2145.53 930.399 301.308 2145.27 930.044 300.618 2145.15 930.273 303.032 2145.37 930.48 302.954 2145.4 930.523 302.436 2145.49 930.567 301.646 2145.31 930.457 300.802 2145 930.775 303.408 2144.78 930.87 301.133 2144.23 930.949 301.964 2144.58 930.826 302.341 2145.12 930.909 302.655 2144.89 930.721 303.141 2145.1 930.96 302.909 2144.58 930.424 300.196 2144.69 930.623 301.09 2145 930.711 301.997 2145.26 930.637 302.808 2145.34 929.242 299.314 2144.92 928.958 298.323 2144.65 929.312 299.172 2144.86 929.666 301.033 2145.38 929.126 299.368 2144.95 928.851 298.523 2144.73 929.108 297.672 2144.3 929.373 297.672 2144.2 930.082 299.718 2144.72 929.481 297.672 2144.07 929.553 297.672 2143.98 929.735 297.672 2143.75 929.844 297.672 2143.62 929.862 297.672 2143.53 929.867 297.672 2143.51 864.008 122.016 2095.79 867.563 132.758 2099.25 871.204 121.709 2095.9 874.328 132.386 2099.9 874.389 132.594 2099.98 870.988 143.105 2102.59 876.158 138.639 2102.25 871.14 143.566 2102.71 877.635 143.18 2103.52 871.142 143.571 2102.71 877.752 143.541 2103.62 874.786 154.579 2105.4 881.198 154.134 2106.57 885.718 187.609 2113.45 892.146 187.331 2114.12 879.152 167.77 2108.63 885.035 165.782 2109.27 878.429 165.587 2108.09 884.839 165.189 2109.14 878.427 165.581 2108.09 881.689 155.643 2106.99 881.35 154.603 2106.7 899.792 210.477 2119.66 899.442 209.415 2119.4 893.007 209.633 2118.81 895.466 197.394 2116.38 892.421 188.165 2114.31 893.009 209.64 2118.81 894.402 213.849 2119.83 914.015 253.49 2130.45 907.576 253.651 2129.66 914.514 254.999 2130.82 922.144 297.666 2140.52 925.222 297.665 2140.83 915.885 259.143 2131.86 858.436 154.446 2112.9 862.212 165.531 2115.33 843.528 165.488 2116.93 871.159 165.515 2114.34 851.082 132.854 2106.93 854.707 143.5 2110.17 835.479 143.433 2111.93 788.565 253.661 2135.47 867.923 253.642 2137.96 860.248 253.645 2138.44 841.988 209.656 2128.23 731 127.689 2091.13 730.617 127.705 2091.16 739.889 143.093 2095.26 701.925 128.929 2103.7 702.184 128.918 2104.05 710.957 143.098 2107.48 782.88 125.477 2110.07 785.319 125.372 2109.89 793.61 143.298 2114.57 892.967 209.513 2123.58 892.975 209.536 2123.58 885.97 209.665 2124.55 907.575 253.647 2134.42 922.143 297.662 2145.23 920.521 297.66 2145.42 900.688 253.634 2135.2 907.555 253.587 2134.4 900.261 231.55 2128.99 878.414 165.541 2113.42 882.468 177.789 2115.96 878.606 187.689 2119.18 885.666 187.452 2118.28 885.737 187.668 2118.33 867.436 154.434 2111.92 874.758 154.495 2111 875.515 156.784 2111.61 878.338 165.311 2113.38 874.674 154.243 2110.93 871.14 143.564 2108.08 863.767 143.497 2109.13 864.736 132.764 2105.05 867.577 132.799 2104.36 869.846 139.656 2107.04 871.045 143.277 2108 861.208 122.136 2100.78 864.008 122.016 2100.08 864.651 123.959 2100.91 867.496 132.555 2104.26 856.693 122.328 2101.73 860.19 132.802 2105.71 859.217 122.221 2101.27 829.335 123.495 2105.96 846.196 122.776 2103.6 847.634 122.715 2103.34 831.682 133.017 2109.03 828.229 123.542 2106.09 814.513 143.402 2113.49 813.013 124.191 2107.77 806.665 124.462 2108.31 804.756 124.543 2108.48 770.731 125.995 2110.76 773.197 143.257 2115.26 764.614 126.256 2111.06 755.269 126.654 2111.5 751.525 143.141 2115.77 747.886 126.969 2111.72 730.775 127.699 2111.41 732.486 127.626 2111.51 740.057 143.105 2115.24 735.141 127.512 2111.61 742.582 127.195 2111.68 722.028 128.072 2110.84 728.531 143.072 2113.94 718.932 128.204 2110.45 714.906 128.376 2109.93 722.86 143.05 2112.99 713.176 128.449 2109.56 710.02 128.584 2108.88 717.373 143.015 2111.56 707.689 128.683 2108.09 706.827 128.72 2107.8 714.829 143.009 2110.54 705.59 128.773 2107.24 703.12 128.878 2105.31 703.506 128.862 2105.72 712.617 143.053 2109.28 703.763 128.851 2105.98 705.292 128.786 2107.04 710.499 143.101 2103.89 701.231 128.959 2101.52 710.35 143.087 2105.11 701.322 128.955 2102.04 701.437 128.95 2102.69 711.004 143.1 2102.8 701.465 128.949 2100.21 701.343 128.954 2100.89 703.604 128.858 2097.53 703.154 128.877 2097.99 712.704 143.044 2101.13 702.101 128.922 2099.06 701.692 128.939 2099.8 717.206 142.991 2098.66 706.701 128.725 2095.56 714.734 143.023 2099.73 705.131 128.792 2096.53 703.938 128.843 2097.27 722.67 143.026 2097.21 709.066 128.625 2094.53 707.511 128.691 2095.21 719.143 128.195 2092.29 718.747 128.212 2092.35 728.34 143.078 2096.31 713.222 128.447 2093.32 712.965 128.458 2093.4 728.776 127.784 2091.3 741.758 127.23 2090.66 751.382 143.13 2095.06 742.428 127.202 2090.67 773.071 143.239 2095.4 764.503 126.26 2090.81 754.457 126.689 2090.76 793.476 143.25 2096.15 774.585 125.83 2090.9 770.667 125.997 2090.85 814.39 143.362 2097.29 800.305 124.733 2091.99 785.205 125.377 2091.35 835.403 143.455 2098.89 818.643 123.951 2093.03 806.547 124.467 2092.34 849.144 122.65 2095.09 847.553 122.718 2094.97 854.674 143.53 2100.72 835.687 123.224 2094.07 828.145 123.546 2093.61 863.763 143.532 2101.75 856.634 122.331 2095.49 860.801 122.153 2095.71 871.155 165.548 2107.19 877.168 209.663 2117.12 907.024 297.665 2139.03 908.54 297.665 2139.19 911.679 297.665 2139.5 920.079 297.666 2140.32 885.934 209.671 2117.95 859.579 209.667 2115.64 891.719 297.665 2137.67 895.706 297.664 2137.89 862.957 297.665 2136.08 824.201 209.664 2113.48 855.958 297.665 2135.94 806.491 209.649 2112.84 850.764 297.665 2135.83 825.257 297.662 2136.62 771.018 209.655 2113.45 766.577 209.651 2114.07 787.246 253.645 2129.64 757.978 209.687 2117.49 760.054 209.662 2116.07 762.201 209.647 2115.16 821.646 297.681 2137.46 824.4 297.667 2136.82 825.526 297.661 2136.56 827.125 297.661 2136.45 779.898 209.655 2112.76 829.224 297.662 2136.3 832.577 297.663 2136.06 837.226 297.664 2135.74 788.76 209.66 2112.52 838.147 297.665 2135.68 839.376 297.665 2135.59 864.911 297.665 2136.19 876.163 297.665 2136.81 841.896 209.635 2114.37 878.448 297.665 2136.94 886.58 297.665 2137.38 756.609 209.651 2119.59 786.839 253.632 2130.61 756.358 209.639 2120.78 786.684 253.619 2131.64 756.386 209.629 2121.94 786.833 253.635 2132.68 756.769 209.629 2122.97 787.237 253.65 2133.7 757.307 209.633 2123.85 758.662 209.666 2125.29 762.309 209.659 2127.2 790.287 253.649 2136.71 824.304 209.666 2129.18 875.707 253.636 2137.41 859.658 209.674 2127 892.15 253.65 2136.02 877.222 209.669 2125.46 844.643 253.638 2139.22 806.597 209.657 2129.84 828.727 253.644 2139.83 788.822 209.661 2130.06 813.523 253.641 2139.99 779.86 209.659 2129.74 806.32 253.641 2139.66 770.962 209.656 2128.98 799.178 253.644 2139.01 766.553 209.654 2128.35 795.576 253.638 2138.53 824.557 297.664 2148.64 822.581 297.662 2148.25 792.012 253.639 2137.57 821.715 297.663 2147.88 825.364 297.664 2148.79 846.026 297.665 2150 838.718 297.665 2150.09 838.253 297.665 2150.06 837.269 297.665 2150 832.352 297.665 2149.68 829.352 297.666 2149.36 827.324 297.666 2149.15 827.026 297.666 2149.12 878.523 297.664 2149.01 876.17 297.664 2149.1 864.977 297.665 2149.56 920.094 297.661 2145.46 911.694 297.665 2146.29 907.083 297.667 2146.75 906.918 297.667 2146.77 903.436 297.666 2147.05 895.705 297.663 2147.67 885.138 297.664 2148.74 891.791 297.663 2148.07 857.334 297.666 2149.87 855.957 297.665 2149.89 850.847 297.665 2149.95 726.402 165.331 2113.05 725.603 165.327 2110.85 710.497 143.099 2106.34 701.643 128.941 2103.12 727.995 165.298 2114.69 732.36 165.256 2116.83 737.433 165.286 2118.18 742.679 165.296 2119 753.325 165.309 2120.09 763.953 165.325 2120.49 784.352 165.405 2120.09 803.838 165.411 2119.4 823.673 165.486 2118.36 851.629 187.675 2121.76 869.746 187.671 2120.16 862.177 165.566 2106.24 843.461 165.523 2104.49 823.605 165.561 2103.08 803.764 165.493 2102.01 784.242 165.427 2101.27 763.86 165.321 2100.93 753.287 165.3 2101.15 742.655 165.301 2102.04 737.382 165.249 2102.83 732.227 165.221 2104.07 729.783 165.28 2105.04 727.642 165.307 2106.5 726.024 165.36 2108.45 725.626 165.352 2109.62 921.668 276.622 2139.35 925.217 297.667 2144.88 914.345 254.303 2133.87 914.054 253.417 2133.65 907.536 233.549 2128.78 907.027 231.985 2128.38 895.374 196.184 2119.21 899.61 209.199 2122.54 899.781 209.723 2122.67 906.8 231.29 2128.2 884.963 164.807 2112.27 885.071 165.128 2112.33 886.11 168.21 2112.97 888.795 176.316 2114.77 892.349 187.05 2117.17 892.484 187.457 2117.26 874.591 132.061 2102.54 877.035 140.459 2106.18 881.261 153.825 2110.02 881.206 153.66 2109.99 881.122 153.41 2109.94 877.738 142.688 2106.82 877.705 142.583 2106.79 871.584 121.693 2097.68 873.173 127.189 2100.43 874.474 131.659 2102.36 857.507 300.821 2150.54 835.216 307.269 2142.02 834.707 306.474 2140.33 847.718 300.895 2150.91 887.271 301.686 2149.07 878.002 301.923 2149.37 877.402 300.518 2149.54 857.477 300.773 2136.55 896.557 300.103 2138.63 877.364 300.447 2137.29 858.987 303.865 2137.61 878.554 303.234 2138.33 859.619 305.167 2138.61 879.069 304.434 2139.17 879.447 305.315 2140.36 897.628 303.122 2140.1 897.38 302.437 2139.59 898.088 304.392 2141.24 898.223 304.766 2142 879.67 305.833 2141.85 898.303 304.987 2142.45 898.032 304.24 2140.93 898.013 304.187 2140.89 897.757 303.48 2140.36 860.077 306.114 2140.04 860.325 306.629 2141.72 860.365 306.719 2143.5 896.73 300.597 2138.78 897.179 301.883 2139.18 860.013 305.987 2147 859.621 305.164 2148.52 879.071 304.435 2147.8 858.295 302.429 2150.35 859.034 303.944 2149.67 898.38 305.2 2144.81 898.378 305.193 2144.02 879.745 306.009 2143.48 898.216 304.738 2145.93 879.674 305.84 2145.08 898.136 304.514 2146.26 879.448 305.314 2146.54 897.998 304.129 2146.83 898.291 304.948 2145.61 898.352 305.12 2145.06 898.358 305.138 2145.01 897.048 301.462 2148.13 897.276 302.108 2148.16 887.771 302.97 2148.65 897.398 302.452 2148.17 897.476 302.67 2148.04 896.771 300.68 2148.09 878.573 303.264 2148.77 897.862 303.751 2147.38 897.847 303.707 2147.45 897.701 303.299 2147.68 831.019 306.483 2147.63 835.203 307.205 2145.86 834.743 306.466 2147.63 830.239 305.283 2148.84 834.06 305.372 2148.98 829.301 303.829 2149.49 833.195 303.971 2149.79 831.253 300.781 2150 827.305 300.715 2149.49 839.072 300.876 2150.69 842.182 306.396 2147.56 841.657 305.477 2149.11 840.916 304.167 2150.16 840.015 302.56 2150.65 848.597 302.579 2150.77 849.424 304.168 2150.15 829.192 303.74 2138.56 831.148 300.78 2137.02 833.95 305.276 2139.05 833.055 303.85 2138.16 835.387 307.516 2143.93 839.027 300.863 2136.52 842.526 306.997 2145.71 842.693 307.297 2143.79 842.606 307.159 2141.91 842.222 306.495 2140.15 841.594 305.397 2138.7 840.807 304.013 2137.67 896.381 299.575 2148.04 896.588 300.162 2148.07 898.377 305.19 2143.74 898.374 305.183 2142.99 898.373 305.182 2142.84 871.784 121.684 2097.56 871.232 121.708 2095.9 871.43 121.7 2095.96 871.953 121.675 2096.33 872.118 121.674 2096.79 871.937 121.676 2096.31 872.085 121.673 2097.05 871.623 121.692 2096.02 871.849 121.681 2097.53 871.968 121.676 2097.35 872.063 121.673 2097.22 892.934 187.396 2116.88 881.763 154.429 2106.85 889.247 176.251 2114.39 885.463 165.02 2112.24 885.888 164.947 2111.92 874.764 131.549 2102.38 907.424 231.884 2128.26 922.601 276.438 2138.68 915.284 254.158 2133.2 915.597 254.172 2132.73 874.652 132.434 2100.17 875.3 132.025 2100.68 875.005 132.252 2100.34 875.434 131.797 2101.16 875.351 131.628 2101.67 875.094 131.549 2102.1 922.214 276.513 2138.98 915.717 254.28 2132.13 915.585 254.465 2131.56 915.263 254.674 2131.14 914.873 254.858 2130.92 900.08 210.37 2119.71 914.9 254.213 2133.5 900.903 209.918 2120.43 908.378 231.959 2126.73 908.233 231.834 2127.41 907.867 231.819 2127.94 886.377 165.032 2110.75 893.745 187.454 2115.48 893.63 187.35 2116.09 881.688 153.72 2109.88 878.878 142.874 2104.6 882.675 153.773 2108.32 879.01 142.636 2105.23 882.516 153.659 2109.01 878.868 142.482 2105.89 882.142 153.651 2109.55 878.517 142.436 2106.41 878.086 142.476 2106.74 889.638 176.187 2114.09 886.235 164.941 2111.4 900.116 209.62 2122.64 893.32 187.339 2116.57 900.558 209.557 2122.31 900.92 209.574 2121.77 901.059 209.701 2121.09 878.108 143.35 2103.87 885.494 165.613 2109.35 892.88 188.027 2114.25 882.201 154.215 2107.14 885.913 165.419 2109.63 886.249 165.208 2110.1 893.277 187.844 2114.47 893.606 187.636 2114.9 900.529 210.16 2119.96 882.55 153.978 2107.65 878.535 143.13 2104.13 905.28 302.94 2147 905.592 303.888 2146.35 901.824 304.326 2146.16 901.563 303.556 2146.95 922.016 303.483 2145.74 922.149 303.902 2145.18 913.876 304.207 2145.36 912.247 299.411 2139.96 912.833 301.211 2140.54 921.146 300.924 2141.14 913.794 304.105 2142.34 922.091 303.781 2142.49 913.644 303.671 2141.8 921.948 303.356 2142.01 913.477 303.174 2141.41 921.783 302.862 2141.69 913.965 304.557 2143.8 922.244 304.22 2143.79 913.907 304.418 2143.02 922.195 304.084 2143.09 913.955 304.488 2144.61 922.229 304.159 2144.51 921.467 301.795 2146.41 921.656 302.372 2146.35 913.374 302.6 2146.74 921.844 302.953 2146.13 913.565 303.199 2146.45 913.182 302.012 2146.87 921.129 300.776 2146.22 905.904 304.925 2143.91 905.83 304.648 2145.28 909.516 303.502 2146.42 913.739 303.757 2145.99 905.726 304.31 2145.87 902.01 304.896 2145.14 904.94 301.957 2147.39 901.234 302.621 2147.57 900.834 301.49 2147.91 909.161 302.409 2146.94 912.831 300.969 2146.88 912.237 299.23 2146.69 904.911 302.073 2140.19 905.244 303.037 2140.82 901.811 304.379 2141.73 901.996 304.91 2142.77 905.542 303.916 2141.58 909.728 304.343 2142.41 905.784 304.616 2142.59 909.441 303.505 2141.43 904.576 300.917 2147.59 904.198 299.833 2147.51 585.119 79.0287 1700.16 584.781 78.2793 1700.94 584.548 78.163 1700.81 584.003 78.1735 1700.61 584.162 78.9962 1699.45 584.585 78.9711 1699.49 583.39 77.4993 1703.38 583.393 77.4993 1703.38 583.387 77.4993 1703.39 583.589 77.5575 1702.54 583.672 77.5537 1702.57 583.755 77.5576 1702.6 584.394 77.9882 1701.63 583.837 77.5691 1702.63 584.279 78.1184 1700.71 583.999 78.1493 1700.65 585.239 79.2955 1699.89 584.967 79.0773 1699.64 585.313 80.4993 1699.23 585.065 80.2493 1698.85 584.625 80.0663 1698.65 584.113 79.9993 1698.68 584.63 77.4993 1707.71 576.247 77.4993 1705.44 577.49 77.4993 1709.77 587.811 79.0287 1709.53 588.06 79.2955 1709.7 587.958 79.0773 1710.05 584.642 77.4993 1707.72 584.641 77.4993 1707.72 585.363 77.5576 1708.19 585.308 77.5537 1708.26 585.417 77.5691 1708.12 586.418 77.9882 1708.67 586.982 78.163 1709.28 586.807 78.1184 1709.51 586.626 78.1735 1709.74 586.604 78.1493 1709.71 585.252 77.5575 1708.33 587.114 78.2793 1709.05 587.376 78.9962 1710.64 587.716 78.9711 1710.38 587.748 79.9993 1711.32 588.197 80.0663 1711.07 588.461 80.2493 1710.67 588.47 80.4993 1710.21 595.024 103.666 1722.16 589.332 103.666 1684.25 627.701 103.666 1712.76 617.203 103.666 1676.24 594.246 103.666 1722.22 593.503 103.666 1721.98 617.981 103.666 1676.18 618.724 103.666 1676.41 584.472 103.666 1689.29 586.227 103.666 1686.12 584.538 103.666 1692.91 592.549 103.666 1720.79 592.907 103.666 1721.48 629.089 103.666 1711.32 628.588 103.666 1712.23 629.07 103.666 1710.29 619.678 103.666 1677.61 619.32 103.666 1676.92 583.52 102.666 1690.08 583.502 102.666 1689.05 583.576 103.048 1689.07 584.17 103.59 1693.02 585.951 103.59 1685.85 589.226 103.59 1683.89 589.196 103.517 1683.78 585.718 103.373 1685.63 589.136 103.373 1683.57 583.786 103.373 1689.12 584.101 103.59 1689.2 585.562 103.048 1685.48 589.076 103.048 1683.36 589.096 103.156 1683.43 589.055 102.666 1683.29 586.386 102.666 1684.9 585.507 102.666 1685.43 584.505 102.666 1687.24 583.858 103.373 1693.11 583.65 103.048 1693.17 583.577 102.666 1693.19 617.097 103.59 1675.87 617.068 103.517 1675.77 617.008 103.373 1675.56 616.968 103.156 1675.42 616.948 103.048 1675.35 616.927 102.666 1675.28 618.085 103.048 1675.26 618.06 103.373 1675.47 618.024 103.59 1675.8 618.909 103.59 1676.08 619.619 103.59 1676.68 620.045 103.59 1677.51 619.067 103.373 1675.8 619.873 103.373 1676.48 620.357 103.373 1677.42 619.172 103.048 1675.61 620.043 103.048 1676.34 620.566 103.048 1677.36 618.093 102.666 1675.18 619.208 102.666 1675.54 620.102 102.666 1676.3 620.639 102.666 1677.33 629.432 103.565 1710.18 629.551 103.532 1710.15 629.727 103.349 1710.1 630.031 102.666 1710.01 629.935 103.042 1710.04 629.903 103.166 1710.05 628.948 103.532 1712.58 629.574 103.532 1711.44 629.93 103.166 1711.53 627.889 103.349 1713.42 627.839 103.532 1713.24 627.805 103.565 1713.12 627.949 103.042 1713.63 627.94 103.166 1713.59 629.211 103.166 1712.83 627.977 102.666 1713.72 629.307 102.666 1712.92 630.06 102.666 1711.56 595.13 103.59 1722.52 595.219 103.373 1722.83 595.279 103.048 1723.04 595.3 102.666 1723.12 594.203 103.59 1722.6 593.317 103.59 1722.32 592.607 103.59 1721.72 592.181 103.59 1720.89 594.167 103.373 1722.92 593.16 103.373 1722.6 592.354 103.373 1721.92 591.87 103.373 1720.98 594.142 103.048 1723.14 593.055 103.048 1722.79 592.184 103.048 1722.06 591.661 103.048 1721.04 594.133 102.666 1723.21 593.018 102.666 1722.86 592.125 102.666 1722.1 591.588 102.666 1721.06 578.686 79.9993 1713.93 578.181 78.1692 1712.17 587.933 82.4993 1711.97 578.871 82.4993 1714.57 574.092 78.9638 1710.74 575.651 77.8799 1710.3 574.954 79.3201 1712.45 576.588 78.4988 1712.63 575.238 79.4374 1713.02 577.767 80.1896 1714.19 577.454 81.1697 1714.45 576.987 80.7316 1714.42 576.113 80.0845 1713.72 574.408 77.8799 1705.97 572.849 78.9638 1706.42 574.131 80.1896 1701.55 573.352 80.7316 1701.77 573.727 81.1697 1701.49 572.983 80.0845 1702.83 573.964 78.4988 1703.5 572.614 79.4374 1703.89 572.672 79.3201 1704.51 575.556 78.1692 1703.04 575.051 79.9993 1701.28 574.866 82.4993 1700.64 583.928 82.4993 1698.03 583.928 84.847 1698.03 584.317 84.847 1698 584.317 82.4993 1698.03 584.445 82.4993 1698.02 584.688 84.847 1698.12 584.672 82.4993 1698.15 584.898 82.4993 1698.27 584.986 84.847 1698.37 584.964 82.4993 1698.38 585.165 84.847 1698.72 585.165 82.4993 1698.72 588.618 82.4993 1710.73 588.628 82.4993 1711.25 588.377 82.4993 1711.7 587.933 85.1547 1711.97 588.28 85.1547 1711.79 588.364 85.1547 1711.69 588.532 85.1547 1711.49 588.611 85.1547 1711.24 588.651 85.1547 1711.12 588.618 85.1547 1710.73 583.535 89.192 1693.12 583.577 89.3151 1693.19 583.652 89.1327 1693.45 583.413 88.9564 1693 583.493 89.0689 1693.05 583.573 88.9151 1693.31 583.43 88.7135 1693.2 583.333 88.8438 1692.95 583.887 88.1833 1694.27 583.916 87.8224 1694.37 583.908 87.8195 1694.35 583.824 88.108 1694.11 583.855 87.7997 1694.21 583.73 88.0353 1693.97 583.767 87.7776 1694.06 583.354 90.8685 1690.08 583.271 90.713 1690.68 583.232 90.4401 1690.58 585.095 87.6779 1685.77 585.348 87.6791 1685.6 585.345 87.8534 1685.6 584.661 87.6763 1685.92 584.771 87.6767 1685.91 584.983 87.8298 1685.85 584.985 87.6774 1685.85 584.633 87.6763 1685.92 584.547 87.8107 1685.93 584.605 87.6762 1685.92 584.607 87.6762 1685.92 584.611 87.6762 1685.92 584.616 87.6762 1685.92 584.619 87.6762 1685.92 584.125 87.6753 1685.8 584.549 87.676 1685.92 584.583 87.6761 1685.92 583.792 87.7998 1685.51 583.795 87.6753 1685.51 584.112 87.6753 1685.79 584.021 88.5897 1685.94 584.123 87.8 1685.8 583.44 89.2831 1686.03 583.575 88.8988 1685.82 583.684 88.5895 1685.65 583.796 89.2808 1686.3 583.491 89.8349 1686.91 583.111 89.8281 1686.69 583.109 89.8299 1686.7 585.198 88.9591 1685.77 584.862 88.7947 1686.01 584.861 89.9302 1686.19 584.586 89.6403 1686.39 584.38 90.6931 1686.91 584.194 90.3138 1687.03 584.276 90.7806 1687.11 583.802 90.6898 1687.87 584.442 88.6629 1686.07 584.206 89.4084 1686.43 583.877 90.0079 1687.03 583.553 90.3585 1687.82 583.437 90.7729 1689.03 583.256 90.4617 1688.95 583.207 90.1541 1687.72 582.975 90.2415 1688.86 582.823 90.1121 1687.56 582.709 90.1303 1688.29 582.633 90.1423 1688.77 583.494 91.133 1689.08 583.91 91.0907 1687.83 583.112 90.1906 1690.49 582.919 89.9855 1690.41 583.295 88.9015 1692.8 582.683 89.8259 1690.39 582.672 89.8423 1690.35 640.923 91.1656 1743.14 639.359 91.1656 1744.48 637.434 91.1656 1745.24 642.335 91.1656 1739.33 641.953 91.1656 1741.35 637.636 91.1656 1733.25 636.141 91.1656 1733.08 636.105 91.1656 1745.36 635.57 91.1656 1733.11 634.109 91.1656 1745.01 633.577 91.1656 1733.66 631.88 91.1656 1734.83 639.537 91.1656 1734.07 641.058 91.1656 1735.47 642.026 91.1656 1737.29 630.942 91.1656 1742.44 630.17 91.1656 1740.53 632.307 91.1656 1743.99 630.076 91.1656 1738.47 630.669 91.1656 1736.5 866.015 102.953 2075.36 865.744 103.038 2074.78 865.884 103.228 2075.29 865.743 103.04 2074.78 865.847 103.306 2075.27 865.705 103.119 2074.76 865.825 103.324 2075.27 865.495 103.287 2074.76 865.636 103.475 2075.27 865.518 103.57 2075.27 865.377 103.382 2074.75 865.378 103.604 2075.29 865.238 103.416 2074.78 865.549 102.097 2075.79 865.327 102.05 2075.87 865.408 101.906 2075.27 865.257 101.953 2075.61 865.401 101.904 2075.27 865.183 101.857 2075.34 865.009 103.472 2074.83 865.08 103.565 2075.08 865.35 103.611 2075.3 865.15 103.659 2075.34 865.571 102.102 2075.79 865.43 101.91 2075.26 865.591 102.116 2075.78 865.633 102.051 2075.15 865.778 102.247 2075.68 865.639 102.055 2075.15 865.831 102.285 2075.65 865.709 102.103 2075.11 865.86 102.305 2075.64 865.819 102.315 2075.01 865.961 102.51 2075.53 865.822 102.32 2075.01 866.016 102.62 2075.48 865.872 102.416 2074.96 866.016 102.783 2075.42 865.873 102.678 2074.87 866.015 102.869 2075.39 865.873 102.682 2074.87 865.874 102.765 2074.84 865.998 103.098 2075.39 865.586 102.148 2075.93 865.363 102.101 2076.01 865.345 102.075 2075.94 865.608 102.153 2075.92 865.613 102.137 2075.85 865.555 103.62 2075.4 865.614 103.553 2075.33 865.413 103.654 2075.43 865.371 103.656 2075.36 865.386 103.661 2075.43 865.168 103.684 2075.4 865.185 103.709 2075.47 865.847 103.353 2075.34 866.001 102.533 2075.6 866.052 102.806 2075.48 865.854 102.304 2075.72 865.671 103.527 2075.41 865.883 103.356 2075.41 865.92 103.279 2075.43 866.004 103.104 2075.47 866.052 103.003 2075.49 866.053 102.729 2075.59 866.053 102.67 2075.61 865.896 102.356 2075.77 865.815 102.299 2075.81 865.628 102.167 2075.91 868.473 110.463 2087.48 868.561 110.895 2087.8 868.838 110.766 2087.88 867.506 106.513 2081.95 871.133 120.812 2097.28 870.187 116.172 2095.06 870.241 115.157 2094.31 871.376 121.665 2097.67 871.307 121.669 2097.7 871.491 121.66 2097.58 871.135 118.424 2096.18 871.635 121.653 2097.47 871.678 121.651 2097.39 871.806 121.647 2097.15 871.384 118.589 2095.82 871.808 121.646 2097.09 871.816 121.646 2096.9 871.822 121.646 2096.72 870.91 115.475 2093.64 870.918 115.62 2093.42 871.188 121.675 2095.93 871.591 121.658 2096.23 869.357 110.393 2088.05 871.628 121.656 2096.31 871.81 121.646 2096.7 869.133 110.624 2087.92 871.029 121.681 2095.91 868.581 110.994 2087.88 870.55 120.753 2095.18 870.71 121.545 2095.77 870.753 121.692 2095.86 869.057 109.696 2088.74 868.56 110.052 2088.56 867.278 105.43 2083.16 869.264 109.502 2088.85 870.843 115.346 2093.85 870.586 115.163 2094.2 867.517 106.541 2081.93 869.989 115.203 2094.59 869.962 115.104 2094.48 868.765 110.791 2089.43 869.426 110.149 2088.09 869.537 110.042 2088.31 869.531 109.874 2088.46 869.477 109.722 2088.6 862.296 101.449 2075.43 859.405 101.046 2075.52 863.738 108.878 2089.52 863.809 109.18 2089.75 869.687 121.738 2098.27 865.465 116.257 2095.07 866.581 121.028 2098.66 866.776 121.862 2099.28 865.356 115.792 2094.72 863.88 109.483 2089.98 463.367 85.099 1525.5 463.367 87.6656 1525.5 538.019 86.7933 1630.02 577.51 87.6656 1685.31 583.275 87.6656 1684.78 469.511 87.6656 1525.5 527.036 86.3884 1606.04 469.511 85.0556 1525.5 462.588 84.1631 1525.5 462.11 84.0843 1525.5 470.726 84.0694 1525.5 462.61 84.1668 1525.5 470.661 84.0707 1525.5 463.042 84.4179 1525.5 469.679 84.5628 1525.5 469.562 84.772 1525.5 463.254 84.6794 1525.5 463.361 85.0007 1525.5 463.265 84.7111 1525.5 470.125 84.2095 1525.5 469.924 84.3122 1525.5 469.703 84.5216 1525.5 470.243 84.1493 1525.5 463.471 88.3127 1525.5 469.099 88.9156 1525.5 467.975 89.8307 1525.5 466.439 90.1656 1525.5 469.406 88.3127 1525.5 463.778 88.9156 1525.5 464.903 89.8307 1525.5 585.248 87.1832 1685.51 585.28 87.3432 1685.54 585.057 87.462 1685.79 585.154 87.0547 1685.43 584.917 87.2882 1685.79 584.795 86.8354 1685.43 584.98 86.8178 1685.27 585.109 87.0298 1685.43 585.123 87.0127 1685.4 583.917 87.1677 1685.43 584.06 86.994 1685.33 584.063 87.0089 1685.43 584.208 86.8139 1685.23 584.409 86.8381 1685.43 584.614 86.6792 1684.94 584.81 86.7534 1685.12 584.157 87.4683 1685.79 583.874 87.3284 1685.45 584.294 87.2926 1685.79 583.909 87.1781 1685.43 584.494 87.1941 1685.79 584.716 87.1925 1685.79 586.305 87.6715 1684.75 589.055 87.6694 1683.29 586.635 87.6688 1684.46 616.927 88.2392 1675.28 602.994 87.8192 1679.29 620.639 88.4314 1677.33 620.388 88.4179 1676.72 620.069 88.401 1676.32 619.763 88.3849 1675.93 619.188 88.355 1675.57 618.911 88.3406 1675.4 618.088 88.2982 1675.2 617.929 88.29 1675.17 630.031 88.8588 1710.01 625.335 88.6355 1693.67 630.018 88.8679 1711.56 629.918 88.8663 1711.99 629.38 88.8489 1712.84 629.297 88.8458 1712.91 628.591 88.82 1713.47 627.977 88.7964 1713.72 630.143 88.8699 1711.01 611.64 88.4589 1718.42 595.3 88.352 1723.12 593.039 88.33 1722.83 592.466 88.319 1722.46 592.158 88.309 1722.08 591.84 88.2988 1721.68 591.588 88.2843 1721.06 594.299 88.3467 1723.23 594.139 88.3449 1723.19 593.317 88.3354 1723 588.007 86.1423 1712.23 587.945 85.5611 1712.01 588.292 85.5766 1711.83 588.636 85.7643 1710.79 588.666 85.6865 1711.17 588.545 85.6206 1711.54 588.012 86.1864 1712.24 588.362 86.2256 1712.07 588.623 86.3374 1711.81 588.754 86.5048 1711.48 588.737 86.7023 1711.14 588.919 87.4657 1711.78 588.913 87.1708 1712.03 588.761 86.9208 1712.29 588.487 86.7538 1712.51 588.293 87.0307 1713.22 588.207 86.8511 1712.92 588.133 86.6954 1712.66 588.843 87.2302 1713.75 588.654 87.1018 1713.09 589.154 87.4469 1713.66 588.945 87.305 1712.93 589.362 87.7714 1713.59 589.123 87.6094 1712.76 589.433 88.1543 1713.56 589.16 87.9687 1712.61 588.476 87.1545 1713.86 582.134 85.1728 1713.64 576.263 85.2128 1715.32 566.729 86.6251 1712.86 567.153 86.617 1713.78 567.889 86.5427 1714.51 568.127 86.5187 1714.74 569.783 86.2936 1715.51 570.079 86.2471 1715.55 572.36 85.8899 1715.87 573.026 85.7744 1715.78 565.559 86.5489 1708.51 572.555 84.9032 1701.3 569.977 85.3926 1702.32 569.553 85.4826 1702.61 567.353 85.9495 1704.14 567.14 86.0035 1704.4 566.003 86.2909 1705.84 565.767 86.3744 1706.48 565.517 86.4632 1707.16 578.276 84.8649 1699.66 584.323 87.8466 1695.79 584.518 87.7738 1696.47 584.251 87.4636 1695.81 584.422 87.4001 1696.41 584.044 87.1391 1695.88 584.193 87.0835 1696.4 583.733 86.9224 1695.97 583.868 86.8721 1696.44 583.365 86.8467 1696.08 583.667 86.5429 1697.13 583.576 86.6779 1696.81 583.495 86.7982 1696.53 584.776 87.3908 1697.36 584.984 86.7211 1698.08 584.646 87.0661 1697.19 584.828 86.4819 1697.82 584.39 86.7909 1697.08 584.549 86.2791 1697.64 584.046 86.6071 1697.06 584.19 86.1438 1697.56 583.806 86.0964 1697.61 583.88 85.612 1697.87 583.896 85.509 1697.92 584.284 85.5341 1697.89 584.652 85.6059 1697.99 584.945 85.7133 1698.23 585.118 85.84 1698.55 590.511 88.2194 1717.31 583.836 87.4556 1694.35 583.716 87.5019 1694.11 583.698 87.4074 1694.12 583.628 87.1451 1694.35 583.391 86.9945 1694.35 583.521 87.0974 1694.25 583.575 87.1917 1694.21 583.645 87.1271 1694.46 583.637 87.1149 1694.46 583.331 86.9017 1694.55 583.314 86.9341 1694.41 583.262 86.8925 1694.44 583.326 86.8982 1694.56 582.958 86.8225 1694.66 583.844 87.4395 1694.4 583.846 87.4509 1694.4 581.579 87.7378 1691 627.011 89.0015 1736.05 627.595 89.0022 1734.98 628.268 90.135 1735.31 638.091 89.3034 1748.44 637.208 89.2891 1748.7 636.074 90.2634 1747.9 637.945 90.28 1747.69 640.639 90.3021 1746.61 640.3 89.339 1747.79 642.914 89.3769 1745.9 642.819 90.3179 1744.71 643.399 89.3829 1745.2 644.253 90.3259 1742.2 644.752 89.3993 1743.25 645.607 89.4025 1740.14 644.789 90.3247 1739.37 645.555 89.3982 1739.4 644.369 90.3134 1736.52 645.383 89.3839 1736.93 644.104 89.3432 1733.96 643.033 90.2921 1733.95 643.654 89.3308 1733.48 640.915 90.2623 1731.95 641.914 89.283 1731.59 639.064 89.2094 1730.08 638.241 90.2271 1730.75 638.437 89.1939 1729.95 635.309 90.1913 1730.51 632.455 90.1611 1731.26 632.136 89.0555 1730.58 633.878 89.0881 1729.85 635.23 89.1187 1729.77 637.085 89.1607 1729.66 630.013 90.1415 1732.92 628.544 89.0034 1733.24 629.488 89.015 1732.39 630.919 89.0327 1731.1 626.678 89.015 1738.05 627.423 90.1409 1738.14 626.487 89.0228 1739.21 627.575 90.1566 1741.09 626.842 89.048 1741.26 627.035 89.0617 1742.37 628.703 90.1795 1743.82 628.066 89.0953 1744.22 628.599 89.1128 1745.18 630.671 90.2067 1746.01 630.202 89.1516 1746.6 631.008 89.1711 1747.32 633.247 90.2357 1747.42 632.999 89.2115 1748.13 636.092 89.2699 1748.77 636.064 89.2694 1748.76 633.99 89.2316 1748.54 635.431 90.9141 1731.72 632.977 90.9061 1732.37 630.881 90.9008 1733.81 629.383 90.8991 1735.86 628.656 90.9007 1738.29 628.782 90.9049 1740.83 629.747 90.911 1743.18 631.435 90.9183 1745.07 633.651 90.926 1746.29 636.089 90.9333 1746.71 637.705 90.9377 1746.54 640.037 90.9436 1745.61 641.926 90.9477 1743.97 643.169 90.9499 1741.8 643.632 90.9495 1739.35 643.265 90.9465 1736.88 642.104 90.9409 1734.66 640.269 90.933 1732.94 637.958 90.9237 1731.92 862.196 101.065 2065.29 859.687 100.27 2055.5 859.345 100.309 2055.5 860.082 100.108 2055.5 859.774 100.26 2055.5 860.153 100.073 2055.5 860.438 99.7752 2055.5 860.448 99.7511 2055.5 860.596 99.4131 2055.5 860.622 99.2098 2055.5 860.627 99.1717 2055.5 860.627 99.1497 2055.5 860.627 99.1277 2055.5 860.535 98.7033 2055.5 860.505 98.6557 2055.5 860.33 98.3822 2055.5 862.347 99.0377 2065.56 860.178 98.2602 2055.5 860.023 98.1361 2055.5 859.804 98.0557 2055.5 859.641 97.9959 2055.5 859.472 97.9766 2055.5 862.305 103.517 2075.49 865.56 121.034 2095.33 864.522 116.44 2092 863.254 110.832 2087.93 863.201 110.601 2087.76 863.154 110.392 2087.61 859.406 103.343 2075.5 865.757 121.906 2095.96 868.559 121.786 2095.98 717.875 128.224 2092.32 702.365 128.887 2104.18 702.854 128.866 2104.9 701.818 128.91 2103.37 701.476 128.925 2102.07 701.478 128.925 2101.98 715.109 128.343 2092.89 710.634 128.534 2093.81 707.003 128.689 2095.31 701.493 128.924 2101.41 701.67 128.917 2100.8 704.054 128.815 2105.84 705.552 128.751 2107.03 708.26 128.635 2108.09 701.897 128.907 2100.02 702.101 128.898 2099.7 703.172 128.853 2098.05 705.704 128.744 2095.85 711.034 128.517 2109.18 717.802 128.227 2109.96 726.284 127.865 2091.53 731.451 127.644 2111.53 732.862 127.584 2091.19 736.427 127.432 2111.68 738.686 127.335 2090.89 738.078 127.361 2111.63 757.175 126.545 2090.78 776.435 125.722 2091.24 779.589 125.588 2110.31 781.207 125.518 2110.16 784.684 125.37 2091.44 824.609 123.664 2106.14 825.86 123.61 2093.58 837.761 123.102 2104.92 862.662 122.038 2100.34 692.57 108.894 2075.5 686.536 106.433 2075.5 696.333 114.857 2089.07 683.2 106.794 2084.4 677.478 102.245 2075.5 676.349 101.074 2075.5 818.854 112.869 2086.27 774.487 116.27 2084.96 775.62 120.781 2088.42 688.533 111.932 2093.12 688.405 111.621 2093.48 691.789 115.689 2096.94 731.64 122.802 2088.34 711.396 122.239 2090.99 701.823 121.429 2093.76 696.065 120.652 2097.71 698.826 125.177 2101.15 695.503 120.467 2098.61 699.091 125.077 2102.23 699.723 124.978 2103.2 701.549 124.842 2104.77 713.802 118.343 2106.1 706.035 124.604 2106.92 735.816 116.7 2106.88 779.299 115.748 2105.17 822.907 115.081 2101.81 820.234 106.817 2094.47 691.705 109.817 2095.84 693.764 114.599 2099.14 690.457 110.024 2095.37 692.738 114.847 2098.5 689.358 110.386 2094.82 691.832 115.466 2097.36 688.425 111.289 2093.84 692.013 115.238 2097.76 688.597 110.954 2094.19 688.917 110.645 2094.52 776.137 106.238 2096.9 731.96 106.326 2098.24 708.747 108.197 2098.15 703.064 119.137 2104.6 696.194 119.731 2101.36 697.136 119.574 2102.1 698.212 119.476 2102.74 700.099 114.012 2101.3 695.267 120.238 2099.57 695.328 120.107 2100.05 695.513 119.97 2100.52 688.778 112.219 2092.77 730.113 118.45 2084.84 707.447 116.86 2086.88 676.255 100.976 2075.5 681.768 104.881 2085.17 676.141 100.858 2075.5 697.682 120.934 2096.13 691.484 113.511 2090.9 689.504 112.72 2092.09 682.296 105.919 2084.78 681.968 105.42 2084.98 684.005 105.401 2075.5 680.243 103.866 2075.5 679.778 103.676 2075.5 678.261 103.058 2075.5 726.475 112.911 2075.5 724.981 112.891 2075.5 711.493 111.551 2075.5 699.778 110.388 2075.5 695.092 109.923 2075.5 771.245 110.422 2075.5 758.672 111.121 2075.5 685.311 101.814 2086.48 680.673 95.2234 2075.51 682.33 94.8634 2075.51 679.393 95.5015 2075.51 683.922 102.167 2086.22 678.432 95.7103 2075.5 682.695 102.783 2085.92 678.413 95.7146 2075.5 676.522 96.7549 2075.5 682.213 103.221 2085.75 676.466 96.831 2075.5 681.881 103.743 2085.57 675.769 97.7816 2075.5 675.793 97.7493 2075.5 675.816 99.9439 2075.5 675.705 99.6322 2075.5 681.734 104.311 2085.37 675.553 99.2049 2075.5 675.723 98.0866 2075.5 691.184 100.93 2087.22 685.614 94.5874 2075.51 689.844 94.232 2075.5 695.369 93.7679 2075.5 697.138 109.234 2097.2 694.931 114.456 2099.7 697.987 93.6825 2075.5 705.773 93.4287 2075.5 708.94 93.468 2075.5 722.06 93.6307 2075.5 755.376 94.044 2075.5 767.932 94.1997 2075.5 768.886 94.2115 2075.5 813.671 107.015 2075.5 815.133 106.898 2075.5 856.356 98.5129 2065.64 853.232 97.6562 2055.5 537.959 86.4068 1630.07 537.781 86.0803 1630.2 537.514 85.8647 1630.39 537.199 85.7935 1630.62 567.682 86.4667 1673.29 577.451 87.2811 1685.36 577.276 86.9557 1685.49 577.011 86.7395 1685.68 576.698 86.6657 1685.91 516.263 92.7758 1773.89 569.525 93.5622 1874.58 568.335 94.7635 1874.56 617.39 89.5673 1874.52 676.209 89.6596 1874.52 715.958 90.3492 1975.18 677.333 91.0132 2050.58 777.469 102.32 1975.18 741.292 103.39 1874.52 679.925 112.281 1874.52 804.602 101.882 2050.65 680.044 106.844 2050.55 670.786 103.577 2050.55 673.115 101.578 2063.13 677.043 90.129 1570.5 704.863 91.0337 1672.9 665.483 88.8394 1673.21 602.739 86.8194 1678.33 598.906 86.7783 1679.43 596.438 86.6555 1673.21 745.595 90.6848 2050.6 807.49 93.2246 2050.63 808.814 93.2344 2055.5 735.73 90.7136 2025.47 800.652 93.1742 2025.46 788.083 93.0815 1979.2 786.99 93.0807 1975.18 645.559 88.4328 1733.05 642.992 88.3426 1730.25 637.306 88.1592 1727.94 633.516 88.0502 1728.16 639.639 88.2322 1728.45 621.304 87.4186 1676.25 620.471 87.3856 1675.19 628.284 87.7969 1714.69 629.104 87.8205 1714.35 614.469 87.5115 1718.67 630.011 87.967 1729.63 627.194 87.9229 1732.17 625.375 87.92 1735.49 630.157 87.8494 1713.52 630.874 87.8669 1712.38 631.175 87.8705 1711.07 631.026 87.8594 1709.74 626.333 87.6362 1693.4 621.638 87.4322 1677.06 624.756 87.9519 1739.23 625.409 88.0102 1742.97 627.267 88.0869 1746.28 630.118 88.1744 1748.8 633.641 88.2652 1750.22 636.12 88.3227 1750.49 637.436 88.3515 1750.41 641.075 88.4263 1749.32 767.351 93.0658 1902.89 759.612 92.8141 1874.41 644.146 88.4833 1747.09 646.305 88.5169 1743.97 647.312 88.5218 1740.32 647.054 88.4939 1736.53 619.334 87.3413 1674.47 618.025 87.2907 1674.17 616.688 87.2399 1674.32 525.531 82.0301 1275.5 538.888 82.3956 1275.5 592.641 85.4148 1471.92 557.445 82.9956 1275.5 575.999 83.6972 1275.5 594.551 84.511 1275.5 703.927 92.6336 1570.5 677.892 90.2009 1570.5 673.577 90.4391 1471.93 658.512 89.3498 1422.99 613.101 85.4067 1275.5 438.61 81.0883 1275.5 453.708 81.1577 1275.5 516.476 83.4943 1471.92 471.101 81.2653 1275.5 488.494 81.4017 1275.5 500.334 81.5363 1275.5 512.173 81.7314 1275.5 521.552 81.9411 1275.5 434.463 82.7443 1471.92 345.702 80.6541 1275.5 358.238 80.3901 1275.5 365.034 80.4579 1275.5 377.3 80.6219 1275.5 389.565 80.7849 1275.5 399.989 80.8875 1275.5 409.944 80.9581 1275.5 438.219 81.0865 1275.5 293.782 82.1926 1275.5 296.232 82.0808 1275.5 390.089 85.2685 1471.92 312.147 81.3606 1275.5 367.618 87.3717 1471.92 267.276 83.7269 1275.5 273.686 83.1633 1275.5 275.787 83.0402 1275.5 277.888 82.9288 1275.5 280.318 82.8074 1275.5 261.612 84.5019 1275.5 356.561 89.6987 1471.93 257.648 85.4404 1275.5 255.049 86.4165 1275.5 262.61 84.3226 1275.5 263.609 84.1579 1275.5 265.614 83.8729 1275.5 251.533 88.5403 1275.5 251.574 88.5005 1275.5 354.164 91.1863 1471.91 252.555 87.7828 1275.5 252.612 87.7459 1275.5 253.206 87.3806 1275.5 253.811 87.0384 1275.5 254.354 86.7656 1275.5 250.71 89.3576 1275.5 353.241 92.2558 1471.89 250.585 89.5127 1275.5 352.75 93.5728 1471.89 249.792 90.8902 1275.5 250.429 89.7836 1275.5 249.525 92.5317 1275.5 249.544 92.7548 1275.5 352.861 94.9779 1471.91 249.519 92.3072 1275.5 249.718 91.2725 1275.5 353.352 96.3047 1471.93 249.621 93.2246 1275.5 249.57 92.9171 1275.5 251.995 97.2186 1275.5 251.412 96.5918 1275.5 250.305 94.9883 1275.5 249.899 94.1312 1275.5 258.194 102.598 1275.5 257.943 102.425 1275.5 354.916 98.6603 1471.92 258.701 102.938 1275.5 363.697 105.728 1471.92 261.287 104.536 1275.5 259.213 103.268 1275.5 257.692 102.249 1275.5 257.195 101.89 1275.5 256.223 101.148 1275.5 255.279 100.373 1275.5 253.468 98.7317 1275.5 252.734 98.0145 1275.5 274.793 110.534 1275.5 272.953 109.961 1275.5 266.958 107.566 1275.5 262.596 105.235 1275.5 494.562 114.271 1673.21 296.236 116.109 1275.5 477.195 109.28 1673.21 291.319 115.04 1275.5 286.424 113.864 1275.5 284.725 113.428 1275.5 283.03 112.979 1275.5 279.65 112.044 1275.5 334.736 120.914 1275.5 347.75 121.374 1275.5 530.334 118.189 1673.21 330.677 120.668 1275.5 326.623 120.369 1275.5 318.533 119.6 1275.5 306.137 117.926 1275.5 300.488 116.89 1275.5 565.942 117.521 1673.21 400.726 119.66 1275.5 396.399 120.009 1275.5 386.418 120.607 1275.5 376.426 121.053 1275.5 369.257 121.274 1275.5 362.087 121.405 1275.5 351.92 121.383 1275.5 427.268 117.331 1275.5 422.129 117.853 1275.5 416.988 118.347 1275.5 600.538 114.366 1673.21 443.018 115.572 1275.5 437.54 116.21 1275.5 434.972 116.499 1275.5 432.405 116.783 1275.5 499.546 107.805 1275.5 485.592 109.894 1275.5 478.61 110.903 1275.5 471.624 111.885 1275.5 450.641 114.647 1275.5 447.139 115.078 1275.5 443.636 115.499 1275.5 461.138 113.302 1275.5 457.64 113.759 1275.5 454.141 114.207 1275.5 468.13 112.365 1275.5 464.634 112.838 1275.5 525.987 103.619 1275.5 668.911 103.834 1673.21 677.043 98.8834 1570.5 703.943 97.5284 1570.5 658.532 95.8102 1422.99 527.88 103.32 1275.5 532.06 102.626 1275.5 544.594 100.511 1275.5 536.238 101.922 1275.5 534.149 102.275 1275.5 613.123 93.5399 1275.5 612.667 93.551 1275.5 612.21 93.5698 1275.5 600.925 94.0685 1275.5 589.66 94.7368 1275.5 578.341 95.7297 1275.5 572.698 96.3585 1275.5 567.063 97.0652 1275.5 555.817 98.6858 1275.5 759.534 101.072 1874.12 723.615 100.621 1741.92 704.926 99.9238 1673.13 856.365 100.78 2065.65 853.239 99.9918 2055.5 809.037 101.673 2055.5 808.814 101.691 2055.5 576.304 86.4889 1673.31 527.846 85.3885 1605.47 525.928 86.9819 1673.21 584.094 86.6657 1684.21 586.063 86.669 1683.66 588.787 86.6695 1682.34 569.028 86.9384 1700.58 566.047 87.0018 1702.93 572.01 86.9029 1699.34 580.768 86.7668 1691.6 577.723 86.8646 1697.7 564.564 87.0579 1705.19 564.079 87.098 1706.99 564.219 87.1342 1708.86 569.174 87.2533 1717.06 572.244 87.2442 1717.72 565.389 87.2104 1713.21 565.952 87.2311 1714.51 567.167 87.2475 1715.9 590.631 87.2844 1721.35 590.967 87.2989 1722.17 576.823 87.2125 1717.21 589.553 87.2195 1717.61 582.686 87.1725 1715.52 591.802 87.3191 1723.22 592.937 87.3356 1723.94 594.247 87.3468 1724.24 595.582 87.3521 1724.09 611.932 87.4591 1719.39 463.107 92.0161 1673.24 461.371 93.4566 1673.27 460.723 94.3827 1673.26 460.39 95.4577 1673.24 460.915 97.631 1673.21 469.045 105.352 1673.21 462.201 99.4914 1673.21 671.187 100.225 2063.13 669.585 98.5096 2063.14 666.503 101.258 2050.55 657.835 104.118 2025.44 662.861 98.092 2050.56 700.13 109.909 2050.54 688.801 110.67 2025.44 667.627 107.553 2025.44 642.815 108.867 1975.18 631.946 105.1 1975.18 649.443 98.3214 2025.45 622.634 98.6217 1975.18 574.27 103.9 1874.52 569.149 99.4569 1874.53 666.14 112.193 1975.18 691.191 112.584 1975.18 748.959 108.717 2050.58 719.487 110.393 1975.18 739.153 109.312 2025.46 795.561 102.091 2025.5 649.462 114.923 1874.53 620.843 114.925 1874.53 593.346 111.243 1874.52 580.289 107.13 1874.52 697.546 90.3569 2050.58 669.798 94.2497 2063.13 671.862 93.1506 2063.14 662.32 94.6754 2050.56 662.047 95.8474 2050.56 663.067 93.7303 2050.56 665.216 92.6339 2050.57 667.59 92.0913 2050.57 662.284 97.0291 2050.56 686.085 90.4449 2025.46 648.509 95.9748 2025.44 621.5 96.0439 1975.18 648.81 94.7415 2025.44 621.868 94.6834 1975.18 649.636 93.7727 2025.44 622.834 93.6466 1975.18 651.95 92.6879 2025.45 625.458 92.5401 1975.18 654.466 92.1342 2025.45 628.258 91.958 1975.18 664.78 91.098 2025.45 568.264 97.9992 1874.54 621.884 97.409 1975.18 648.803 97.2141 2025.44 596.152 93.6211 1924.9 576.07 91.7812 1874.52 602.136 91.8776 1924.86 589.709 90.5384 1874.52 639.702 90.8988 1975.18 663.168 90.1309 1975.18 523.971 90.987 1773.87 471.873 89.9095 1673.22 489.907 88.3981 1673.2 567.966 95.5289 1874.51 567.83 96.3678 1874.52 807.489 101.675 2050.62 800.625 101.589 2025.36 786.906 101.416 1974.87 583.687 86.8011 1684.5 527.443 85.5266 1605.76 527.146 85.892 1605.97 583.388 87.1669 1684.7 586.349 86.808 1684.06 586.558 87.1732 1684.35 589.021 87.1738 1683.17 588.923 86.8085 1682.82 602.873 86.9578 1678.81 616.919 87.8594 1675.2 602.966 87.3231 1679.16 616.903 87.7521 1675.14 616.871 87.5366 1675 616.817 87.3915 1674.79 616.79 87.3192 1674.69 620.717 88.0403 1677.32 621.26 87.4974 1677.17 620.935 87.7115 1677.26 620.662 87.6992 1676.59 620.959 87.4848 1676.43 620.461 88.0275 1676.69 619.824 87.9965 1675.88 618.953 87.9548 1675.33 619.98 87.6692 1675.72 619.049 87.6289 1675.13 617.948 87.9072 1675.09 617.972 87.5829 1674.88 620.208 87.4543 1675.48 619.183 87.4133 1674.83 618 87.3664 1674.55 625.955 87.702 1693.51 630.649 87.9262 1709.85 625.631 87.9162 1693.6 630.326 88.1407 1709.94 625.413 88.2448 1693.66 630.109 88.4689 1709.99 630.222 88.4794 1711.02 628.009 88.4104 1713.8 628.078 88.0843 1714.01 628.638 88.4327 1713.53 628.175 87.8687 1714.32 628.751 88.1059 1713.72 628.916 87.8906 1714.01 629.443 88.4598 1712.89 629.992 88.4761 1712.02 629.614 88.1321 1713.04 630.201 88.1478 1712.1 630.448 88.151 1711.03 629.865 87.9173 1713.26 630.511 87.9334 1712.23 630.783 87.9366 1711.05 611.824 87.5301 1719.02 595.475 87.4233 1723.72 611.731 87.7457 1718.7 595.384 87.6389 1723.4 611.666 88.0722 1718.49 595.322 87.9654 1723.19 594.297 87.9604 1723.31 591.516 87.9014 1721.09 590.998 87.3602 1721.25 591.309 87.5769 1721.15 591.588 87.5901 1721.83 591.303 87.3737 1721.99 591.776 87.9151 1721.72 592.418 87.9342 1722.53 593.291 87.9498 1723.07 592.275 87.6087 1722.69 593.21 87.6238 1723.28 594.286 87.6342 1723.53 592.058 87.3926 1722.94 593.085 87.4079 1723.58 594.269 87.4185 1723.85 589.921 87.2953 1717.5 590.232 87.512 1717.41 590.439 87.8365 1717.34 582.412 86.8938 1714.57 582.211 86.1633 1713.89 576.344 86.2033 1715.57 576.548 86.9337 1716.26 572.295 87.0651 1716.93 566.318 86.9107 1712.97 565.873 87.1052 1713.08 566.393 87.1531 1714.24 566.114 87.0529 1713.02 566.803 86.9436 1713.99 567.856 86.904 1715.07 569.624 86.7966 1715.91 572.336 86.5876 1716.28 567.527 87.1538 1715.46 569.413 87.1288 1716.45 564.588 87.0918 1708.77 564.943 86.9768 1708.67 565.271 86.7936 1708.59 564.48 87.0541 1707.04 572.519 85.6763 1701.15 572.402 86.3291 1700.72 569.857 86.0144 1702.08 567.123 86.3867 1703.92 565.714 86.6133 1705.7 565.214 86.73 1707.12 564.863 86.9298 1707.08 565.366 86.856 1705.55 566.812 86.7226 1703.63 569.64 86.5138 1701.69 572.222 86.7604 1700.09 564.976 87.0068 1705.37 566.445 86.9328 1703.29 569.353 86.8339 1701.17 578.237 85.6379 1699.51 578.117 86.2908 1699.08 577.937 86.722 1698.44 581.076 86.8381 1691.38 581.337 87.0469 1691.19 581.513 87.3624 1691.06 637.274 88.7834 1749.15 637.353 88.4584 1749.74 633.784 88.3788 1749.56 633.793 88.5429 1729.42 630.784 88.6413 1747.7 628.263 88.5712 1745.47 633.905 88.7141 1748.98 626.625 88.51 1742.53 626.052 88.4638 1739.21 626.602 88.4389 1735.91 628.208 88.4418 1732.97 630.695 88.477 1730.72 637.15 88.6292 1729.21 639.221 88.6871 1729.66 642.203 88.7751 1731.24 644.493 88.8474 1733.72 645.831 88.8967 1736.82 646.065 88.9194 1740.19 645.169 88.9159 1743.44 640.51 88.8434 1748.19 640.778 88.5273 1748.72 643.245 88.8892 1746.21 643.672 88.5797 1746.63 645.707 88.6105 1743.69 646.655 88.6145 1740.25 646.41 88.5885 1736.69 644.997 88.532 1733.41 642.577 88.449 1730.78 639.421 88.3479 1729.1 637.227 88.2814 1728.62 633.667 88.1822 1728.83 630.379 88.1064 1730.21 627.738 88.0659 1732.6 626.033 88.0626 1735.71 625.45 88.0912 1739.22 626.06 88.1444 1742.73 627.8 88.2147 1745.85 630.475 88.2952 1748.22 704.039 95.351 1452.23 704.319 94.4362 1452.18 684.52 93.6038 1331.05 691.892 91.2477 1394.07 682.151 90.2928 1331.37 682.881 90.4804 1331.27 728.7 94.063 1570.5 728.24 93.9472 1570.5 702.523 92.3219 1452.54 703.044 92.4452 1452.44 728.855 94.1021 1570.5 703.644 92.8067 1452.32 729.656 94.8862 1570.5 704.149 93.4945 1452.22 729.654 94.8755 1570.5 729.321 94.4201 1570.5 729.571 96.4355 1570.5 729.59 96.391 1570.5 729.777 95.9426 1570.5 729.809 95.4048 1570.5 729.213 96.8386 1570.5 703.458 95.974 1452.33 728.855 97.06 1570.5 702.853 96.3597 1452.45 728.571 97.1356 1570.5 704.809 96.4362 1463.03 728.296 97.209 1570.5 709.353 96.614 1487.62 728.106 97.2163 1570.5 702.326 92.3095 1451.63 684.107 94.4177 1331.11 683.951 94.7268 1331.13 682.875 95.4889 1331.28 682.432 95.5502 1331.34 687.203 95.7473 1367.76 681.688 95.6533 1331.44 683.001 90.5111 1331.26 683.966 91.2402 1331.12 684.322 91.944 1331.08 684.515 92.3255 1331.05 250.693 89.3886 1275.5 250.805 89.2665 1275.5 251.439 88.7288 1275.5 289.507 82.4381 1275.5 385.108 80.7317 1275.5 446.821 81.1376 1275.5 431.354 81.0623 1275.5 493.105 81.4589 1275.5 679.964 90.1283 1303.1 680.127 90.1756 1290.08 652.091 87.8381 1275.5 681.201 90.3314 1275.5 679.958 90.1268 1303.53 682.08 94.5858 1303.17 681.171 95.4484 1303.19 683.602 94.8091 1275.5 683.412 95.2096 1275.5 682.101 96.2815 1275.5 681.372 96.4019 1275.5 680.206 95.8101 1303.2 682.156 96.2726 1275.5 683.341 95.3578 1275.5 682.787 95.7856 1275.5 683.411 95.212 1275.5 683.801 94.3907 1275.5 682.554 93.2648 1303.14 683.981 94.0123 1275.5 684.05 93.4299 1275.5 684.049 93.4431 1275.5 684.007 93.7977 1275.5 683.639 92.0759 1275.5 683.769 92.2996 1275.5 682.345 91.877 1303.11 683.921 92.5614 1275.5 683.977 92.9356 1275.5 683.412 91.6842 1275.5 681.62 90.8547 1303.1 683.186 91.2954 1275.5 682.693 90.8743 1275.5 680.743 90.3129 1303.1 682.056 90.5663 1275.5 681.828 90.4562 1275.5 680.503 96.5452 1275.5 679.414 95.8427 1303.21 679.401 95.8344 1303.54 682.854 91.0311 1275.5 682.755 90.9517 1275.5 631.852 86.6288 1275.5 682.072 90.6554 1275.5 681.882 90.5727 1275.5 677.946 90.2624 1275.5 648.313 87.9264 1275.5 554.8 82.9346 1275.5 573.536 83.7035 1275.5 601.047 84.8325 1275.5 616.453 85.6685 1275.5 629.316 93.1992 1275.5 647.076 93.6372 1275.5 645.506 93.5337 1275.5 680.385 96.5338 1275.5 680.372 96.5322 1275.5 672.606 95.5928 1275.5 664.822 94.8081 1275.5 856.686 100.159 2055.5 483.158 110.242 1275.5 449.419 114.796 1275.5 452.309 114.436 1275.5 455.198 114.07 1275.5 474.957 111.416 1275.5 470.854 111.988 1275.5 466.749 112.55 1275.5 460.975 113.321 1275.5 458.087 113.698 1275.5 456.643 113.885 1275.5 371.571 121.188 1275.5 379.51 120.913 1275.5 367.601 121.289 1275.5 363.631 121.366 1275.5 362.104 121.366 1275.5 269.434 108.479 1275.5 316.089 119.193 1275.5 272.188 109.552 1275.5 292.017 115.187 1275.5 274.967 110.536 1275.5 286.278 113.826 1275.5 284.851 113.459 1275.5 283.427 113.08 1275.5 280.591 112.288 1275.5 280.039 112.116 1275.5 251.151 96.1879 1275.5 251.488 96.5767 1275.5 250.387 95.0283 1275.5 250.26 94.7503 1275.5 249.809 93.7661 1275.5 249.654 93.2652 1275.5 437.741 116.191 1275.5 433.324 116.687 1275.5 431.844 116.853 1275.5 425.945 117.482 1275.5 420.042 118.074 1275.5 414.137 118.624 1275.5 408.228 119.132 1275.5 680.413 96.5352 1275.5 525.531 82.0083 1275.5 471.102 81.2328 1275.5 611.831 93.5852 1275.5 600.931 94.0279 1275.5 584.642 77.4993 443.281 585.363 77.5576 442.813 585.417 77.5691 442.882 586.147 77.9493 441.759 586.807 78.1184 441.495 585.252 77.5575 442.676 585.308 77.5537 442.745 584.641 77.4993 443.278 586.418 77.9882 442.332 586.982 78.163 441.721 587.114 78.2793 441.951 584.63 77.4993 443.289 587.716 78.9711 440.621 587.958 79.0773 440.954 587.748 79.9993 439.68 588.086 80.0497 439.867 587.376 78.9962 440.366 587.351 78.9686 440.396 586.604 78.1493 441.291 588.197 80.0663 439.929 588.329 80.1578 440.132 588.461 80.2493 440.335 588.463 80.3113 440.447 587.811 79.0287 441.474 588.06 79.2955 441.305 588.47 80.4993 440.788 583.387 77.4993 447.614 577.49 77.4993 441.237 576.247 77.4993 445.561 585.119 79.0287 450.84 585.239 79.2955 451.116 584.967 79.0773 451.359 583.393 77.4993 447.627 583.39 77.4993 447.628 583.755 77.5576 448.406 583.672 77.5537 448.435 583.837 77.5691 448.376 584.394 77.9882 449.374 584.548 78.163 450.191 584.279 78.1184 450.29 584.003 78.1735 450.389 583.999 78.1493 450.355 583.589 77.5575 448.463 584.781 78.2793 450.066 584.162 78.9962 451.548 584.585 78.9711 451.513 584.113 79.9993 452.328 584.625 80.0663 452.354 585.065 80.2493 452.151 585.313 80.4993 451.772 618.724 103.666 474.59 617.981 103.666 474.827 617.203 103.666 474.762 589.332 103.666 466.751 586.904 103.666 465.499 585.141 103.666 463.413 627.701 103.666 438.241 628.588 103.666 438.774 629.089 103.666 439.68 619.32 103.666 474.086 619.678 103.666 473.392 584.538 103.666 458.089 584.31 103.666 460.811 593.503 103.666 429.02 594.246 103.666 428.783 592.907 103.666 429.524 595.024 103.666 428.848 592.549 103.666 430.218 629.07 103.666 440.715 167.096 9.02936 1076.17 167.096 9.02936 1074.84 167.608 10.7892 1076.17 167.608 10.7892 1074.84 167.623 10.8052 1076.17 167.623 10.8052 1074.84 168.88 12.1544 1076.17 168.88 12.1544 1074.84 168.89 12.1581 1076.17 168.89 12.1581 1074.84 170.633 12.7943 1076.17 170.633 12.7943 1074.84 866.015 102.869 75.6153 866.015 102.953 75.6454 865.874 102.766 76.1635 865.637 103.475 75.7321 865.496 103.288 76.2446 865.847 103.306 75.7279 865.706 103.12 76.2423 865.884 103.228 75.7095 865.743 103.041 76.2247 865.744 103.039 76.2243 865.962 102.51 75.4705 865.819 102.316 75.9907 865.86 102.305 75.3684 865.719 102.115 75.8933 865.778 102.248 75.3256 865.183 101.857 75.6584 865.327 102.05 75.1315 865.401 101.905 75.7333 865.549 102.097 75.2089 865.409 101.906 75.7358 865.432 101.911 75.7436 865.638 102.058 75.8509 865.632 102.054 75.8481 865.591 102.116 75.2271 865.572 102.102 75.2169 865.15 103.659 75.667 865.009 103.472 76.1772 865.35 103.611 75.7036 865.238 103.417 76.2199 865.378 103.604 75.7089 865.518 103.57 75.7344 865.378 103.383 76.2459 865.875 102.682 76.1343 865.875 102.678 76.1329 866.016 102.62 75.5249 865.875 102.432 76.0467 865.821 102.321 75.9931 865.167 103.684 75.6002 865.371 103.656 75.645 865.185 103.709 75.5336 865.386 103.661 75.5708 865.614 103.553 75.6733 865.552 103.621 75.6013 865.413 103.655 75.5756 865.345 102.075 75.0626 865.363 102.101 74.9946 865.613 102.137 75.1578 865.585 102.148 75.0721 865.847 103.353 75.6639 865.998 103.098 75.6116 866.052 102.806 75.5203 866.001 102.533 75.407 865.854 102.304 75.284 865.92 103.279 75.5759 865.881 103.358 75.5946 865.862 103.374 75.595 865.671 103.526 75.5989 866.004 103.104 75.5348 866.051 103.005 75.5116 866.052 102.833 75.4486 866.052 102.667 75.3883 865.894 102.353 75.231 865.868 102.335 75.217 865.606 102.152 75.0793 865.627 102.167 75.0904 865.815 102.298 75.1891 870.918 115.62 57.585 871.805 121.647 54.359 871.625 121.655 54.6892 868.838 110.766 63.1261 868.553 110.729 63.2083 867.506 106.513 69.0587 870.564 120.75 55.8369 868.595 110.94 63.0531 868.575 110.839 63.1275 869.133 110.624 63.085 871.179 121.674 55.0775 871.029 121.681 55.1009 871.806 121.647 54.3097 870.91 115.475 57.3643 871.812 121.647 54.1066 871.384 118.589 55.1814 871.818 121.647 53.9144 871.818 121.647 53.9017 871.135 118.424 54.8273 871.68 121.653 53.6126 871.492 121.661 53.423 871.647 121.654 53.5434 871.141 120.839 53.7254 871.388 121.665 53.3419 871.307 121.669 53.3085 868.113 107.454 64.5536 868.664 109.666 62.1544 869.001 109.609 62.1809 869.264 109.502 62.1547 869.357 110.393 62.9504 869.426 110.149 62.9133 869.537 110.042 62.6934 867.517 106.541 69.0773 871.562 121.658 54.8053 870.753 121.692 55.1438 870.843 115.346 57.1523 870.586 115.163 56.8076 870.265 115.083 56.5988 870.211 116.205 56.0527 868.841 110.375 61.3853 869.87 114.505 56.9061 869.992 115.116 56.5994 869.531 109.874 62.5472 869.477 109.722 62.4021 583.928 82.4993 452.972 574.866 82.4993 450.367 575.051 79.9993 449.723 575.556 78.1692 447.964 573.727 81.1697 449.515 574.131 80.1896 449.459 573.352 80.7316 449.235 573.964 78.4988 447.506 572.983 80.0845 448.177 574.408 77.8799 445.033 572.849 78.9638 444.585 572.672 79.3201 446.49 572.614 79.4374 447.118 574.092 78.9638 440.26 575.651 77.8799 440.708 577.454 81.1697 436.548 578.871 82.4993 436.431 577.767 80.1896 436.811 578.01 78.0032 439.429 574.954 79.3201 438.551 576.588 78.4988 438.376 578.181 78.1692 438.834 578.732 80.6189 436.915 578.686 79.9993 437.075 578.434 79.0842 437.954 575.238 79.4374 437.988 576.113 80.0845 437.287 576.987 80.7316 436.587 587.817 80.6023 439.44 587.886 81.2052 439.2 587.933 82.4993 439.036 583.577 102.666 457.813 591.588 102.666 429.941 583.674 103.042 457.841 591.661 103.048 429.963 583.706 103.166 457.85 591.87 103.373 430.022 583.881 103.349 457.901 592.181 103.59 430.112 584.176 103.565 457.985 584.057 103.532 457.951 587.933 85.1547 439.036 588.28 82.4993 439.215 588.28 85.1547 439.215 588.364 82.4993 439.314 588.364 85.1547 439.314 588.532 82.4993 439.513 588.532 85.1547 439.513 588.611 82.4993 439.761 588.611 85.1547 439.761 588.651 82.4993 439.884 588.651 85.1547 439.884 588.618 82.4993 440.273 588.618 85.1547 440.273 588.61 81.365 440.028 588.581 81.464 440.404 588.488 81.281 439.667 588.234 81.2249 439.376 585.165 82.4993 452.287 584.964 82.4993 452.62 584.898 82.4993 452.73 584.672 82.4993 452.856 584.317 82.4993 452.979 584.445 82.4993 452.981 585.165 84.847 452.287 584.986 84.847 452.634 584.688 84.847 452.885 584.317 84.847 453.004 583.928 84.847 452.972 592.607 103.59 429.286 593.317 103.59 428.686 594.203 103.59 428.403 595.13 103.59 428.48 592.354 103.373 429.084 593.16 103.373 428.402 594.167 103.373 428.08 595.219 103.373 428.169 592.184 103.048 428.949 593.055 103.048 428.212 594.142 103.048 427.865 595.279 103.048 427.96 592.125 102.666 428.901 593.018 102.666 428.146 594.133 102.666 427.789 595.3 102.666 427.887 627.977 102.666 437.28 627.949 103.042 437.376 627.94 103.166 437.408 627.889 103.349 437.584 627.839 103.532 437.76 627.805 103.565 437.879 629.574 103.532 439.56 628.948 103.532 438.427 629.211 103.166 438.173 629.727 103.349 440.904 629.551 103.532 440.853 629.432 103.565 440.819 629.935 103.042 440.964 629.903 103.166 440.955 629.93 103.166 439.471 630.031 102.666 440.992 630.06 102.666 439.439 629.307 102.666 438.08 620.639 102.666 473.668 620.566 103.048 473.647 620.357 103.373 473.588 620.045 103.59 473.498 616.968 103.156 475.581 617.008 103.373 475.441 618.06 103.373 475.53 617.068 103.517 475.233 617.097 103.59 475.13 618.024 103.59 475.207 619.619 103.59 474.324 618.909 103.59 474.924 619.873 103.373 474.526 619.067 103.373 475.208 620.043 103.048 474.661 619.172 103.048 475.398 618.085 103.048 475.745 616.948 103.048 475.65 620.102 102.666 474.709 619.208 102.666 475.465 618.093 102.666 475.821 616.927 102.666 475.723 589.055 102.666 467.712 589.092 103.166 467.583 589.193 103.532 467.231 583.813 103.532 460.867 583.449 103.166 460.909 583.316 102.666 460.924 584.266 102.666 463.897 584.383 103.166 463.832 586.281 102.666 466.281 586.365 103.166 466.176 584.703 103.532 463.655 586.593 103.532 465.89 583.295 88.9015 458.2 583.333 88.8438 458.049 583.422 88.9524 458.004 583.354 90.8685 460.918 583.494 91.133 461.921 583.437 90.7729 461.973 582.709 90.1303 462.716 582.633 90.1423 462.237 582.975 90.2415 462.143 583.111 89.8281 464.313 583.491 89.8349 464.092 583.796 89.2808 464.703 584.112 87.6753 465.216 583.795 87.6753 465.499 583.792 87.7998 465.496 584.123 87.8 465.202 584.125 87.6753 465.204 584.549 87.676 465.082 585.095 87.6779 465.23 584.985 87.6774 465.154 584.983 87.8298 465.15 584.771 87.6767 465.093 584.661 87.6763 465.081 584.547 87.8107 465.078 584.633 87.6763 465.08 584.619 87.6762 465.08 584.616 87.6762 465.08 584.611 87.6762 465.08 584.607 87.6762 465.08 584.605 87.6762 465.08 584.583 87.6761 465.08 583.684 88.5895 465.349 584.021 88.5897 465.06 583.575 88.8988 465.181 583.44 89.2831 464.973 584.442 88.6629 464.934 584.206 89.4084 464.576 583.877 90.0079 463.971 584.862 88.7947 464.998 584.586 89.6403 464.616 584.194 90.3138 463.972 584.276 90.7806 463.892 584.38 90.6931 464.096 584.861 89.9302 464.817 585.198 88.9591 465.237 585.345 87.8534 465.403 585.348 87.6791 465.407 583.91 91.0907 463.169 583.802 90.6898 463.137 583.553 90.3585 463.179 583.207 90.1541 463.287 583.109 89.8299 464.307 582.823 90.1121 463.443 583.256 90.4617 462.051 583.271 90.713 460.329 583.232 90.4401 460.425 583.112 90.1906 460.516 582.919 89.9855 460.594 582.672 89.8423 460.653 582.683 89.8259 460.61 583.577 89.3151 457.813 583.545 89.1907 457.885 583.493 89.0689 457.949 583.573 88.9151 457.693 583.43 88.7135 457.803 583.652 89.1327 457.552 583.73 88.0353 457.033 583.824 88.108 456.891 583.767 87.7776 456.938 583.855 87.7997 456.792 583.908 87.8195 456.654 583.887 88.1833 456.734 583.916 87.8224 456.634 639.359 91.1656 406.521 640.923 91.1656 407.867 637.636 91.1656 417.751 641.953 91.1656 409.651 637.434 91.1656 405.767 636.141 91.1656 417.924 636.105 91.1656 405.638 635.57 91.1656 417.893 634.109 91.1656 405.997 633.577 91.1656 417.345 631.88 91.1656 416.171 641.058 91.1656 415.533 639.537 91.1656 416.933 642.026 91.1656 413.711 642.335 91.1656 411.675 630.076 91.1656 412.534 630.17 91.1656 410.475 630.942 91.1656 408.561 630.669 91.1656 414.506 632.307 91.1656 407.009 168.846 12.4435 1065.51 170.599 13.0825 1065.53 170.633 12.7944 1074.81 167.574 11.08 1065.44 167.054 9.38087 1065.35 167.043 9.47727 1062.77 168.88 12.1546 1074.81 167.608 10.7894 1074.8 167.096 9.02971 1074.78 167.487 11.8228 1055.74 166.973 10.0724 1055.57 168.76 13.182 1055.86 170.513 13.8194 1055.9 167.096 9.02937 1074.82 206.399 16.7997 1076.23 206.4 16.7999 1074.78 242.264 20.5856 1076.28 242.264 20.5856 1074.74 167.089 9.09005 1079.76 167.096 9.02971 1076.23 167.608 10.7894 1076.22 167.061 9.32448 1085.66 167.574 11.0798 1085.57 167.06 9.32897 1085.77 167.487 11.8217 1095.27 166.973 10.0714 1095.43 168.846 12.4432 1085.5 168.88 12.1546 1076.21 170.513 13.8183 1095.1 170.599 13.0823 1085.48 170.633 12.7944 1076.2 168.76 13.1809 1095.15 167.096 9.02937 1076.19 165.329 7.14714 1076.2 165.329 7.14715 1076.17 165.974 7.33559 1076.2 166.2 7.46453 1076.17 166.184 7.48639 1076.2 166.834 8.1403 1076.17 166.52 7.72676 1076.2 167.088 8.93164 1076.19 166.905 8.27655 1076.19 166.818 8.15177 1076.19 165.329 7.14715 1074.84 166.2 7.46453 1074.84 166.834 8.1403 1074.84 167.088 8.93159 1074.82 166.905 8.27655 1074.82 166.818 8.15177 1074.82 166.52 7.72676 1074.82 166.184 7.48639 1074.82 165.329 7.14714 1074.82 165.974 7.33559 1074.82 868.559 121.786 55.0251 865.757 121.906 55.0435 865.59 120.956 55.578 865.588 120.947 55.5835 864.441 116.786 59.2701 863.014 111.61 63.8566 862.955 111.394 64.0483 859.406 103.343 75.5013 862.297 103.516 75.5142 861.774 107.111 67.8434 859.641 97.9959 95.5017 859.472 97.9766 95.5017 860.501 98.1898 91.8892 864.448 102.832 78.069 859.345 100.309 95.5017 859.687 100.27 95.5017 860.622 99.2098 95.5017 860.627 99.1717 95.5017 860.627 99.1497 95.5021 860.627 99.1277 95.5017 860.448 99.7511 95.5017 860.596 99.4131 95.5017 860.153 100.073 95.5017 860.082 100.108 95.5017 860.438 99.7752 95.5017 859.774 100.26 95.5017 859.804 98.0557 95.5017 860.023 98.1361 95.5017 860.178 98.2602 95.5017 860.505 98.6557 95.5017 860.33 98.3822 95.5017 860.535 98.7033 95.5017 859.405 101.046 75.4862 862.294 101.449 75.5715 866.602 120.969 52.2773 865.542 116.025 55.6817 865.439 115.545 56.0126 864.451 110.94 59.1839 863.855 109.771 61.1099 863.755 109.575 61.4332 866.776 121.862 51.7189 869.687 121.738 52.7335 866.692 121.389 51.9881 715.109 128.343 58.1126 717.875 128.224 58.6815 701.478 128.925 49.0274 702.854 128.866 46.1081 702.365 128.887 46.8271 711.034 128.517 41.8224 708.26 128.635 42.9118 701.818 128.91 47.6309 701.476 128.925 48.9292 701.493 128.924 49.5942 701.67 128.917 50.2053 707.003 128.689 55.688 705.552 128.751 43.975 704.054 128.815 45.1598 710.634 128.534 57.1921 862.662 122.038 50.6667 825.86 123.61 57.4231 701.897 128.907 50.9877 702.101 128.898 51.3023 703.172 128.853 52.9569 705.704 128.744 55.1503 837.761 123.102 46.0867 824.609 123.664 44.8675 784.684 125.37 59.5647 781.207 125.518 40.8441 776.435 125.722 59.7612 779.589 125.588 40.6941 757.175 126.545 60.2198 738.078 127.361 39.3723 738.686 127.335 60.1145 732.862 127.584 59.8118 736.427 127.432 39.3198 726.284 127.865 59.4699 731.451 127.644 39.4728 717.802 128.227 41.0436 584.284 85.5341 453.117 583.733 86.9224 455.032 583.365 86.8467 454.925 583.495 86.7982 454.471 584.044 87.1391 455.125 583.868 86.8721 454.561 584.251 87.4636 455.19 584.193 87.0835 454.605 584.323 87.8466 455.217 584.422 87.4001 454.597 583.576 86.6779 454.19 584.046 86.6071 453.942 583.667 86.5429 453.875 583.806 86.0964 453.393 584.19 86.1438 453.441 583.88 85.612 453.135 583.896 85.509 453.08 584.39 86.7909 453.921 584.549 86.2791 453.368 584.652 85.6059 453.01 584.646 87.0661 453.816 584.828 86.4819 453.185 584.945 85.7133 452.775 584.518 87.7738 454.537 584.776 87.3908 453.642 584.984 86.7211 452.919 585.118 85.84 452.449 578.276 84.8649 451.347 572.555 84.9032 449.703 569.553 85.4826 448.393 567.353 85.9495 446.868 567.14 86.0035 446.599 566.003 86.2909 445.168 565.767 86.3744 444.525 565.517 86.4632 443.842 565.559 86.5489 442.489 569.977 85.3926 448.687 566.729 86.6251 438.143 576.263 85.2128 435.681 573.026 85.7744 435.226 572.36 85.8899 435.133 570.079 86.2471 435.453 569.783 86.2936 435.495 568.127 86.5187 436.262 567.889 86.5427 436.496 567.153 86.617 437.22 582.134 85.1728 437.369 588.476 87.1545 437.145 588.843 87.2302 437.253 588.654 87.1018 437.911 588.292 85.5766 439.173 587.945 85.5611 438.996 588.545 85.6206 439.467 588.666 85.6865 439.832 588.007 86.1423 438.777 588.362 86.2256 438.928 588.012 86.1864 438.76 588.133 86.6954 438.339 588.487 86.7538 438.491 588.207 86.8511 438.079 588.293 87.0307 437.78 588.623 86.3374 439.197 588.761 86.9208 438.714 588.945 87.305 438.073 589.154 87.4469 437.346 588.754 86.5048 439.524 588.913 87.1708 438.973 589.123 87.6094 438.241 589.362 87.7714 437.411 588.636 85.7643 440.213 588.737 86.7023 439.86 588.919 87.4657 439.228 589.16 87.9687 438.39 589.433 88.1543 437.438 590.511 88.2194 433.69 591.588 88.2843 429.941 595.3 88.352 427.887 594.299 88.3467 427.775 594.139 88.3449 427.812 593.317 88.3354 428.001 593.039 88.33 428.177 592.466 88.319 428.539 592.158 88.309 428.928 591.84 88.2988 429.329 627.977 88.7964 437.28 611.64 88.4589 432.584 630.031 88.8588 440.992 630.143 88.8699 439.991 630.018 88.8679 439.448 629.918 88.8663 439.01 629.38 88.8489 438.159 629.297 88.8458 438.093 628.591 88.82 437.533 625.335 88.6355 457.33 620.639 88.4314 473.668 616.927 88.2392 475.723 617.929 88.29 475.835 618.088 88.2982 475.798 619.188 88.355 475.433 618.911 88.3406 475.608 620.388 88.4179 474.279 620.069 88.401 474.682 619.763 88.3849 475.069 602.994 87.8192 471.718 589.055 87.6694 467.712 586.305 87.6715 466.254 586.635 87.6688 466.547 583.909 87.1781 465.571 583.875 87.3262 465.549 584.157 87.4671 465.213 583.917 87.1677 465.577 584.296 87.2909 465.213 584.416 86.8366 465.577 584.208 86.8139 465.778 584.066 87.006 465.577 584.063 86.9901 465.677 585.154 87.0547 465.577 585.13 87.0226 465.598 585.117 87.0361 465.575 584.98 86.8178 465.733 584.805 86.8375 465.577 584.614 86.6792 466.065 584.399 86.7504 465.913 585.06 87.4692 465.213 585.283 87.3557 465.463 584.923 87.2924 465.213 585.248 87.1832 465.493 584.721 87.1937 465.213 584.497 87.1932 465.213 469.511 85.0556 625.502 469.511 87.6656 625.502 527.036 86.3884 544.964 583.275 87.6656 466.226 577.51 87.6656 465.694 463.367 87.6656 625.502 538.019 86.7933 520.984 463.367 85.099 625.502 462.11 84.0843 625.502 462.588 84.1631 625.502 470.726 84.0694 625.502 462.61 84.1668 625.502 470.661 84.0707 625.502 463.042 84.4179 625.502 463.254 84.6794 625.502 469.562 84.772 625.502 469.679 84.5628 625.502 469.703 84.5216 625.502 469.924 84.3122 625.502 470.125 84.2095 625.502 470.243 84.1493 625.502 463.265 84.7111 625.502 463.361 85.0007 625.502 463.471 88.3127 625.502 463.778 88.9156 625.502 469.099 88.9156 625.502 469.406 88.3127 625.502 464.903 89.8307 625.502 466.439 90.1656 625.502 467.975 89.8307 625.502 581.579 87.7378 459.999 583.847 87.4575 456.608 583.839 87.4619 456.655 583.844 87.4395 456.607 583.631 87.1483 456.655 583.647 87.1309 456.545 583.637 87.1149 456.542 583.391 86.9945 456.654 583.316 86.9355 456.6 583.332 86.903 456.451 583.262 86.8925 456.56 583.326 86.8982 456.448 582.958 86.8225 456.341 583.521 87.0974 456.749 583.577 87.1954 456.791 583.698 87.4074 456.882 583.717 87.5077 456.897 640.3 89.339 403.217 640.639 90.3021 404.394 637.945 90.28 403.309 645.383 89.3839 414.078 644.369 90.3134 414.486 644.789 90.3247 411.63 636.064 89.2694 402.24 636.074 90.2634 403.108 633.99 89.2316 402.466 633.247 90.2357 403.582 630.671 90.2067 404.99 631.008 89.1711 403.687 632.999 89.2115 402.872 628.703 90.1795 407.181 628.599 89.1128 405.824 630.202 89.1516 404.402 627.575 90.1566 409.91 627.035 89.0617 408.634 628.066 89.0953 406.782 627.423 90.1409 412.863 626.487 89.0228 411.797 626.842 89.048 409.745 628.268 90.135 415.697 627.011 89.0015 414.956 626.678 89.015 412.95 630.013 90.1415 418.084 628.544 89.0034 417.762 627.595 89.0022 416.025 632.455 90.1611 419.747 630.919 89.0327 419.908 629.488 89.015 418.615 635.309 90.1913 420.496 633.878 89.0881 421.152 632.136 89.0555 420.419 638.241 90.2271 420.253 637.085 89.1607 421.349 635.23 89.1187 421.235 641.914 89.283 419.41 639.064 89.2094 420.921 638.437 89.1939 421.057 640.915 90.2623 419.057 643.033 90.2921 417.057 643.654 89.3308 417.526 644.104 89.3432 417.04 644.752 89.3993 407.753 645.607 89.4025 410.861 645.555 89.3982 411.608 644.253 90.3259 408.799 642.819 90.3179 406.296 643.399 89.3829 405.804 642.914 89.3769 405.105 636.092 89.2699 402.236 637.208 89.2891 402.303 638.091 89.3034 402.564 637.958 90.9237 419.083 640.269 90.933 418.061 642.104 90.9409 416.34 643.265 90.9465 414.121 643.632 90.9495 411.651 643.169 90.9499 409.201 641.926 90.9477 407.036 640.037 90.9436 405.395 637.705 90.9377 404.464 636.089 90.9333 404.295 633.651 90.926 404.712 631.435 90.9183 405.933 629.747 90.911 407.824 628.782 90.9049 410.173 628.656 90.9007 412.71 629.383 90.8991 415.144 630.881 90.9008 417.195 632.977 90.9061 418.629 635.431 90.9141 419.282 440.656 42.9559 1037.74 440.891 40.6656 1038 361.843 40.6656 1038 364.08 47.2517 1035.53 366.579 49.2534 1032.95 436.154 49.2534 1032.95 362.077 42.9559 1037.74 362.688 44.9244 1037.05 440.045 44.9244 1037.05 363.105 45.6212 1036.59 439.629 45.6212 1036.59 438.653 47.2517 1035.53 371.907 50.6656 1028 430.826 50.6656 1028 371.892 50.6656 1028.02 430.841 50.6656 1028.02 366.999 49.5895 1032.51 435.735 49.5895 1032.51 165.329 7.14759 1074.77 166.2 7.46494 1074.77 166.834 8.14068 1074.77 165.276 7.59916 1062.66 165.205 8.19926 1055.4 166.146 7.91583 1062.67 166.076 8.5152 1055.43 166.781 8.59013 1062.71 166.71 9.18773 1055.48 170.025 9.62344 1049.74 169.742 9.48542 1048.86 171.191 9.6959 1048.53 165.361 8.3802 1053.85 166.212 8.67197 1054.07 166.831 9.32559 1054.3 166.22 8.7234 1051.7 166.96 8.96788 1052.21 167.71 9.10447 1050 168.257 9.29559 1050.73 167.492 9.58566 1052.66 168.637 9.87363 1051.35 168.776 10.715 1051.73 168.765 10.713 1051.74 167.699 10.4433 1052.95 167.085 10.2006 1054.47 170.196 10.1619 1050.49 170.219 10.9831 1050.93 170.203 10.9802 1050.94 171.255 11.1329 1050.7 171.307 10.322 1050.23 171.284 9.80529 1049.45 171.82 11.2019 1050.66 171.667 12.5332 1051.42 168.98 12.1895 1052.35 170.232 12.3778 1051.63 167.557 11.8845 1054.78 168.056 12.0183 1053.45 168.802 13.239 1055.23 170.572 13.622 1053.12 169.739 13.4841 1053.61 169.127 13.351 1054.34 171.64 12.7687 1051.56 171.531 13.7225 1052.97 171.523 13.798 1053.09 170.536 13.8444 1055.68 170.661 13.8899 1055.38 170.88 13.9404 1055.13 171.169 13.9902 1054.97 171.495 14.0334 1054.92 242.232 20.859 1065.53 242.264 20.5857 1074.71 206.4 16.8 1074.75 241.644 21.5795 1055.4 242.147 21.5816 1055.9 241.92 21.6205 1055.28 242.087 21.6081 1055.57 241.665 21.617 1055.06 241.353 21.598 1054.94 241.14 21.5786 1054.91 206.306 17.9131 1054.92 171.004 13.9258 1055.41 244.102 20.3389 1076.28 244.102 20.3389 1074.74 244.113 20.3374 1076.28 244.113 20.3374 1074.74 245.63 19.29 1076.28 245.63 19.29 1074.74 245.648 19.2775 1076.28 245.648 19.2775 1074.74 246.527 17.6691 1076.28 246.527 17.6691 1074.74 206.399 16.7999 1076.27 242.264 20.5857 1076.31 171.004 13.9247 1095.59 170.726 13.9057 1095.72 170.566 13.8575 1095.43 170.974 13.9571 1095.94 171.282 14.0055 1096.06 171.496 14.0323 1096.08 206.306 17.912 1096.09 241.644 21.5785 1095.6 241.14 21.5775 1096.09 241.763 21.619 1095.88 241.47 21.6054 1096.04 241.988 21.6169 1095.63 242.12 21.5995 1095.33 242.148 21.5805 1095.11 242.232 20.8588 1085.49 171.523 13.7969 1097.92 171.531 13.7214 1098.03 170.904 13.6678 1097.98 171.641 12.7676 1099.45 171.667 12.5321 1099.58 170.729 12.4433 1099.52 167.22 10.2693 1097.03 167.671 11.9226 1096.68 167.236 10.2746 1097.06 168.005 10.5296 1098.49 168.326 12.0721 1097.96 168.018 10.5324 1098.51 169.387 12.2535 1098.96 169.198 10.801 1099.58 170.709 11.0567 1100.21 170.765 11.0644 1100.22 171.257 11.1321 1100.31 171.82 11.2008 1100.34 168.876 13.2718 1096.08 169.306 13.3934 1096.94 170.009 13.5315 1097.6 167.821 9.67793 1098.82 169.101 9.96768 1099.98 171.309 10.3212 1100.77 171.194 9.69526 1102.48 170.427 9.58947 1102.34 171.286 9.80457 1101.55 170.62 9.71306 1101.44 170.721 10.2406 1100.67 168.784 9.40274 1100.66 168.314 9.22926 1101.44 167.333 9.07304 1099.33 166.647 8.84583 1099.92 166.976 9.39942 1097.24 166.376 8.75611 1097.54 165.55 8.4778 1097.85 166.711 9.18663 1095.52 166.076 8.51411 1095.58 165.205 8.19816 1095.6 166.799 8.4412 1085.82 166.164 7.76646 1085.85 165.294 7.44959 1085.86 166.827 8.20128 1079.78 166.193 7.52577 1079.8 165.322 7.20855 1079.8 166.834 8.14068 1076.24 166.2 7.46494 1076.25 165.329 7.14759 1076.25 109.263 0.3452 1076.08 109.263 0.3452 1074.93 856.364 100.779 85.3604 853.239 99.9918 95.5017 856.686 100.159 95.5017 680.692 95.356 75.4971 679.4 95.5616 75.4979 685.311 101.814 64.5248 706.035 124.604 44.086 703.064 119.137 46.4073 698.212 119.476 48.2664 694.931 114.456 51.3079 697.136 119.574 48.905 820.234 106.817 56.5348 701.549 124.842 46.2333 822.907 115.081 49.1973 779.299 115.748 45.8355 735.816 116.7 44.1201 713.802 118.343 44.9049 699.723 124.978 47.8041 699.091 125.077 48.7692 695.503 120.467 52.3917 698.826 125.177 49.8511 697.682 120.934 54.8737 696.065 120.652 53.2974 701.823 121.429 57.2463 711.396 122.239 60.0102 731.64 122.802 62.6588 775.62 120.781 62.583 691.705 109.817 55.1634 690.457 110.024 55.637 693.764 114.599 51.8635 692.738 114.847 52.5026 696.194 119.731 49.6381 692.013 115.238 53.239 700.099 114.012 49.7038 691.789 115.689 54.068 695.267 120.238 51.4313 691.832 115.466 53.6456 695.328 120.107 50.9481 695.513 119.97 50.4826 689.358 110.386 56.1825 688.917 110.645 56.4849 688.597 110.954 56.8105 688.425 111.289 57.1581 688.405 111.621 57.5193 688.533 111.932 57.8802 688.778 112.219 58.2346 696.333 114.857 61.9311 691.484 113.511 60.1036 689.504 112.72 58.9137 707.447 116.86 64.127 730.113 118.45 66.1676 774.487 116.27 66.0478 818.854 112.869 64.7354 676.389 101.229 75.4997 682.296 105.919 66.2222 676.331 101.103 75.5001 681.968 105.42 66.0278 676.275 100.979 75.5006 681.768 104.881 65.8296 675.802 99.9406 75.5048 679.52 103.909 75.503 683.2 106.794 66.5996 677.904 102.525 75.5013 677.51 102.188 75.5008 679.662 103.952 75.503 680.133 104.096 75.503 683.966 105.27 75.5028 686.565 106.065 75.5026 692.814 107.978 75.5023 699.944 110.16 75.502 704.581 111.58 75.5017 711.423 111.603 75.5017 726.107 111.652 75.5019 756.688 111.755 75.5021 758.698 111.59 75.5021 688.16 94.1673 75.4931 685.625 94.5707 75.4944 691.184 100.93 63.7835 678.433 95.7155 75.4984 682.695 102.783 65.088 683.922 102.167 64.7858 678.389 95.7226 75.4984 676.526 96.7611 75.5011 682.213 103.221 65.2544 676.498 96.7763 75.5011 676.464 96.8285 75.5011 675.836 97.7772 75.5008 675.683 98.0087 75.5007 681.881 103.743 65.4348 675.678 98.0783 75.5011 681.734 104.311 65.6289 675.588 99.4715 75.5067 675.666 99.6421 75.506 697.138 109.234 53.8064 708.747 108.197 52.8544 731.96 106.326 52.761 708.938 94.2303 75.4948 697.984 94.1971 75.4938 689.829 94.1723 75.4932 776.137 106.238 54.1015 755.377 94.3711 75.4985 722.061 94.2701 75.4957 775.872 94.4332 75.5 767.931 94.4091 75.4994 815.142 106.968 75.5017 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4.69933 1099.96 107.997 1.93467 1101.25 104.559 2.24374 1100.87 101.784 2.4931 1100.56 358.54 40.6656 1036.26 357.868 40.6656 1034.45 358.339 43.4187 1034.2 371.889 50.6656 1028.01 371.888 50.6656 1028.01 365.751 49.8163 1030.53 365.413 49.5895 1029.85 364.836 49.258 1030.05 371.891 50.6656 1028.01 366.56 49.8163 1031.89 363.141 47.821 1034.72 361.295 45.5754 1036.35 360.367 43.4187 1037.19 359.975 40.6656 1037.54 359.025 43.5849 1035.92 360.151 45.8061 1035.13 362.31 48.0185 1033.66 366.139 49.8929 1031.22 371.89 50.6656 1028.01 359.459 45.5754 1033.6 361.686 47.821 1032.46 361.339 47.2517 1031.27 359.943 45.6229 1031.81 359.344 44.9244 1032.05 358.458 42.9559 1032.41 358.117 40.6656 1032.55 673.577 90.4391 679.078 703.927 92.6336 580.502 658.512 89.3498 728.009 613.101 85.4067 875.502 680.33 90.1664 847.926 679.941 90.1395 853.966 652.091 87.8381 875.502 681.201 90.3314 875.502 677.043 90.129 580.502 677.043 98.8834 580.502 677.892 90.2009 580.502 704.926 99.9238 477.875 704.863 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86.856 445.457 565.214 86.73 443.88 565.251 86.7629 442.41 565.389 87.2104 437.793 565.879 87.1374 437.923 566.107 87.0377 437.983 566.336 86.938 438.043 566.393 87.1531 436.76 565.952 87.2311 436.49 566.803 86.9436 437.009 567.856 86.904 435.937 569.624 86.7966 435.089 567.167 87.2475 435.107 567.527 87.1538 435.541 569.174 87.2533 433.944 569.413 87.1288 434.552 572.244 87.2442 433.282 572.295 87.0651 434.07 572.336 86.5876 434.722 576.823 87.2125 433.796 576.548 86.9337 434.743 576.344 86.2033 435.431 582.211 86.1633 437.118 582.412 86.8938 436.428 582.686 87.1725 435.481 590.439 87.8365 433.663 590.232 87.512 433.598 589.921 87.2953 433.504 589.553 87.2195 433.397 591.516 87.9014 429.914 591.309 87.5769 429.849 590.998 87.3602 429.756 590.631 87.2844 429.649 593.291 87.9498 427.928 592.418 87.9342 428.478 591.776 87.9151 429.286 591.588 87.5901 429.177 591.303 87.3737 429.017 590.967 87.2989 428.832 592.275 87.6087 428.312 592.058 87.3926 428.067 591.802 87.3191 427.779 593.21 87.6238 427.724 593.085 87.4079 427.419 592.937 87.3356 427.062 594.297 87.9604 427.698 594.286 87.6342 427.477 594.269 87.4185 427.148 594.247 87.3468 426.761 595.322 87.9654 427.812 595.384 87.6389 427.6 595.475 87.4233 427.283 595.582 87.3521 426.91 614.469 87.5115 432.339 628.284 87.7969 436.312 628.175 87.8687 436.684 611.666 88.0722 432.51 611.731 87.7457 432.299 611.824 87.5301 431.982 611.932 87.4591 431.609 628.009 88.4104 437.208 628.078 88.0843 436.999 628.638 88.4327 437.469 628.751 88.1059 437.278 628.916 87.8906 436.99 629.104 87.8205 436.65 629.443 88.4598 438.111 629.614 88.1321 437.966 629.865 87.9173 437.745 630.157 87.8494 437.485 630.874 87.8669 438.62 630.511 87.9334 438.771 630.201 88.1478 438.898 629.992 88.4761 438.982 630.109 88.4689 441.008 630.222 88.4794 439.985 630.326 88.1407 441.066 630.448 88.151 439.972 630.649 87.9262 441.156 630.783 87.9366 439.952 631.026 87.8594 441.263 631.175 87.8705 439.929 625.413 88.2448 457.347 625.631 87.9162 457.406 625.955 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354.916 98.6603 679.083 255.279 100.373 875.502 256.223 101.148 875.502 257.195 101.89 875.502 257.692 102.249 875.502 257.943 102.425 875.502 258.194 102.598 875.502 258.701 102.938 875.502 259.213 103.268 875.502 261.287 104.536 875.502 353.352 96.3047 679.076 251.412 96.5918 875.502 251.995 97.2186 875.502 352.861 94.9779 679.096 249.621 93.2246 875.502 250.305 94.9883 875.502 249.792 90.8902 875.502 249.718 91.2725 875.502 352.75 93.5728 679.115 249.519 92.3072 875.502 249.525 92.5317 875.502 249.544 92.7548 875.502 249.57 92.9171 875.502 251.124 88.9085 875.502 250.71 89.3576 875.502 353.241 92.2558 679.112 250.585 89.5127 875.502 250.429 89.7836 875.502 253.206 87.3806 875.502 252.612 87.7459 875.502 356.561 89.6987 679.076 254.354 86.7656 875.502 253.811 87.0384 875.502 252.555 87.7828 875.502 251.574 88.5005 875.502 251.532 88.5386 875.502 263.609 84.1579 875.502 262.61 84.3226 875.502 261.612 84.5019 875.502 257.648 85.4404 875.502 255.049 86.4165 875.502 390.089 85.2685 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276.498 567.83 96.3678 276.486 568.264 97.9992 276.468 569.149 99.4569 276.479 577.011 86.7395 465.322 537.514 85.8647 520.609 537.781 86.0803 520.804 537.959 86.4068 520.935 577.451 87.2811 465.645 577.276 86.9557 465.514 581.513 87.3624 459.945 581.337 87.0469 459.813 581.076 86.8381 459.623 633.905 88.7141 402.025 630.784 88.6413 403.301 628.263 88.5712 405.537 626.625 88.51 408.478 626.052 88.4638 411.788 626.602 88.4389 415.095 628.208 88.4418 418.032 630.695 88.477 420.279 633.793 88.5429 421.583 637.15 88.6292 421.789 639.221 88.6871 421.342 644.493 88.8474 417.28 642.203 88.7751 419.76 645.831 88.8967 414.18 646.065 88.9194 410.814 643.245 88.8892 404.789 645.169 88.9159 407.561 640.51 88.8434 402.812 637.274 88.7834 401.855 630.475 88.2952 402.786 627.8 88.2147 405.154 626.06 88.1444 408.27 625.45 88.0912 411.781 626.033 88.0626 415.289 627.738 88.0659 418.406 630.379 88.1064 420.789 633.667 88.1822 422.169 637.227 88.2814 422.384 639.421 88.3479 421.907 642.577 88.449 420.228 644.997 88.532 417.598 646.41 88.5885 414.316 646.655 88.6145 410.754 645.707 88.6105 407.311 643.672 88.5797 404.377 640.778 88.5273 402.282 637.353 88.4584 401.264 633.784 88.3788 401.439 379.171 42.7674 1008.91 385.521 43.6867 1006.29 385.884 45.5632 1007.28 370.299 45.6656 1016.75 369.288 40.6656 1015.87 376.266 50.6656 1023.03 372.821 49.3259 1019.41 369.386 40.6865 1015.8 386.209 47.2381 1008.16 388.807 50.6656 1015.23 387.38 49.7685 1011.35 387.116 49.1984 1010.63 429.016 43.7442 1013.04 430.544 43.6015 1013.88 429.853 45.5599 1014.72 427.887 47.3352 1014.47 415.866 47.8724 1008.43 417.743 44.7962 1006.82 415.172 44.9155 1005.95 412.604 47.9338 1007.45 413.135 44.92 1005.62 397.76 47.8059 1006.05 401.701 44.9454 1003.82 399.68 47.8596 1005.96 399.035 44.8357 1003.85 397.596 44.7133 1004.11 398.064 49.9231 1009.25 425.841 49.7951 1017.15 414.772 49.9411 1011.43 411.764 49.9576 1010.51 399.837 49.9376 1009.16 429.261 47.2381 1015.45 427.591 49.1984 1017.48 427.105 49.7685 1018.07 398.421 50.6656 1013.02 400.022 50.6656 1012.9 410.786 50.6656 1014.08 413.492 50.6656 1014.94 423.364 50.6656 1020.39 424.479 50.6656 1021.27 444.194 40.6656 1036.26 442.758 40.6656 1037.54 442.366 43.4187 1037.19 430.842 50.6656 1028.01 436.173 49.8163 1031.89 430.846 50.6656 1028.01 430.845 50.6656 1028.01 437.32 49.5895 1029.85 436.982 49.8163 1030.53 437.898 49.258 1030.05 441.048 47.821 1032.46 441.395 47.2517 1031.27 443.274 45.5754 1033.6 442.536 45.9197 1031.72 442.791 45.6229 1031.81 443.389 44.9244 1032.05 444.276 42.9559 1032.41 444.394 43.4187 1034.2 444.617 40.6656 1032.55 444.865 40.6656 1034.45 443.709 43.5849 1035.92 442.583 45.8061 1035.13 440.423 48.0185 1033.66 436.595 49.8929 1031.22 430.844 50.6656 1028.01 441.438 45.5754 1036.35 439.593 47.821 1034.72 444.617 40.4193 1032.55 444.014 40.6656 1031.08 440.891 38.2647 1038 442.211 38.4834 1037.78 444.271 39.222 1036.14 444.178 39.1791 1036.24 443.376 38.8099 1037.14 442.732 38.6292 1037.49 444.862 40.1326 1033.52 444.813 39.8276 1034.45 444.79 39.6837 1034.89 361.843 32.4582 1038 401.356 35.4987 1038 358.883 29.9558 1038.26 358.167 29.3998 1039.29 357.976 29.6951 1038.36 359.19 31.2694 1037.3 359.398 31.0115 1037.56 357.785 30.346 1037.46 358.433 30.9191 1037.14 357.957 29.7624 1038.27 358.646 30.333 1037.68 359.009 31.6355 1037.06 359.458 32.4269 1037.21 359.53 32.3668 1037.27 359.607 32.3462 1037.32 101.242 10.9792 1039.37 102.29 11.8472 1039 102.975 8.17473 1040.22 100.81 3.39743 1047.74 97.7668 8.21123 1043.33 98.938 9.14412 1042 99.52 6.76493 1043.18 103.652 5.11725 1042.78 100.23 4.81249 1045.23 102.688 12.1773 1038.85 104.292 13.506 1038.28 104.905 9.19284 1039.23 106.274 15.1483 1037.56 106.851 10.6055 1038.73 106.87 10.4571 1038.77 106.988 9.53227 1039.01 107.371 6.58365 1041.53 96.7697 7.4977 1046.44 107.65 4.43729 1043.36 104.191 2.94463 1046.18 107.751 3.70812 1045.22 107.759 3.65125 1045.37 97.4855 5.32906 1048.26 95.6718 6.71203 1049.87 96.6083 7.38225 1046.95 171.912 10.3949 1050.2 171.981 9.79308 1048.48 171.97 9.8882 1049.41 206.443 16.6463 1051.55 206.613 15.0765 1050.66 206.619 15.0771 1050.66 172.575 11.2882 1050.66 206.332 17.6765 1053.08 241.168 21.3037 1053.09 241.171 21.28 1052.93 241.275 20.2555 1051.6 241.295 20.0613 1051.34 218.549 16.3558 1050.66 241.43 18.7372 1050.66 172.667 10.4822 1050.2 172.725 9.97537 1049.41 172.737 9.87896 1048.48 245.531 20.2807 1055.73 243.996 21.3351 1055.85 243.863 21.3969 1054.91 241.796 21.3395 1053.01 242.23 20.1572 1051.45 245.328 20.3347 1054.31 246.105 18.8194 1053.94 246.122 18.8177 1053.96 245.298 18.9009 1052.5 244.659 20.3327 1053.03 245.284 18.901 1052.49 243.585 20.2719 1052.03 244.073 18.9088 1051.42 242.541 18.834 1050.79 242.483 18.8289 1050.78 242.702 21.4017 1053.39 243.419 21.4208 1054.06 246.408 18.6802 1055.56 246.494 17.9552 1065.18 246.495 17.9487 1065.35 245.617 19.5525 1065.44 246.521 17.7245 1071.19 246.527 17.6693 1074.68 245.648 19.2775 1074.69 244.113 20.3375 1074.7 244.081 20.6111 1065.5 246.527 17.6691 1074.7 248.657 16.2106 1074.7 248.657 16.2106 1074.74 247.998 16.2535 1074.7 247.738 16.3334 1074.74 246.974 16.857 1074.74 247.379 16.5147 1074.7 247.749 16.3585 1074.7 246.558 17.5683 1074.7 246.882 16.966 1074.7 246.987 16.871 1074.7 248.657 16.2106 1076.28 247.738 16.3334 1076.28 246.974 16.857 1076.28 246.527 17.6691 1076.31 246.527 17.6693 1076.33 245.648 19.2775 1076.32 244.113 20.3375 1076.31 246.558 17.5683 1076.31 246.882 16.9665 1076.31 246.987 16.8711 1076.31 247.379 16.5151 1076.32 247.749 16.3585 1076.32 247.997 16.2537 1076.32 248.657 16.2106 1076.32 246.524 17.6965 1078.49 245.617 19.5523 1085.57 246.501 17.889 1084.5 246.492 17.973 1085.66 244.081 20.6109 1085.51 243.996 21.334 1095.15 245.531 20.2797 1095.28 246.408 18.6791 1095.44 243.042 18.8654 1100.07 241.43 18.7361 1100.34 241.295 20.0602 1099.66 242.739 20.2028 1099.4 243.059 18.8659 1100.06 244 20.2987 1098.67 244.508 18.9134 1099.27 244.52 18.9138 1099.27 244.937 20.3389 1097.56 245.619 18.8804 1098.06 246.272 18.7775 1096.53 245.45 20.3214 1096.22 242.137 21.3654 1097.9 242.98 21.4123 1097.41 243.604 21.4162 1096.67 243.944 21.3788 1095.78 241.275 20.2544 1099.41 241.171 21.2789 1098.07 241.168 21.3026 1097.92 206.332 17.6754 1097.92 206.619 15.076 1100.34 206.614 15.0754 1100.34 206.444 16.6452 1099.45 172.566 11.2862 1100.34 218.55 16.3548 1100.34 107.779 3.49434 1105.7 107.772 3.54565 1105.85 104.191 2.94366 1104.83 107.726 3.87692 1106.8 107.369 6.60675 1109.49 103.653 5.11619 1108.22 97.4864 5.32807 1102.74 100.811 3.39645 1103.26 100.23 4.81147 1105.78 98.9928 9.19149 1108.94 97.4761 7.98617 1107.14 99.5208 6.76389 1107.82 102.976 8.17365 1110.78 106.846 10.6584 1112.11 102.61 9.93586 1111.67 106.568 12.8435 1112.76 106.275 15.1474 1113.44 107.101 8.6588 1111.52 106.865 10.5106 1112.07 102.685 12.1722 1112.17 102.286 11.8419 1112.03 101.31 11.0332 1111.68 96.7288 7.46007 1104.59 96.5793 7.35485 1104.08 95.6497 6.70049 1100.92 172.728 9.87692 1102.52 171.981 9.79204 1102.53 172.716 9.97331 1101.59 171.97 9.88716 1101.59 172.658 10.4801 1100.81 171.912 10.3938 1100.81 505.311 50.6656 1066.79 505.311 50.6656 1084.21 497.227 50.6656 1051.37 497.227 50.6656 1099.63 491.367 50.6656 1046.04 491.367 50.6656 1104.96 444.617 40.4191 1118.46 444.617 40.6656 1118.46 444.889 40.0206 1117.12 444.865 40.6656 1116.55 444.194 40.6656 1114.74 444.701 39.567 1115.78 444.809 39.8284 1116.56 442.741 38.627 1113.51 443.061 38.7046 1113.64 442.758 40.6656 1113.46 444.069 39.1067 1114.57 444.166 39.1775 1114.76 441.807 38.4013 1113.11 440.891 40.6656 1113 440.891 38.2639 1113 438.653 47.2517 1115.48 436.154 49.2534 1118.06 366.579 49.2534 1118.06 364.08 47.2517 1115.48 363.105 45.6212 1114.41 439.629 45.6212 1114.41 362.688 44.9244 1113.95 440.045 44.9244 1113.95 362.077 42.9559 1113.27 440.656 42.9559 1113.27 361.843 40.6656 1113 430.826 50.6656 1123 371.907 50.6656 1123 430.841 50.6656 1122.99 371.892 50.6656 1122.99 435.735 49.5895 1118.49 366.999 49.5895 1118.49 383.409 34.1512 1113 361.843 32.4575 1113 358.434 30.9187 1113.86 357.785 30.3456 1113.54 358.688 30.2495 1113.22 357.961 29.7818 1112.71 358.012 29.6168 1112.47 359.227 31.2145 1113.66 359.544 32.3597 1113.73 359.458 32.4262 1113.79 359.009 31.635 1113.95 359.606 32.3457 1113.69 359.397 31.0109 1113.45 358.882 29.9552 1112.74 358.168 29.3991 1111.71 36.8667 86.5919 1090.5 34.3667 85.922 1090.5 34.3667 86.5919 1093 38.6968 88.422 1090.5 36.5317 87.172 1093 39.3667 90.922 1090.5 38.8628 90.922 1092.38 38.1166 88.757 1093 36.5317 89.672 1094.83 37.7817 90.922 1093.92 38.6968 90.922 1093 34.3667 90.922 1095.5 36.247 90.922 1095 36.8667 90.922 1094.83 35.6166 88.757 1094.83 34.3667 88.422 1094.83 34.3667 85.922 1060.5 36.8667 86.5919 1060.5 38.6968 88.422 1060.5 39.3667 90.922 1060.5 37.7817 90.922 1057.09 36.8667 90.922 1056.17 36.5317 89.672 1056.17 35.6166 88.757 1056.17 34.3667 90.922 1055.5 34.3667 89.0416 1056.01 36.5317 87.172 1058 36.247 90.922 1056.01 38.8628 90.922 1058.62 38.6968 90.922 1058 38.1166 88.757 1058 34.3667 88.422 1056.17 34.3667 87.507 1057.09 34.3667 86.5919 1058 34.3667 86.4259 1058.62 250.176 90.0433 875.502 250.076 90.2483 875.502 249.61 91.2016 875.502 249.591 91.3081 875.502 249.496 91.8461 875.502 249.51 92.5005 875.502 249.517 92.5552 875.502 250.188 94.6529 875.502 251.478 96.5844 875.502 250.247 94.7565 875.502 250.699 95.543 875.502 251.296 96.3782 875.502 253.444 98.7283 875.502 259.771 103.614 875.502 254.174 99.4221 875.502 254.67 99.8565 875.502 255.343 100.447 875.502 256.557 101.415 875.502 259.095 103.204 875.502 258.447 102.775 875.502 257.808 102.332 875.502 257.492 102.107 875.502 257.178 101.879 875.502 503.822 107.141 875.502 536.123 101.946 875.502 517.848 104.962 875.502 526.988 103.473 875.502 531.556 102.712 875.502 574.18 96.2273 875.502 572.742 96.3657 875.502 563.559 97.5741 875.502 554.401 98.9473 875.502 545.258 100.422 875.502 600.928 94.0281 875.502 611.831 93.5852 875.502 612.668 93.5567 875.502 674.545 95.8972 875.502 676.372 96.0749 875.502 628.213 93.3828 875.502 637.457 93.5176 875.502 646.698 93.8285 875.502 649.031 93.9469 875.502 678.139 96.2679 875.502 678.196 96.2742 875.502 652.865 94.1413 875.502 659.026 94.547 875.502 667.241 95.2171 875.502 672.718 95.7218 875.502 682.345 91.877 847.891 681.62 90.8547 847.904 680.743 90.3129 847.905 682.038 90.6267 875.502 682.641 90.8395 875.502 683.184 91.2935 875.502 683.424 91.6796 875.502 683.663 92.0645 875.502 682.554 93.2648 847.868 684.047 93.4425 875.502 684.05 93.429 875.502 683.978 92.9351 875.502 683.909 92.4606 875.502 683.799 92.283 875.502 683.697 94.8111 875.503 683.801 94.4046 875.502 683.96 93.7823 875.502 682.809 95.8279 875.502 682.08 94.5858 847.839 682.677 95.9788 875.502 681.171 95.4484 847.814 682.07 96.2064 875.502 683.38 95.1733 875.503 683.39 95.1621 875.503 683.672 94.8395 875.503 681.221 96.5249 875.501 681.368 96.4699 875.501 680.206 95.8101 847.799 118.515 24.8939 1113.82 97.1384 25.9838 1113.86 122.771 24.8754 1113.82 148.836 24.7623 1113.82 184.167 22.9093 1113.74 200.511 24.538 1113.81 88.0482 29.6955 1113.24 87.6837 29.8331 1113.17 87.0535 30.0709 1113.06 80.0802 32.4419 1110.87 78.7667 32.8053 1110.13 77.8408 33.0615 1109.61 75.8073 31.5144 1105.35 75.7786 31.4973 1105.17 75.0215 31.0461 1100.41 61.7647 38.5173 1102.85 61.7189 38.5211 1102.84 62.5254 38.382 1102.72 62.0853 38.4885 1102.97 62.5349 38.4179 1103.14 63.3301 38.211 1102.6 63.3563 38.2888 1103.44 65.4224 37.9642 1104.2 69.0523 35.9551 1101.65 68.3476 37.1831 1105.35 70.157 36.3975 1106.16 70.9338 36.1079 1106.13 70.9916 36.0352 1106.54 70.2642 35.2484 1101.42 69.7412 36.5781 1105.98 69.2138 35.8914 1101.62 75.0215 31.0461 1050.6 76.1169 29.7469 1069.78 75.7434 30.1898 1091.23 75.7778 31.4966 1045.83 70.2642 35.2483 1049.58 63.3572 38.2887 1047.57 63.331 38.2107 1048.4 62.5262 38.3817 1048.28 70.1506 36.3935 1044.85 70.9889 36.0294 1044.47 70.9324 36.1059 1044.88 77.8343 33.0564 1041.4 75.8055 31.5131 1045.66 64.9846 37.5587 1048.68 65.4027 37.9678 1046.81 69.053 35.9547 1049.36 68.3055 37.1948 1045.67 69.2143 35.8911 1049.38 61.7207 38.5206 1048.17 61.7664 38.5168 1048.15 62.0856 38.4882 1048.04 62.5357 38.4175 1047.87 69.7397 36.5719 1045.03 78.8653 32.7471 1040.92 83.0818 31.4818 1038.95 84.1918 31.1021 1038.62 87.8708 29.7047 1037.99 97.1386 25.9835 1037.14 94.0132 27.3102 1037.17 92.0696 28.1099 1037.28 122.776 25.2529 1037.17 147.718 24.5421 1037.2 148.8 24.542 1037.2 184.159 22.9098 1037.26 200.496 24.5379 1037.2 358.117 35.3089 1032.55 357.843 34.6943 1033.93 357.927 34.4924 1034.45 358.072 34.1411 1035.33 358.591 33.5123 1036.23 359.99 32.3431 1037.51 358.821 33.2341 1036.62 360.539 32.3387 1037.78 357.592 31.3462 1036.5 356.694 30.754 1036.91 356.385 31.5356 1035.38 356.414 30.8543 1036.64 355.391 31.2199 1035.67 358.337 32.2154 1036.4 357.819 33.0977 1035.2 357.623 32.7957 1035.21 357.231 32.1898 1035.22 356.667 31.7531 1035.33 359.173 36.0321 1030.06 360.342 36.7457 1027.69 364.304 38.7195 1021.47 682.846 91.0429 875.502 682.586 90.8504 875.502 682.07 90.6691 875.502 681.655 90.5237 875.502 679.753 90.3221 875.502 677.406 90.1383 875.502 615.031 85.5861 875.502 626.712 86.2943 875.502 646.815 87.6705 875.502 648.325 87.7834 875.502 673.814 89.8086 875.502 668.307 89.3286 875.502 659.842 88.6451 875.502 609.189 85.2589 875.502 603.346 84.9494 875.502 579.967 83.8755 875.502 573.54 83.6244 875.502 568.274 83.4187 875.502 556.58 82.9968 875.502 525.531 82.0083 875.502 499.143 81.538 875.502 509.792 81.6921 875.502 471.102 81.2328 875.502 439.584 81.1119 875.502 431.354 81.0692 875.502 377.3 80.6289 875.502 354.444 80.3392 875.502 299.112 81.9992 875.502 257.328 85.5225 875.502 261.071 84.6042 875.502 259.188 85.0161 875.502 259.155 85.0251 875.502 253.026 87.4746 875.502 253.508 87.1833 875.502 254.503 86.6456 875.502 254.611 86.5972 875.502 255.892 86.0248 875.502 275.728 83.0031 875.502 271.145 83.2873 875.502 266.572 83.7354 875.502 264.292 84.0445 875.502 263.154 84.2246 875.502 262.017 84.4235 875.502 279.348 82.8487 875.502 250.764 89.311 875.502 250.949 89.1149 875.502 251.339 88.7387 875.502 251.404 88.687 875.502 357.821 33.8469 1025.53 357.833 33.8535 1025.5 358.698 33.9328 1026.02 362.022 35.8346 1018.84 358.865 34.0211 1026.13 363.017 35.9317 1019.62 358.867 34.0226 1026.13 363.814 36.5277 1020.41 359.461 34.3358 1026.53 360.324 35.881 1027.44 360.225 35.5943 1027.3 364.271 37.5159 1021.07 360.024 35.0106 1027.03 360.358 36.5587 1027.65 369.303 39.4216 1015.46 368.92 38.4147 1014.71 368.212 37.837 1013.77 367.314 37.7985 1012.82 370.946 38.7497 1010.25 377.859 40.5602 1005.36 378.414 40.4719 1006.44 384.641 41.769 1002.59 385.011 41.6326 1003.7 378.862 40.8648 1007.51 385.309 41.9494 1004.79 379.129 41.6744 1008.37 385.488 42.6709 1005.7 418.538 43.0431 1004.31 418.184 43.284 1005.33 415.559 43.4252 1004.43 417.907 43.8959 1006.2 415.319 44.0256 1005.32 431.357 41.7617 1010.12 432.553 41.6228 1010.78 431.851 41.5265 1011.69 418.919 43.2055 1003.29 401.75 44.0522 1003.17 399.066 43.9307 1003.21 401.793 43.4542 1002.25 399.07 43.3218 1002.28 415.859 43.1947 1003.41 401.823 43.2324 1001.16 399.047 43.0926 1001.19 430.766 42.5949 1013.36 431.224 41.8673 1012.6 416.181 43.3649 1002.37 401.836 43.4168 1000.08 398.998 43.2745 1000.09 442.78 45.6656 1031.6 439.114 42.0295 1022.56 442.327 41.1487 1027.6 443.096 40.9172 1029.08 444.01 40.6667 1031.07 444.799 39.198 1032.28 444.19 39.4401 1030.81 445.444 38.1931 1031.87 444.826 38.4331 1030.38 446.437 37.5828 1031.39 445.809 37.8239 1029.86 447.603 37.475 1030.91 446.962 37.7213 1029.35 444.565 38.122 1036.08 445.089 38.9439 1033.29 445.78 37.956 1033.03 446.82 37.3358 1032.79 448.032 37.1883 1032.62 445.069 38.5416 1034.73 445.761 37.5782 1034.69 446.759 36.9444 1034.79 447.908 36.7393 1035.02 445.183 37.181 1036.26 446.035 36.5347 1036.66 446.999 36.2766 1037.21 445.435 35.8602 1038.97 444.739 36.1591 1038.17 444.111 36.8154 1037.55 443.636 37.7405 1037.19 443.023 35.8604 1039.16 443.396 35.5312 1040.11 441.087 35.3117 1040.51 441.06 35.7177 1039.55 441.051 35.8517 1039.23 442.673 36.5238 1038.4 440.958 37.2481 1038.24 442.39 37.4369 1037.92 440.98 36.9123 1038.32 441.016 36.382 1038.78 401.573 32.5474 1040.51 401.533 33.0875 1039.22 401.456 34.1474 1038.32 361.951 31.1082 1038.32 362.036 30.049 1039.22 362.08 29.5088 1040.51 360.198 29.9449 1038.93 359.8 29.3903 1040.12 360.463 31.0015 1038.09 350.634 29.8671 1037.55 287.224 26.7645 1037.66 310.953 27.9255 1037.62 311.14 26.671 1038.6 263.494 25.6033 1037.7 263.683 23.7361 1039.07 263.746 23.1216 1039.52 311.24 25.8498 1039.65 263.849 22.1014 1040.27 264.035 20.3395 1043.62 263.944 21.2037 1041.97 263.867 21.931 1040.59 264.064 20.0953 1044.76 311.022 27.9289 1037.62 185.031 15.33 1040.49 184.595 19.1094 1038.12 261.176 25.5641 1037.68 231.968 25.0701 1037.45 206.761 13.7624 1049.41 241.565 17.4208 1049.41 241.513 17.9294 1050.2 218.635 15.5486 1050.2 206.772 13.6651 1048.48 218.699 14.9431 1048.48 218.689 15.0406 1049.41 241.574 17.3229 1048.48 206.706 14.2701 1050.2 245.66 18.1081 1052.18 244.346 18.1149 1051.02 242.703 18.0334 1050.33 242.915 17.5386 1049.57 243.128 17.4577 1048.66 244.776 17.6299 1050.34 245.271 17.5596 1049.56 246.266 17.6208 1051.67 246.983 17.5447 1051.08 246.546 18.0199 1053.75 247.269 17.5196 1053.46 248.135 17.4244 1053.14 246.854 17.8721 1055.48 247.618 17.3512 1055.42 248.536 17.2293 1055.39 246.94 17.1443 1065.13 247.704 16.6214 1065.1 248.623 16.4988 1065.09 246.967 16.9126 1071.17 247.732 16.3892 1071.15 248.65 16.2664 1071.15 246.974 16.8572 1074.67 247.738 16.3336 1074.67 248.657 16.2108 1074.67 445.964 38.0548 1027.18 445.063 38.0854 1027.63 444.892 38.1599 1027.73 443.925 38.7629 1028.31 443.941 38.7467 1028.3 444.244 38.4436 1028.1 444.861 38.1736 1027.75 443.202 39.9493 1028.87 443.304 39.7284 1028.78 443.309 39.7179 1028.77 443.599 39.0891 1028.53 443.094 40.8576 1029.07 441.06 35.7169 1111.46 441.051 35.851 1111.78 383.594 31.7409 1111.78 383.513 32.8005 1112.68 362.036 30.0483 1111.78 362.08 29.5081 1110.5 383.636 31.2008 1110.49 441.087 35.311 1110.49 361.951 31.1075 1112.68 441.016 36.3813 1112.23 440.958 37.2473 1112.76 440.98 36.9116 1112.68 444.987 38.4362 1115.92 444.359 38.0156 1114.6 441.954 37.3606 1112.95 442.425 35.7854 1111.66 442.689 35.4487 1110.68 442.169 36.4505 1112.44 443.302 37.6427 1113.56 443.726 36.7215 1113.16 444.277 36.0629 1112.48 444.884 35.7541 1111.63 444.945 37.0791 1114.37 445.746 36.4299 1113.91 446.646 36.16 1113.28 445.668 37.4789 1115.9 446.639 36.8418 1115.72 447.75 36.6227 1115.41 445.131 38.8439 1117.35 445.83 37.8624 1117.55 446.87 37.2387 1117.69 448.079 37.0763 1117.76 444.799 39.1978 1118.72 445.444 38.1929 1119.13 446.437 37.5826 1119.62 447.603 37.4749 1120.09 446.962 37.7214 1121.66 445.808 37.8239 1121.14 444.826 38.433 1120.62 444.19 39.4401 1120.19 444.014 40.6656 1119.93 335.427 24.3252 1074.72 335.26 24.311 1076.3 465.956 34.0017 1075.32 471.371 34.3377 1075.51 248.657 16.2108 1076.35 247.738 16.3336 1076.35 246.974 16.8572 1076.34 246.948 17.0779 1084.54 248.631 16.4321 1084.58 248.536 17.2282 1095.61 247.712 16.5548 1084.57 247.618 17.3501 1095.59 246.854 17.871 1095.53 248.654 16.2382 1078.52 247.735 16.361 1078.51 246.971 16.8845 1078.5 248.346 17.3675 1097.15 247.433 17.5152 1099.3 247.452 17.4707 1096.93 246.657 17.5963 1098.79 246.707 17.9769 1096.71 246.005 18.0867 1098.35 245.896 17.5659 1101 245.32 17.6365 1100.27 244.826 18.1209 1099.65 243.24 18.0675 1100.52 243.523 17.5771 1101.26 243.829 17.5014 1102.14 241.513 17.9283 1100.81 241.565 17.4198 1101.59 241.575 17.3218 1102.52 206.772 13.6642 1102.52 218.689 15.0395 1101.59 218.635 15.5475 1100.81 206.762 13.7614 1101.59 206.707 14.2691 1100.81 218.7 14.942 1102.52 264.078 20.096 1106.25 263.955 21.2463 1109.03 263.897 21.7802 1110.32 184.602 19.1091 1112.88 185.039 15.3299 1110.51 261.186 25.5641 1113.32 231.993 25.0704 1113.56 263.889 21.854 1110.42 263.867 22.0762 1110.7 263.76 23.1265 1111.48 263.699 23.7282 1111.92 263.509 25.6033 1113.3 311.249 25.8413 1111.34 311.148 26.6654 1112.39 311.026 27.9935 1113.42 310.956 27.99 1113.42 360.273 29.403 1110.74 360.58 29.9556 1111.96 360.772 31.0127 1112.82 359.995 32.3475 1113.51 360.81 32.3517 1113.14 482.591 42.208 1033.32 482.909 42.3111 1033.06 483.453 43.5849 1033.16 484.103 42.616 1032.45 485.077 42.7949 1032.33 485.169 43.4187 1032.47 486.819 43.0524 1032.56 485.766 45.5754 1033.59 486.689 43.0343 1032.54 485.45 42.8635 1032.28 481.398 41.4612 1036.01 481.429 41.5556 1035.58 481.633 42.9559 1036.21 481.811 41.874 1034.36 491.36 50.6656 1046.02 491.362 50.6656 1046.02 488.839 49.8163 1039.89 489.522 49.5895 1039.55 489.362 49.3267 1039.09 491.354 50.6656 1046.03 491.356 50.6656 1046.03 486.854 49.5895 1041.13 487.478 49.8163 1040.69 486.421 49.2534 1040.71 484.649 47.821 1037.28 483.842 47.2517 1038.21 482.775 45.6212 1037.24 483.02 45.5754 1035.43 488.095 47.2517 1035.47 486.906 47.821 1035.82 487.617 45.8144 1034.24 487.321 44.9244 1033.48 486.977 43.0718 1032.63 482.319 44.9244 1036.82 482.183 43.4187 1034.5 481.924 41.9226 1034.21 484.242 45.8061 1034.29 485.711 48.0185 1036.45 488.148 49.8929 1040.27 491.358 50.6656 1046.03 498.332 42.8605 1039.08 504.27 42.4464 1045.17 503.627 45.8624 1045.71 491.362 50.6656 1104.98 488.095 47.2517 1115.53 489.362 49.3267 1111.91 500.898 49.3825 1102.88 489.522 49.5895 1111.45 504.289 42.4618 1105.91 502.025 42.6616 1108.78 503.627 45.8624 1105.29 500.658 42.7434 1110.02 487.617 45.8144 1116.76 489.271 43.0713 1117.39 487.321 44.9244 1117.53 487.505 43.0733 1118.16 486.977 43.0716 1118.38 510.293 41.9322 1098.3 513.607 45.8624 1086.25 511.223 41.8241 1096.59 515.875 41.2065 1082.14 515.555 41.2528 1084.06 514.712 41.364 1086.49 515.873 41.2069 1068.85 513.607 45.8624 1064.75 515.147 41.3115 1065.02 507.688 42.208 1048.68 509.088 42.0655 1050.73 514.571 41.3923 1062.81 500.898 49.3825 1048.12 510.069 49.3825 1085.38 510.069 49.3825 1065.62 483.839 42.557 1118.46 483.167 42.3863 1118.12 483.453 43.5849 1117.84 482.193 42.057 1117.24 481.951 41.9242 1116.79 482.183 43.4187 1116.5 481.58 41.721 1116.09 485.072 42.798 1118.7 485.169 43.4187 1118.53 485.2 42.823 1118.72 486.666 43.033 1118.49 486.709 43.0383 1118.48 485.766 45.5754 1117.41 491.356 50.6656 1104.98 491.354 50.6656 1104.98 487.478 49.8163 1110.31 486.854 49.5895 1109.87 486.421 49.2534 1110.29 491.36 50.6656 1104.98 488.839 49.8163 1111.12 486.906 47.821 1115.18 484.242 45.8061 1116.72 485.711 48.0185 1114.56 488.148 49.8929 1110.73 491.358 50.6656 1104.98 483.02 45.5754 1115.57 484.649 47.821 1113.73 483.842 47.2517 1112.79 482.775 45.6212 1113.76 482.319 44.9244 1114.18 481.633 42.9559 1114.79 481.398 41.4608 1115 481.367 37.9759 1074.83 481.367 40.6656 1041.91 481.367 39.5341 1101.08 481.367 40.6656 1109.09 481.374 41.0469 1112.05 481.374 41.0471 1038.96 442.535 45.921 1119.29 441.395 47.2517 1119.73 441.048 47.821 1118.54 441.438 45.5754 1114.66 439.593 47.821 1116.28 430.842 50.6656 1122.99 437.32 49.5895 1121.16 430.846 50.6656 1123 436.982 49.8163 1120.47 430.845 50.6656 1122.99 430.844 50.6656 1122.99 436.595 49.8929 1119.78 437.898 49.258 1120.95 443.274 45.5754 1117.4 443.389 44.9244 1118.96 442.791 45.6229 1119.19 440.423 48.0185 1117.35 436.173 49.8163 1119.11 442.366 43.4187 1113.82 443.709 43.5849 1115.09 442.583 45.8061 1115.88 444.394 43.4187 1116.8 444.276 42.9559 1118.6 443.2 39.9496 1122.14 443.092 40.858 1121.93 444.01 40.6667 1119.94 443.095 40.9175 1121.92 443.923 38.7633 1122.7 443.598 39.0895 1122.48 443.307 39.7182 1122.23 443.302 39.7287 1122.23 444.891 38.1603 1123.28 444.859 38.174 1123.26 444.242 38.444 1122.91 443.94 38.7471 1122.71 445.061 38.0858 1123.37 445.962 38.0553 1123.82 376.266 50.6656 1127.97 412.599 50.6656 1136.37 409.995 50.6656 1137.13 399.212 50.6656 1138.05 388.807 50.6656 1135.77 397.734 50.6656 1137.92 424.479 50.6656 1129.73 422.563 50.6656 1131.21 358.54 40.6656 1114.74 359.975 40.6656 1113.46 360.367 43.4187 1113.82 371.891 50.6656 1122.99 366.56 49.8163 1119.11 371.888 50.6656 1123 371.889 50.6656 1122.99 365.413 49.5895 1121.16 365.751 49.8163 1120.47 364.836 49.258 1120.95 361.686 47.821 1118.54 361.339 47.2517 1119.73 359.943 45.6229 1119.19 359.459 45.5754 1117.4 359.344 44.9244 1118.96 358.458 42.9559 1118.6 358.339 43.4187 1116.8 358.117 40.6656 1118.46 357.868 40.6656 1116.55 359.025 43.5849 1115.09 360.151 45.8061 1115.88 362.31 48.0185 1117.35 366.139 49.8929 1119.78 371.89 50.6656 1122.99 361.295 45.5754 1114.66 363.141 47.821 1116.28 358.547 33.5791 1114.75 358.508 33.6277 1114.79 358.072 34.1411 1115.67 357.926 34.4922 1116.56 357.843 34.6917 1117.06 358.117 35.3089 1118.46 358.036 32.4755 1115.02 357.202 31.5285 1114.92 357.173 32.2465 1115.75 356.69 31.7193 1115.69 356.367 31.5954 1115.6 356.378 30.8724 1114.36 356.155 30.9556 1114.49 355.391 31.22 1115.33 357.657 32.7735 1115.81 357.76 33.113 1115.77 5.64045 85.922 1060.5 5.73707 85.9389 1060.09 8.86202 89.0177 1055.9 7.55387 87.5215 1056.84 7.44319 87.412 1056.98 6.423 86.4032 1058.36 6.329 86.3396 1058.6 10.3592 90.922 1055.5 8.93527 89.1016 1055.84 5.6411 85.922 1090.5 4.98074 85.922 1068.28 10.3595 90.922 1095.5 9.38588 89.6538 1095.34 6.66732 86.6432 1092.97 6.97118 86.9159 1093.49 8.06022 88.0785 1094.61 8.36879 88.4452 1094.78 6.15716 86.1854 1092.1 34.3667 122.571 1095.5 20.7934 107.976 1095.5 38.174 128.759 1093.74 38.9803 130.351 1092.41 39.3373 131.288 1091.04 39.3667 131.495 1090.5 39.0021 130.394 1092.38 37.861 128.219 1093.99 36.5944 126.035 1094.98 36.2621 125.518 1095.06 39.3667 131.494 1060.5 39.3667 132.764 1078.93 34.3667 122.571 1055.5 35.2745 123.938 1055.58 36.2313 125.486 1056 37.3142 127.239 1056.46 37.8406 128.19 1057.03 38.5884 129.541 1057.82 38.948 130.306 1058.6 39.1495 130.735 1059.04 26.6723 114.907 1055.5 20.2986 107.334 1055.5 433.207 129.725 939.116 433.199 138.24 959.275 503.815 128.576 959.284 362.298 143.736 959.3 574.186 116.939 959.353 574.182 101.609 918.227 747.293 86.0864 1011.45 736.871 79.5792 1011.37 724.226 83.5872 995.196 253.187 169.234 1010.23 297.803 168.934 1010.28 297.042 162.224 994.258 362.414 121.384 875.502 362.104 121.386 875.502 362.166 122.979 896.647 245.392 86.0828 885.242 431.35 75.0921 918.25 687.806 88.4938 918.235 687.265 95.3375 896.633 684.867 95.4535 885.58 574.183 97.7047 896.554 61.9862 43.9287 1025.5 49.6964 45.9671 1025.5 66.0477 51.3955 1006.8 33.0839 54.1645 1025.5 29.0012 56.604 1025.5 47.3005 60.8951 1006.66 735.058 91.0474 995.266 736.71 94.6286 995.281 752.107 95.3607 1011.49 736.744 98.4518 995.362 765.494 86.0325 1025.5 763.876 84.5811 1025.5 729.644 69.4768 1025.5 721.017 67.5164 1025.5 713.347 72.9392 1011.14 641.217 56.1494 1025.5 639.678 55.9704 1025.5 642.133 66.5987 994.659 295.27 36.7788 1010.19 357.828 33.8532 1025.5 294.525 43.1288 994.113 431.352 47.2184 994.303 441.729 39.5482 1020.05 290.434 60.142 959.483 431.339 61.4985 959.312 573.55 58.0644 994.495 473.469 40.881 1025.5 445.183 38.3809 1025.5 625.434 54.313 1025.5 576.085 49.9511 1025.5 573.478 49.7207 1025.5 680.546 73.1081 994.718 681.61 61.4114 1025.5 678.588 61.0177 1025.5 757.483 78.8447 1025.5 756.599 78.0517 1025.5 751.457 75.6137 1025.5 746.674 73.3461 1025.5 750.786 90.4739 1011.47 767.52 90.11 1025.5 766.187 86.6546 1025.5 768.298 92.1263 1025.5 768.08 93.6877 1025.5 767.74 96.1143 1025.5 734.998 102.077 995.334 763.242 106.86 1025.5 766.69 102.172 1025.5 710.306 97.8687 958.953 732.016 105.048 995.26 750.975 116.641 1025.5 753.393 115.356 1025.5 756.327 113.796 1025.5 759.225 112.255 1025.5 759.306 112.212 1025.5 762.668 107.642 1025.5 726.224 125.984 1025.5 737.546 123.78 1025.5 719.641 110.486 995.148 741.261 121.805 1025.5 728.209 107.27 995.248 675.438 135.408 1025.5 682.68 134.346 1025.5 681.612 118.026 994.665 685.09 133.992 1025.5 710.88 112.62 995.051 722.08 126.791 1025.5 663.737 137.125 1025.51 642.464 123.896 994.557 650.494 138.743 1025.5 574.185 134.157 994.263 574.177 147.574 1025.5 624.264 141.806 1025.5 635.82 140.476 1025.5 640.317 139.945 1025.5 503.813 144.234 994.354 521.88 153.738 1025.51 555.643 149.708 1025.5 327.443 172.649 1025.5 362.244 169.279 1025.5 362.344 159.583 994.311 419.36 163.748 1025.5 433.215 153.348 994.358 433.036 162.423 1025.5 518.247 154.172 1025.51 316.833 172.929 1025.5 265.373 174.284 1025.5 298.21 173.419 1025.5 214.022 172.626 1025.5 242.539 174.886 1025.5 252.601 174.621 1025.5 181.496 170.048 1025.5 187.61 165.079 1009.43 162.691 168.558 1025.5 149.621 158.851 1008.72 154.145 167.881 1025.5 95.3631 151.735 1025.5 99.1452 153.728 1025.5 109.84 146.34 1007.99 112.505 157.166 1025.5 139.701 164.164 1025.5 88.2392 147.983 1025.5 90.3719 137.011 1007.64 74.2632 140.621 1025.5 65.1379 135.814 1025.5 72.3062 125.041 1007.31 59.3167 132.748 1025.5 56.3736 110.718 1007.04 47.007 120.275 1025.5 54.512 127.88 1025.5 23.4526 94.144 1025.49 27.195 100.201 1025.5 43.0108 94.6337 1006.81 30.9425 103.998 1025.5 38.0669 111.217 1025.5 17.9509 85.2397 1025.48 37.2177 86.2099 1006.73 17.6843 84.8082 1025.48 16.3127 82.5883 1025.48 35.3227 81.5943 1006.69 15.9347 79.8823 1025.48 16.8475 74.8265 1025.48 15.6522 77.86 1025.47 35.6741 76.7783 1006.65 15.9317 79.8611 1025.48 24.0964 62.3054 1025.5 22.0119 65.2706 1025.5 40.3339 68.1374 1006.64 18.8282 69.7995 1025.51 17.1592 74.0353 1025.49 27.4548 57.528 1025.5 41.743 48.9905 1025.5 38.9798 50.6416 1025.5 56.0279 55.198 1006.71 45.6911 46.6314 1025.5 113.524 38.0564 1025.5 87.8195 47.4728 1007.07 143.347 35.8295 1025.49 175.963 39.8125 1008.77 164.863 34.6105 1025.48 170.807 34.2737 1025.48 106.534 38.5783 1025.5 74.0814 41.9565 1025.5 73.5317 42.0137 1025.5 295.61 32.6311 1025.5 267.792 32.0847 1025.5 258.212 31.8965 1025.5 254.669 31.9102 1025.5 219.123 32.4107 1025.51 181.606 33.6619 1025.47 648.398 94.4175 896.574 611.387 94.5785 896.567 678.869 96.2754 896.573 684.703 96.7179 896.611 684.112 96.065 885.572 687.636 92.4408 896.63 687.596 93.2554 896.632 687.569 94.757 896.627 687.422 91.6939 896.625 685.443 89.9623 896.62 686.008 90.2299 896.621 678.924 88.0125 918.258 573.54 79.6837 918.279 646.768 84.9601 918.265 284.207 74.7042 918.15 281.591 78.653 896.35 257.727 80.2001 896.309 250.904 84.0344 885.28 243.082 87.6919 885.272 242.664 88.3819 885.294 242.367 89.2077 885.33 235.776 95.6304 896.737 233.764 90.7117 896.565 238.849 99.5304 896.844 246.888 105.527 897.031 251.066 102.212 885.767 254.6 104.305 885.816 286.516 113.886 875.502 280.044 112.098 875.502 283.382 117.13 897.016 278.594 111.697 875.502 258.858 110.437 897.104 259.342 106.651 885.837 297.237 116.279 875.502 294.526 115.728 875.502 290.511 114.847 875.502 316.077 119.255 875.502 305.402 117.758 875.502 319.889 121.988 896.792 302.675 117.293 875.502 299.954 116.8 875.502 333.095 120.844 875.502 325.801 120.325 875.502 356.299 121.433 875.502 340.413 121.185 875.502 425.945 117.482 875.502 420.042 118.074 875.502 433.269 118.467 896.63 431.844 116.853 875.502 414.137 118.624 875.502 408.228 119.132 875.502 388.578 120.48 875.502 384.665 120.682 875.502 380.752 120.861 875.502 374.641 121.093 875.502 371.585 121.188 875.502 368.528 121.268 875.502 453.806 114.247 875.502 456.67 113.881 875.502 488.126 109.514 875.502 503.827 109.013 896.608 482.413 110.35 875.502 476.698 111.17 875.502 470.98 111.971 875.502 465.258 112.751 875.502 462.396 113.133 875.502 459.534 113.51 875.502 437.741 116.191 875.502 433.324 116.687 875.502 697.924 102.486 959.003 706.55 100.271 958.943 708.615 99.354 958.918 680.43 104.678 959.137 149.214 107.836 960.817 94.7282 119.913 992.183 110.404 130.432 992.427 168.463 120.817 960.437 127.208 138.765 992.688 190.084 130.089 960.052 161.565 150.573 993.207 212.385 136.364 959.719 194.836 157.064 993.695 255.602 142.515 959.312 253.855 161.837 994.222 293.328 144.51 959.303 644.945 107.684 959.194 609.502 111.748 959.301 80.5112 107.65 991.963 134.562 90.9381 961.157 68.3476 93.7505 991.765 63.1521 86.2943 991.685 132.297 85.9934 961.236 61.3885 77.9579 991.603 132.009 80.6688 961.313 65.7029 70.5288 991.569 135.504 76.1591 961.341 72.4294 64.8754 991.567 140.614 73.1673 961.354 88.8906 56.7913 991.641 151.591 68.6609 961.315 107.604 52.933 991.812 732.111 87.9712 995.264 705.537 87.974 958.96 697.342 85.6269 959.018 698.062 88.9329 939.051 711.227 95.8209 958.966 711.244 93.6139 958.907 710.454 91.643 958.914 709.119 90.047 958.94 233.959 87.949 896.477 235.091 85.8891 896.375 236.814 84.7859 896.322 238.666 84.0407 896.287 246.834 81.6248 896.256 237.811 77.0287 917.979 183.662 77.7794 939.98 180.402 79.777 939.962 197.422 84.0278 929.272 201.454 80.0558 929.24 197.839 73.6628 939.975 163.237 66.1642 961.199 209.674 62.1958 960.301 184.196 46.2513 993.046 211.85 76.9643 929.195 225.82 70.7107 939.653 687.037 91.0715 896.623 693.067 91.0678 918.222 693.458 92.0866 918.224 689.727 88.8614 918.229 691.558 89.6505 918.224 699.313 89.6449 939.049 766.941 101.831 1025.5 707.101 78.6862 995.019 679.76 82.5722 959.108 710.996 65.2395 1025.5 644.565 77.3141 959.123 573.534 69.1176 959.166 431.342 69.0977 939.156 287.267 68.7588 939.307 232.515 74.2607 928.968 222.347 79.6301 917.827 218.545 80.5245 917.814 686.836 95.7784 896.628 687.442 95.068 896.633 693.017 95.8051 918.227 692.667 96.1624 918.228 699.665 97.4327 939.031 690.067 97.4417 918.23 685.828 96.3899 896.622 691.852 96.7089 918.227 688.185 97.8479 918.229 679.363 97.7777 918.228 647.406 96.8397 918.229 610.806 97.8588 918.23 503.831 113.251 918.26 433.227 122.781 918.271 700.285 96.9669 939.032 693.278 95.3686 918.223 693.42 94.3244 918.22 693.43 93.2162 918.225 686.546 90.5954 896.622 692.392 90.2519 918.223 700.385 90.6004 939.045 701.112 91.8582 939.036 701.34 93.3366 939.032 701.272 94.9012 939.05 700.777 96.3663 939.045 211.109 107.763 929.016 211.049 118.962 939.299 231.82 119.229 928.799 225.463 124.622 939.182 257.296 125.787 928.677 256.729 131.296 939.054 288.647 129.571 928.683 290.315 134.377 939.064 326.215 135.476 939.105 214.862 82.0864 917.822 212.127 85.3103 917.891 211.887 89.8744 917.912 197.376 89.7046 929.212 215.855 98.0144 918.018 202.934 99.6935 929.125 221.831 104.577 918.12 237.321 114.194 918.321 257.836 120.327 918.425 286.923 124.979 918.397 323.505 127.542 918.323 362.228 127.484 918.274 178.043 82.7286 939.949 177.644 86.2869 939.872 178.501 89.7682 939.819 186.446 101.865 939.623 197.749 111.532 939.449 362.268 134.791 939.127 200.686 29.6551 1116.34 200.647 28.4998 1115.43 263.58 28.1982 1115.14 200.582 26.6049 1114.33 263.544 26.8833 1114.21 232.045 26.6278 1114.28 200.607 27.3444 1114.52 263.669 29.7111 1117.94 200.734 30.9982 1118.91 263.625 28.9648 1116.56 200.699 30.009 1117.02 113.525 37.5096 1123.45 98.2979 38.9146 1124.26 98.1152 36.9636 1120.42 149.046 27.6814 1114.42 149.246 30.618 1116.05 97.5037 30.1444 1114.94 123.077 28.6994 1114.59 123.369 32.347 1116.65 149.404 32.8885 1118.53 123.597 35.1418 1119.77 150.024 34.1707 1121.4 149.501 34.2167 1121.44 143.428 34.7504 1121.86 123.69 36.5716 1122.91 98.0482 36.2489 1119.01 97.8429 33.9586 1117.17 97.6375 31.6683 1115.33 164.858 33.0579 1120.47 160.761 33.2931 1120.65 76.1764 35.9885 1111.16 78.7395 35.6979 1112.65 75.1262 37.1038 1112.2 71.6869 39.5968 1115.72 74.0761 38.2191 1113.25 76.9604 38.2028 1115.13 87.7025 34.1 1115.2 86.9805 37.5655 1118.5 86.5964 34.3327 1115.04 85.7474 37.678 1118.26 74.8845 39.7574 1118.11 84.6032 39.7262 1122.36 85.9683 39.6787 1122.73 61.9676 38.514 1103.02 61.8498 38.5383 1103.08 61.7351 38.5232 1102.87 61.7499 38.5202 1102.86 64.3053 38.3989 1104.78 66.4985 38.2233 1106.4 62.6748 38.648 1104.53 63.1611 38.7127 1105.38 64.541 38.8914 1107.56 61.9418 38.2906 1100.78 70.0745 34.82 1090.59 70.4566 34.3825 1069.99 61.8732 38.3611 1049.18 61.9543 38.2772 1050.22 63.0473 37.1459 1064.27 63.5065 36.6706 1070.18 63.0112 37.185 1090.93 63.1071 37.0857 1090.05 63.3996 36.7818 1075.5 76.1684 35.9817 1039.85 74.0664 38.2108 1037.77 75.1174 37.0962 1038.81 66.4666 38.2245 1044.63 61.7517 38.5198 1048.14 61.9684 38.5136 1047.98 61.8511 38.5378 1047.93 62.675 38.647 1046.48 64.2917 38.3989 1046.24 61.7369 38.5228 1048.14 63.1541 38.7105 1045.64 64.521 38.8867 1043.48 71.6756 39.5873 1035.3 80.7672 38.0366 1034.15 82.1391 35.1706 1037.01 83.3899 34.9506 1036.65 97.5036 30.1436 1036.07 98.0478 36.2476 1031.99 97.8426 33.9575 1033.84 94.2568 32.5602 1035.47 97.6374 31.6673 1035.68 94.0775 39.2372 1026.94 98.2973 38.9137 1026.75 98.1147 36.9623 1030.59 92.1353 33.0858 1035.47 82.166 37.95 1033.68 91.9166 37.0403 1031.95 94.2794 36.7536 1031.87 91.4448 39.4069 1027.23 80.6409 39.8045 1029.99 79.0938 39.8126 1030.64 149.211 30.6203 1034.95 200.631 28.4994 1035.57 200.592 27.3442 1036.49 149.011 27.6838 1036.58 200.567 26.6046 1036.67 123.683 36.5712 1028.09 143.058 34.7833 1029.12 149.37 32.8909 1032.47 123.59 35.1424 1031.23 113.525 37.5086 1027.55 123.362 32.3476 1034.35 123.071 28.6999 1036.42 149.467 34.2355 1029.57 157.387 33.5586 1030.12 164.86 33.117 1030.46 200.717 30.9979 1032.1 200.683 30.0087 1033.99 200.67 29.6546 1034.66 232.02 26.6276 1036.72 263.529 26.8834 1036.79 263.566 28.1983 1035.86 263.61 28.9649 1034.44 263.654 29.7113 1033.06 287.276 28.4579 1036.13 270.518 29.6669 1033.24 310.986 30.4074 1034.4 267.796 29.6845 1033.17 310.974 29.002 1036.36 354.987 31.7797 1033.19 356.093 32.0371 1033.27 357.019 32.6771 1033.44 357.632 33.6074 1033.67 357.995 34.165 1032.19 357.444 33.2051 1031.72 356.551 32.5836 1031.21 355.461 32.4004 1030.73 359.071 34.8767 1029.69 358.537 33.9115 1029.17 357.659 33.2953 1028.6 356.581 33.1296 1028.06 344.045 30.7386 1115.61 267.795 29.7639 1117.82 310.982 29.0021 1114.65 310.978 28.3194 1113.81 776.367 92.0245 1120.43 776.367 84.2387 1118.13 776.367 101.752 1030.09 776.367 82.5899 1116.94 776.367 110.752 1030.94 776.367 114.762 1032.08 776.367 115.123 1032.39 776.367 113.038 1119.71 776.367 109.88 1120.25 776.367 104.083 1121.24 776.367 101.192 1121.34 776.367 99.0406 1121.42 776.367 94.0064 1121.02 776.367 92.1733 1031.29 776.367 94.0626 1030.62 776.367 100.912 1030.02 776.367 114.244 1118.94 776.367 110.358 1030.83 776.367 129.316 1102.63 776.367 127.263 1106.25 776.367 118.721 1115.33 776.367 74.7635 1111.29 776.367 59.7023 1060.14 776.367 63.3772 1051.69 776.367 118.644 1035.39 776.367 118.919 1035.63 776.367 135.081 1061.71 776.367 117.923 1116.18 776.367 134.768 1060.56 776.367 129.108 1048.37 776.367 136.906 1080.83 776.367 134.593 1089.24 776.367 68.3523 1045.97 776.367 72.2097 1041.54 776.367 74.9915 1039.56 776.367 116.973 1117.19 776.367 127.821 1045.6 776.367 122.691 1038.85 776.367 71.9188 1109.23 776.367 68.3722 1105.02 776.367 57.7567 1064.61 776.367 57.3071 1066.48 776.367 81.0787 1035.21 776.367 84.3452 1034.06 776.367 136.031 1065.2 776.367 136.816 1075.52 776.367 137.088 1079.09 776.367 62.8271 1098.43 776.367 61.2985 1095.69 776.367 59.7179 1090.9 776.367 56.8735 1082.28 776.367 132.768 1095.87 776.367 131.29 1099.15 776.367 56.546 1079.9 776.367 56.794 1075.53 442.536 39.9696 1027.25 442.438 40.1791 1027.34 439.324 40.8963 1022.15 442.325 41.0575 1027.58 443.47 38.7138 1026.49 443.152 39.0252 1026.72 439.902 40.0191 1021.53 442.833 39.3361 1026.96 442.538 39.9656 1027.24 440.75 39.5434 1020.79 445.161 38.3793 1025.5 444.276 38.3824 1025.98 444.087 38.4601 1026.1 444.076 38.465 1026.11 446.017 38.06 1027.18 445.999 38.0587 1027.18 471.371 34.338 1075.5 471.37 35.2412 1056.01 468.256 38.5799 1032.03 469.999 38.4198 1033.48 471.37 36.0241 1050.35 471.371 37.9161 1036.67 471.357 37.9769 1036.34 470.996 38.2071 1034.97 450.819 38.2984 1027.58 457.84 38.5737 1028.53 464.311 38.6802 1030.16 467.309 38.6256 1119.54 459.583 38.6217 1122.14 446.016 38.0604 1123.83 471.371 37.9155 1114.33 471.323 38.0262 1114.95 470.85 38.2528 1116.34 469.794 38.4465 1117.74 471.371 36.4445 1100.61 471.371 34.4341 1081.87 487.188 42.0578 1032.11 487.502 41.3216 1031.33 487.257 41.7236 1031.94 487.086 41.7127 1031.87 488.316 40.8713 1029.3 487.887 40.9076 1030.37 487.534 40.9155 1030.64 487.746 40.9196 1030.73 485.574 41.5749 1031.53 484.065 41.3508 1031.71 482.713 41.0503 1032.39 482.35 40.9454 1032.69 481.454 40.5993 1033.86 481.008 40.2619 1035.27 480.97 40.1605 1035.75 485.663 40.8075 1030.25 483.796 40.5731 1030.5 482.128 40.2336 1031.35 481.68 40.1126 1031.73 480.579 39.7086 1033.2 480.035 39.3113 1034.95 479.99 39.1915 1035.55 488.048 40.8691 1029.2 485.695 40.7521 1028.76 483.362 40.4688 1029.1 481.289 40.0497 1030.2 480.736 39.8999 1030.67 479.38 39.3997 1032.52 478.72 38.9101 1034.7 478.669 38.763 1035.45 499.684 40.5769 1037.15 499.051 41.0085 1038.01 498.578 41.8089 1038.68 487.752 40.9664 1120.29 487.482 41.2358 1119.62 488.022 41.2386 1119.4 487.269 41.7602 1119.09 487.163 42.0214 1118.83 487.695 42.0238 1118.61 488.436 40.8347 1120.4 487.887 40.8323 1120.63 488.316 40.8711 1121.71 488.878 40.8725 1121.47 490.273 40.8336 1119.59 490.756 40.8674 1120.64 502.096 40.4325 1111.86 502.851 40.4206 1112.72 503.514 40.3315 1110.55 504.302 40.311 1111.39 489.471 42.0239 1117.84 500.913 41.6862 1110.4 502.284 41.6002 1109.14 510.574 40.8325 1098.55 515.84 40.1166 1084.15 511.505 40.7186 1096.83 512.625 39.3901 1100.7 512.082 39.431 1099.53 513.083 39.3394 1100.11 513.044 39.2974 1097.73 514.07 39.1956 1098.28 517.528 38.5917 1084.52 518.671 38.4369 1084.74 517.859 38.5344 1082.5 519.011 38.3754 1082.67 519.011 38.3757 1075.5 517.858 38.5349 1068.49 519.01 38.376 1068.32 517.106 38.6642 1064.45 518.238 38.5148 1064.18 516.51 38.7641 1062.12 517.627 38.6221 1061.8 516.16 40.0677 1082.21 516.159 40.0682 1068.78 515.432 40.1785 1064.91 514.857 40.2637 1062.68 509.367 40.9729 1050.46 507.964 41.1229 1048.39 489.822 41.2392 1118.61 501.417 40.8762 1111.04 502.806 40.7835 1109.76 511.202 39.9549 1098.98 512.144 39.8319 1097.23 516.533 39.1817 1084.31 516.857 39.1289 1082.34 516.856 39.1294 1068.66 516.12 39.2486 1064.71 515.537 39.3407 1062.43 509.979 40.1063 1049.99 508.559 40.2683 1047.88 510.834 39.5955 1049.39 509.384 39.7715 1047.24 512.495 39.4103 1050.31 511.802 39.5166 1048.76 510.316 39.7063 1046.55 500.382 40.5776 1036.23 486.918 41.7008 1119.2 480.97 40.16 1115.25 478.669 38.7625 1115.55 479.99 39.1909 1115.45 480.251 39.519 1117.01 481.186 40.4379 1116.51 481.894 40.79 1117.82 483.006 41.1258 1118.81 483.767 41.294 1119.19 485.295 41.5403 1119.48 487.326 40.9095 1120.44 485.318 40.7737 1120.75 483.428 40.5102 1120.38 482.489 40.3202 1119.9 481.119 39.9319 1118.66 478.98 39.1658 1117.5 480.043 39.6761 1119.55 481.737 40.1571 1121.13 482.904 40.3917 1121.73 485.263 40.7123 1122.24 487.786 40.8644 1121.9 478.64 38.2174 1112.56 478.634 37.7153 1109.57 479.995 38.6714 1112.47 480.019 38.193 1109.49 480.981 39.692 1112.29 481.008 39.2616 1109.32 478.64 36.9867 1050.36 478.634 37.7152 1041.44 480.019 38.193 1041.52 478.656 35.0299 1075.5 478.656 34.9899 1074.82 480.031 35.4798 1074.83 481.009 38.1249 1101.25 480.023 37.0513 1101.39 478.643 36.5234 1100.68 478.642 36.5688 1101.44 481.012 36.5603 1074.83 481.008 39.2616 1041.69 478.641 38.2177 1038.44 479.995 38.6717 1038.53 480.981 39.6922 1038.72 445.161 38.3793 1125.5 444.276 38.3824 1125.02 444.087 38.4601 1124.9 444.076 38.465 1124.9 443.47 38.7138 1124.52 442.833 39.336 1124.05 443.152 39.0251 1124.28 442.538 39.9656 1123.76 442.536 39.9696 1123.76 442.438 40.179 1123.66 442.328 41.1487 1123.41 442.325 41.0573 1123.43 442.779 45.6656 1119.41 429.261 47.2381 1135.56 427.591 49.1984 1133.52 427.105 49.7685 1132.93 439.114 42.0295 1128.44 429.853 45.5599 1136.28 430.544 43.6015 1137.12 426.901 47.3998 1137.2 387.116 49.1984 1140.37 387.38 49.7685 1139.65 397.302 49.916 1141.69 396.748 44.6413 1146.74 396.936 47.7794 1144.9 398.709 47.8338 1145.01 386.209 47.2381 1142.84 385.884 45.5632 1143.73 385.521 43.6867 1144.72 412.119 44.9222 1145.54 401.701 44.9454 1147.18 399.035 44.8357 1147.15 411.652 47.9455 1143.79 414.789 47.8964 1142.93 415.172 44.9155 1145.06 427.937 43.8449 1138.56 417.743 44.7962 1144.19 398.94 49.9307 1141.81 410.886 49.9607 1140.71 413.779 49.9475 1139.9 424.934 49.8128 1134.48 369.288 40.6656 1135.14 370.299 45.6656 1134.25 372.821 49.3259 1131.6 374.588 41.9125 1139.41 369.382 40.6878 1135.21 364.304 38.7195 1129.54 360.342 36.7457 1123.31 359.173 36.0321 1120.95 357.631 33.6051 1117.33 357.018 32.6748 1117.56 356.092 32.0348 1117.73 354.987 31.7771 1117.81 357.995 34.165 1118.81 357.444 33.2051 1119.28 356.551 32.5835 1119.8 355.461 32.4003 1120.27 7.82609 89.5036 1055.4 4.6435 86.2061 1054.29 3.61168 84.5933 1056.54 3.96466 85.4112 1057.05 6.53064 87.6957 1056.38 5.45752 86.3724 1058.02 3.30388 84.6848 1059.59 2.89565 83.8262 1059.45 2.79468 83.7972 1060.13 4.80133 85.7982 1059.93 4.71884 85.7215 1060.38 3.2537 84.6276 1060.19 3.40557 84.9023 1060.21 3.96156 85.3654 1059.75 3.90977 85.2787 1060.28 4.41396 85.6552 1060.34 4.60488 86.0283 1057.56 4.79776 86.4472 1053.95 5.04678 87.1174 1054.83 5.65326 87.5543 1055.68 6.25312 89.0822 1052.24 6.35534 89.493 1053.43 6.91241 89.6423 1054.55 7.74741 92.1165 1051.64 7.6716 92.1511 1053.02 8.16899 91.9237 1054.29 9.1334 91.4826 1055.18 2.72232 84.8936 1068.17 2.61795 83.7929 1062.2 3.74019 85.6528 1068.22 2.10971 83.7805 1068.14 2.33132 83.7859 1075.49 2.7954 83.7972 1090.87 3.2106 84.6522 1090.82 2.73281 83.7956 1088.8 3.43019 84.8787 1090.79 3.87061 85.333 1090.73 4.70895 85.771 1090.62 4.43 85.6252 1090.66 9.13346 91.4826 1095.82 7.67171 92.151 1097.99 8.16894 91.9236 1096.71 7.31605 90.3512 1096.63 7.74777 92.1162 1099.37 6.77699 90.3112 1097.81 8.24374 90.1175 1095.75 7.00742 88.3411 1095.08 6.72776 90.0048 1099.08 5.52815 87.9591 1096.82 5.3305 87.3736 1097.82 6.11752 88.2991 1095.85 5.97882 86.9842 1093.91 5.1145 86.7335 1094.5 5.20384 86.1083 1092.4 4.3565 85.7238 1092.76 4.4899 86.1959 1095.2 3.7092 85.0749 1093.16 4.63772 86.2042 1096.66 4.18562 85.4411 1095.9 3.33399 84.2336 1093.55 20.747 112.132 1099.36 32.4062 124.703 1099.29 32.3741 124.738 1097.92 12.1738 99.3522 1099.37 18.5264 109.738 1099.37 18.4599 109.79 1097.99 19.7288 108.803 1095.82 18.8915 109.454 1096.71 33.4674 123.549 1095.81 32.754 124.325 1096.68 39.445 132.164 1090.63 39.676 132.799 1090.75 39.3986 131.96 1091.24 40.0475 133.365 1090.86 39.6209 132.596 1091.45 40.5402 133.833 1090.95 39.992 133.159 1091.65 38.9628 131.084 1092.75 37.9299 129.486 1094.25 36.0209 126.846 1095.5 39.1158 131.726 1093.17 37.9223 130.145 1094.88 35.7141 127.544 1096.32 39.4507 132.277 1093.61 38.1518 130.675 1095.6 35.7169 128.031 1097.33 40.4914 133.619 1091.84 39.9446 132.701 1094.05 38.5971 131.025 1096.32 36.0289 128.24 1098.39 39.6801 134.098 1078.97 40.5523 134.91 1075.52 40.555 135.154 1079.01 39.5213 132.146 1060.38 39.676 132.798 1060.25 40.1081 133.315 1060.16 40.5402 133.832 1060.06 39.151 131.418 1058.72 33.4674 123.549 1055.19 32.7541 124.325 1054.32 34.4852 124.839 1055.17 32.3741 124.738 1053.08 33.9347 125.579 1054.29 32.4061 124.703 1051.72 33.7213 126.025 1053.13 36.882 128.01 1055.93 38.4432 130.249 1057.37 36.7107 128.689 1055.17 38.5154 130.9 1056.82 39.3335 132.057 1058.37 36.8207 129.196 1054.27 38.7991 131.44 1056.22 39.6855 132.613 1058 33.8834 126.098 1051.87 37.199 129.471 1053.35 39.2714 131.826 1055.62 40.1847 133.051 1057.65 12.142 99.3739 1051.63 20.6583 112.221 1051.65 18.018 109.078 1051.63 17.9504 109.129 1053.02 25.686 115.815 1055.19 24.9076 116.532 1054.3 24.5013 116.906 1053.04 24.5527 116.858 1051.67 19.2271 108.153 1055.18 18.3843 108.798 1054.29 9.583 73.4388 1036.86 4.1585 72.7196 1049.18 4.10581 79.3508 1049.23 521.89 160.019 1050.15 765.627 85.8961 1125.5 765.621 85.8911 1125.5 765.272 78.9357 1121.98 681.56 61.8368 1125.5 678.535 61.4646 1125.5 678.627 55.8916 1113.47 8.88682 76.5651 1114.12 9.00322 79.7943 1114.12 4.10712 79.3511 1101.77 0.971258 72.4557 1088.84 0.2352 72.5934 1075.5 4.21965 61.999 1075.5 726.367 145.03 1082.26 726.367 145.466 1075.5 521.89 162.366 1075.5 774.791 93.8293 1121.75 769.737 136.896 1089.22 771.75 137.905 1082.4 31.2805 42.8337 1049.03 473.512 34.5151 1075.5 6.12336 86.1534 1101.76 1.31082 79.2487 1088.81 678.627 49.4176 1088.46 678.627 51.8854 1101.17 576.147 43.9921 1050.26 473.504 36.0192 1050.32 576.147 43.992 1100.75 473.48 40.7693 1125.5 473.504 36.0181 1100.68 573.523 49.2136 1125.5 590.961 50.6855 1125.5 576.131 49.4338 1125.5 6.12211 86.153 1049.24 0.971556 72.4557 1062.16 1.31112 79.2487 1062.19 21.2156 111.851 1101.8 12.4567 99.4075 1101.78 42.9375 132.815 1101.86 41.8915 136.22 1075.5 21.2148 111.851 1049.2 42.9372 132.814 1049.15 12.4556 99.4071 1049.23 445.183 38.3809 1125.5 357.828 33.8532 1125.5 295.62 33.7575 1125.51 356.581 33.1296 1122.95 267.793 33.7147 1125.52 183.402 33.5848 1125.53 164.906 35.0908 1125.53 113.622 39.2662 1125.51 170.837 34.6079 1125.53 61.9819 43.8652 1125.49 65.2561 43.2042 1125.49 74.1239 42.4822 1125.49 31.2803 42.8335 1101.97 42.1584 47.867 1125.5 49.7824 46.3279 1125.5 27.7142 41.4597 1075.5 63.1672 36.6643 1075.5 773.798 80.6208 1033.91 765.061 72.5632 1033.84 770.948 86.8698 1029.07 773.877 94.7541 1029.25 775.157 102.312 1029.54 752.465 128.467 1036.55 762.513 133.478 1048.7 772.461 138.274 1075.5 771.75 137.905 1068.6 769.736 136.896 1061.79 762.513 133.478 1102.3 753.599 115.947 1125.5 752.735 128.434 1114.46 751.478 117.654 1125.5 750.687 118.291 1125.5 756.203 113.85 1125.5 758.813 111.749 1125.5 776.202 101.332 1121.47 774.257 80.0703 1117.09 771.496 86.2844 1121.94 764.978 72.6651 1117.16 764.394 62.3965 1105.28 750.612 52.1155 1075.5 751.294 53.6565 1090.46 763.888 56.0609 1091.05 751.295 53.6566 1060.54 764.394 62.3965 1045.72 763.888 56.0609 1059.95 726.367 143.838 1088.94 682.541 133.314 1125.49 717.811 128.529 1125.49 726.367 139.768 1101.84 595.432 145.133 1125.5 624.178 141.233 1125.5 624.258 149.92 1101.14 640.197 139.059 1125.5 419.521 170.897 1100.77 419.5 165.218 1125.5 433.149 163.659 1125.5 521.89 160.019 1100.85 521.857 153.532 1125.5 574.175 147.56 1125.5 316.858 181.117 1075.5 316.85 179.048 1100.8 419.523 172.914 1075.5 675.438 145.472 1101.37 675.275 134.3 1125.49 265.393 183.357 1075.5 265.396 181.216 1100.84 213.914 180.214 1100.85 66.1264 151.853 1075.5 65.6918 148.403 1101.81 88.6182 162.343 1075.5 88.3244 159.284 1101.45 11.4509 51.0615 1075.5 16.8715 50.9369 1102.71 112.185 170.025 1075.5 112.188 167.374 1101.28 162.641 178.113 1075.5 162.645 176.1 1100.98 213.914 182.329 1075.5 268.651 174.986 1125.51 298.17 173.166 1125.51 162.8 168.258 1125.5 173.726 170.353 1125.5 181.426 170.729 1125.5 213.997 172.319 1125.5 252.651 174.205 1125.5 265.402 174.827 1125.51 95.6888 150.922 1125.5 55.0168 127.164 1125.5 65.2465 135.943 1125.5 68.9114 139.088 1125.5 73.8662 141.278 1125.5 88.2981 147.656 1125.5 16.219 77.0399 1125.53 15.6074 78.8226 1125.53 15.9194 79.8208 1125.53 17.526 84.9608 1125.51 30.7801 104.266 1125.5 23.563 94.0492 1125.5 17.8298 85.933 1125.51 17.6756 85.4394 1125.51 9.08464 61.3673 1102.4 27.8368 57.138 1125.5 24.1727 62.3588 1125.5 41.3803 48.3708 1125.5 38.6905 50.1119 1125.5 32.9269 53.843 1125.5 22.0907 65.3254 1125.5 18.4665 70.4895 1125.5 17.2456 74.0478 1125.51 4.15963 72.7199 1101.82 9.56124 73.4407 1114.15 16.9702 74.8503 1125.52 34.547 109.599 1125.5 37.2744 111.939 1125.5 46.8842 120.186 1125.5 112.254 158.243 1125.5 113.547 158.814 1125.5 139.693 163.827 1125.5 316.766 172.02 1125.51 362.28 169.214 1125.5 410.569 166.237 1125.5 753.162 58.389 1104.36 755.284 67.3304 1116.32 763.925 84.5767 1125.5 757.137 79.3143 1125.5 753.041 76.1392 1125.5 751.468 75.7061 1125.5 716.875 66.1836 1125.5 729.719 61.6821 1113.96 721.04 67.3301 1125.5 729.547 69.6719 1125.5 767.678 99.6077 1125.5 767.903 96.1667 1125.5 762.864 108.488 1125.5 763.129 107.998 1125.5 763.586 107.155 1125.5 766.372 102.017 1125.5 766.929 100.989 1125.5 726.366 133.92 1114.05 768.063 93.7098 1125.5 768.211 91.4477 1125.5 767.587 90.1075 1125.5 639.592 56.6712 1125.5 722.108 127.191 1125.49 756.737 72.4404 1029.59 765.37 78.8272 1029.02 729.731 61.6641 1037.04 729.796 65.0133 1031.21 678.627 55.8917 1037.54 755.612 66.9219 1034.68 678.627 48.6008 1075.5 678.627 49.4176 1062.55 678.627 51.8855 1049.84 753.162 58.3892 1046.64 729.599 56.0765 1049.24 729.501 52.6296 1062.19 729.465 51.2296 1075.5 729.501 52.6295 1088.81 729.599 56.0766 1101.76 726.367 143.838 1062.07 726.367 139.769 1049.16 726.366 133.92 1036.96 675.445 145.508 1049.59 624.261 149.937 1049.85 265.396 181.215 1050.16 316.857 179.047 1050.21 162.645 176.1 1050.02 213.914 180.214 1050.16 112.188 167.375 1049.72 88.3245 159.284 1049.55 65.6917 148.402 1049.19 9.00179 79.7943 1036.89 16.8717 50.9372 1048.29 9.08446 61.3673 1048.6 419.526 170.897 1050.23 726.367 145.029 1068.74 726.126 125.94 1125.49 736.331 122.762 1125.5 741.224 121.238 1125.5 649.031 93.9469 1275.5 646.698 93.8285 1275.5 637.457 93.5176 1275.5 628.213 93.3828 1275.5 678.196 96.2742 1275.5 678.139 96.2679 1275.5 676.372 96.0749 1275.5 674.545 95.8972 1275.5 672.718 95.7218 1275.5 667.241 95.2171 1275.5 659.026 94.547 1275.5 652.865 94.1413 1275.5 612.666 93.5568 1275.5 574.18 96.2273 1275.5 503.822 107.141 1275.5 517.848 104.962 1275.5 572.742 96.3657 1275.5 563.559 97.5741 1275.5 554.401 98.9473 1275.5 545.258 100.422 1275.5 536.123 101.946 1275.5 531.556 102.712 1275.5 526.988 103.473 1275.5 253.444 98.7283 1275.5 256.557 101.415 1275.5 255.343 100.447 1275.5 254.67 99.8565 1275.5 254.174 99.4221 1275.5 259.771 103.614 1275.5 259.095 103.204 1275.5 258.447 102.775 1275.5 257.808 102.332 1275.5 257.492 102.107 1275.5 257.178 101.879 1275.5 249.61 91.2016 1275.5 250.076 90.2483 1275.5 250.176 90.0433 1275.5 249.517 92.5552 1275.5 249.51 92.5005 1275.5 249.496 91.8461 1275.5 249.591 91.3081 1275.5 255.892 86.0248 1275.5 257.328 85.5225 1275.5 259.155 85.0251 1275.5 259.188 85.0161 1275.5 261.071 84.6042 1275.5 262.017 84.4235 1275.5 263.154 84.2246 1275.5 264.292 84.0445 1275.5 266.572 83.7354 1275.5 271.145 83.2873 1275.5 275.728 83.0031 1275.5 254.611 86.5972 1275.5 254.503 86.6456 1275.5 253.508 87.1833 1275.5 253.026 87.4746 1275.5 279.348 82.8487 1275.5 354.444 80.3392 1275.5 440.75 39.5434 1130.22 441.729 39.5482 1130.95 439.902 40.0191 1129.48 439.324 40.8963 1128.85 430.766 42.5949 1137.64 431.224 41.8673 1138.41 431.851 41.5265 1139.31 432.553 41.6228 1140.22 399.066 43.9307 1147.8 431.357 41.7617 1140.88 418.538 43.0431 1146.69 418.184 43.284 1145.68 417.907 43.8959 1144.8 415.319 44.0256 1145.68 401.75 44.0522 1147.83 418.919 43.2055 1147.71 416.181 43.3649 1148.63 415.859 43.1947 1147.6 401.836 43.4168 1150.93 401.823 43.2324 1149.84 398.998 43.2745 1150.91 399.047 43.0926 1149.81 384.641 41.769 1148.41 385.011 41.6326 1147.3 415.559 43.4252 1146.57 401.793 43.4542 1148.76 399.07 43.3218 1148.72 385.309 41.9494 1146.21 385.488 42.6709 1145.3 370.483 38.7173 1140.75 367.314 37.7985 1138.18 368.212 37.837 1137.23 374.558 40.7539 1139.89 372.964 39.4361 1142.77 373.668 39.397 1141.73 374.232 39.8634 1140.71 368.92 38.4147 1136.29 369.303 39.4216 1135.55 364.271 37.5159 1129.94 360.225 35.5943 1123.7 360.324 35.881 1123.57 360.358 36.5589 1123.36 360.024 35.0106 1123.98 363.814 36.5277 1130.59 359.461 34.3358 1124.47 363.017 35.9317 1131.38 358.868 34.0226 1124.87 358.865 34.0211 1124.88 362.022 35.8346 1132.16 358.698 33.9328 1124.99 357.833 33.8535 1125.5 357.821 33.8469 1125.48 357.659 33.2953 1122.41 358.537 33.9115 1121.83 359.071 34.8767 1121.32 686.007 90.2302 1254.39 685.442 89.9626 1254.39 689.725 88.8617 1232.78 687.036 91.0718 1254.39 686.544 90.5957 1254.39 691.556 89.6507 1232.79 63.1545 86.2943 1159.32 68.35 93.7504 1159.24 43.0119 94.6337 1144.19 294.525 43.1294 1156.89 431.352 47.2189 1156.7 431.339 61.4999 1191.69 705.536 87.9742 1192.05 697.341 85.6273 1191.99 707.1 78.6866 1155.99 648.398 94.4171 1254.44 687.805 88.4941 1232.77 573.54 79.6848 1232.73 752.107 95.3607 1139.52 734.997 102.077 1155.67 149.621 158.851 1142.28 109.841 146.34 1143.02 87.8202 47.4731 1143.94 573.55 58.0648 1156.51 295.27 36.779 1140.81 175.964 39.8128 1142.24 66.0486 51.3958 1144.2 56.0288 55.1983 1144.29 47.3015 60.8952 1144.34 40.3349 68.1375 1144.37 35.6752 76.7783 1144.35 35.3238 81.5944 1144.32 37.2188 86.21 1144.28 56.3746 110.718 1143.97 72.3071 125.041 1143.69 187.611 165.079 1141.58 253.187 169.233 1140.77 297.803 168.934 1140.73 362.344 159.582 1156.69 433.215 153.347 1156.65 574.185 134.156 1156.74 642.464 123.895 1156.45 503.813 144.234 1156.65 681.612 118.025 1156.34 710.879 112.619 1155.95 728.208 107.27 1155.76 719.641 110.485 1155.86 750.785 90.4739 1139.54 747.293 86.0865 1139.55 736.871 79.5794 1139.64 713.346 72.9395 1139.87 680.546 73.1086 1156.29 642.133 66.5992 1156.35 433.269 118.467 1254.38 503.827 109.012 1254.4 362.166 122.979 1254.36 319.888 121.987 1254.22 325.801 120.325 1275.5 333.095 120.844 1275.5 340.413 121.185 1275.5 283.381 117.128 1253.99 258.858 110.434 1253.91 254.602 104.303 1265.19 259.342 106.649 1265.17 246.891 105.525 1253.98 238.854 99.5289 1254.17 251.069 102.211 1265.24 235.781 95.6296 1254.27 233.769 90.7117 1254.45 243.087 87.6936 1265.74 242.669 88.3834 1265.72 242.372 89.209 1265.68 245.397 86.0845 1265.77 250.907 84.0362 1265.73 257.727 80.2015 1254.7 431.35 75.0934 1232.76 284.207 74.7053 1232.86 281.59 78.6542 1254.66 646.769 84.9608 1232.74 678.924 88.013 1232.75 687.42 91.6941 1254.39 687.634 92.4409 1254.38 687.595 93.2554 1254.38 687.567 94.7569 1254.38 687.44 95.0678 1254.38 687.264 95.3373 1254.38 684.866 95.4533 1265.43 684.111 96.0648 1265.44 678.869 96.2753 1254.44 684.702 96.7177 1254.4 611.387 94.5779 1254.44 574.183 97.704 1254.46 710.304 97.8684 1192.05 711.225 95.8207 1192.04 736.743 98.4517 1155.64 732.014 105.048 1155.74 706.549 100.271 1192.06 644.945 107.682 1191.81 680.43 104.677 1191.87 697.923 102.486 1192 362.298 143.734 1191.71 433.199 138.238 1191.73 503.815 128.574 1191.72 574.186 116.937 1191.65 609.502 111.747 1191.71 149.221 107.835 1190.19 168.468 120.815 1190.57 127.21 138.764 1158.32 161.566 150.572 1157.8 190.087 130.088 1190.95 194.837 157.063 1157.31 212.387 136.362 1191.29 253.855 161.837 1156.78 255.602 142.513 1191.69 297.042 162.223 1156.75 293.328 144.509 1191.7 90.3727 137.011 1143.37 110.406 130.432 1158.58 94.7302 119.913 1158.82 80.5134 107.65 1159.04 134.57 90.9378 1189.85 72.4317 64.8758 1159.44 140.621 73.1681 1189.65 65.7053 70.529 1159.44 135.512 76.1597 1189.67 61.391 77.9581 1159.4 132.017 80.6691 1189.69 132.305 85.9934 1189.77 209.677 62.1973 1190.71 163.243 66.1655 1189.81 107.606 52.9335 1159.19 573.534 69.1186 1191.84 88.8928 56.7918 1159.36 151.598 68.662 1189.69 184.197 46.2519 1157.96 290.433 60.1436 1191.52 736.709 94.6286 1155.72 735.057 91.0474 1155.74 732.11 87.9713 1155.74 724.225 83.5875 1155.81 711.242 93.6138 1192.1 710.452 91.643 1192.09 709.117 90.0471 1192.07 233.965 87.9495 1254.53 235.096 85.89 1254.64 236.819 84.7869 1254.69 246.836 81.6261 1254.75 238.671 84.0418 1254.72 237.813 77.0301 1233.03 177.653 86.2871 1211.14 197.43 84.0279 1221.74 197.384 89.7041 1221.8 225.823 70.7123 1211.35 197.846 73.6643 1211.03 183.671 77.7804 1211.03 211.855 76.9653 1221.81 232.518 74.262 1222.04 287.266 68.7604 1211.7 431.342 69.0992 1211.85 178.052 82.729 1211.06 180.411 79.7778 1211.05 201.461 80.0563 1221.77 692.391 90.2521 1232.79 698.061 88.9331 1211.96 679.76 82.5728 1191.9 644.565 77.3149 1191.88 699.311 89.645 1211.96 693.065 91.0679 1232.79 693.457 92.0867 1232.79 693.428 93.2162 1232.78 693.418 94.3243 1232.79 693.276 95.3684 1232.79 503.831 113.25 1232.75 574.182 101.608 1232.78 610.806 97.8576 1232.78 647.406 96.8388 1232.78 679.363 97.7771 1232.78 688.185 97.8475 1232.78 693.015 95.8049 1232.78 700.775 96.366 1211.96 701.27 94.901 1211.96 701.338 93.3365 1211.98 701.111 91.8583 1211.97 700.383 90.6005 1211.96 708.613 99.3536 1192.09 699.663 97.4323 1211.98 691.851 96.7086 1232.78 700.283 96.9666 1211.98 692.666 96.1622 1232.78 686.835 95.7781 1254.38 690.066 97.4414 1232.78 685.827 96.3897 1254.39 222.352 79.6315 1233.18 218.551 80.5258 1233.2 214.868 82.0876 1233.19 212.134 85.3111 1233.12 211.894 89.8747 1233.1 202.941 99.6921 1221.88 215.861 98.0138 1232.99 211.114 107.761 1221.99 221.836 104.576 1232.89 231.823 119.226 1222.21 237.324 114.191 1232.69 257.296 125.785 1222.33 257.836 120.324 1232.58 288.646 129.569 1222.33 286.922 124.977 1232.61 323.504 127.541 1232.69 290.314 134.375 1211.94 256.729 131.294 1211.95 225.466 124.62 1211.83 211.054 118.959 1211.71 197.755 111.531 1211.56 186.454 101.864 1211.39 178.51 89.7681 1211.19 326.214 135.474 1211.9 362.268 134.79 1211.88 433.207 129.723 1211.89 362.228 127.483 1232.73 433.227 122.779 1232.74 817.366 297.666 9.34935 817.377 297.666 9.40335 822.131 304.207 7.71725 821.841 301.629 11.4247 821.267 297.684 13.4529 823.552 303.153 11.4607 826.339 307.154 8.61025 826.473 307.473 6.95276 824.955 306.739 7.08544 822.157 303.477 9.95517 825.293 303.626 2.21884 823.274 300.651 2.63464 822.307 300.384 3.03865 826.816 305.881 3.05855 826.322 305.15 2.78628 825.067 305.031 3.04997 825.325 303.674 2.2366 821.568 302.674 4.64296 821.733 303.474 5.50353 824.333 305.652 4.39334 823.843 304.514 3.53944 823.322 303.174 3.0582 821.475 301.707 4.01425 821.953 304.016 6.57153 824.738 306.443 5.63681 826.25 307.152 5.31912 827.784 307.312 5.19824 827.609 307.055 4.40049 825.745 306.282 3.94583 827.193 306.439 3.69692 824.909 306.468 8.57151 825.896 306.298 10.0318 827.218 306.471 10.2289 825.284 303.617 11.7817 825.794 304.371 11.5693 826.253 305.047 11.1376 824.424 303.556 11.6014 824.626 305.71 9.89342 822.194 304.011 8.87811 818.032 297.666 10.847 817.465 297.667 9.84299 819.936 297.664 4.26662 821.405 299.655 3.48902 820.334 297.663 3.97825 821.245 297.663 3.31891 822.913 300.119 2.70891 818.734 297.664 5.13625 818.44 297.665 5.59807 827.761 307.274 8.76367 827.92 307.509 8.33488 828.005 307.637 6.98042 828.043 307.694 6.38223 818.069 297.666 10.9132 818.452 297.666 11.5921 818.966 297.669 11.9318 819.123 297.67 12.0357 820.386 297.678 12.8708 817.528 297.665 7.02596 817.507 297.665 7.28607 817.487 297.665 7.52497 817.417 297.666 8.38494 817.346 297.666 9.25291 930.842 302.188 8.23545 930.712 301.924 8.51452 930.622 301.102 8.58343 930.351 303.79 7.5326 930.269 303.636 7.97105 930.487 303.58 7.97689 930.392 303.867 7.31278 930.362 303.81 7.47573 930.578 303.77 7.52688 930.539 303.762 6.53982 930.433 303.794 6.52754 930.408 303.839 7.00712 928.68 298.613 9.63855 928.302 297.664 9.87303 928.717 298.533 9.64773 930.248 299.297 8.68893 929.999 299.053 8.9469 929.804 297.667 8.82816 929.833 297.667 8.70919 929.911 297.669 8.38137 930.839 301.454 8.02302 928.762 297.666 9.71949 928.931 297.666 9.64594 929.068 298.231 9.58776 929.219 297.667 9.52089 929.451 297.667 9.24611 929.057 299.556 9.40454 928.618 298.644 9.63962 928.933 299.62 9.40693 929.31 300.787 9.12881 929.558 301.547 8.92472 929.465 301.263 9.00102 929.936 301.062 8.96549 928.734 298.414 9.66501 929.128 299.393 9.41992 930.532 303.864 7.01785 930.64 303.732 6.5515 930.63 303.823 7.0374 930.654 303.728 6.55305 930.788 303.679 7.09117 930.403 303.848 7.10344 930.953 303.077 6.78241 930.878 303.364 6.68299 930.899 303.456 7.16221 930.828 303.549 6.61862 930.792 303.586 6.60503 931.006 302.88 6.85096 930.913 303.105 7.71117 930.846 303.396 7.64167 930.735 303.62 7.57957 930.155 303.338 8.26442 930.151 303.328 8.2736 930.363 303.27 8.33833 930.058 303.086 8.51154 930.042 302.425 8.71658 930.623 302.889 8.40604 930.516 303.111 8.37123 930.459 302.51 8.62074 930.176 302.288 8.72064 930.271 302.099 8.73053 930.644 303.424 8.02326 930.753 303.199 8.07345 930.82 302.912 8.12626 930.936 302.359 7.86424 930.783 301.446 7.24816 930.427 299.144 7.88593 929.988 297.67 8.05604 930.717 302.288 8.47828 930.55 301.948 8.66556 930.548 301.609 8.69048 930.468 300.849 8.74186 930.292 300.583 8.83961 929.927 300.03 9.05585 930.359 301.279 8.78751 930.33 301.863 8.74555 929.807 301.396 8.94427 929.865 302.491 8.67128 930.522 302.251 8.64208 930.689 302.613 8.44193 928.623 297.666 9.77981 928.696 297.947 9.74512 928.463 297.665 9.84955 929.156 299.156 9.44924 929.15 298.868 9.48942 928.734 298.268 9.68838 929.669 297.667 8.9879 929.738 297.667 8.90625 929.344 298.966 6.22809 929.312 299.172 6.14691 930.044 300.618 5.85508 929.264 298.16 6.51097 929.342 298.715 6.32119 930.082 299.718 6.28018 929.242 299.314 6.08599 929.126 299.368 6.05321 929.666 301.033 5.62382 929.015 297.672 6.64902 928.921 297.918 6.48045 928.958 298.197 6.39248 929.807 297.672 7.31182 929.745 297.672 7.24387 930.424 300.196 6.31297 929.852 297.671 7.49672 929.846 297.672 7.47335 930.707 300.67 6.43563 930.579 300.428 6.34777 929.758 301.325 5.5877 929.925 301.859 5.52177 930.097 301.784 5.45502 930.038 302.217 5.47743 930.241 302.179 5.40149 930.053 302.266 5.47135 930.371 302.577 5.45096 930.176 302.656 5.42319 930.48 302.954 5.60081 930.268 303.012 5.62286 930.273 303.032 5.63407 930.399 301.308 5.73194 930.229 301.671 5.52416 930.567 301.646 5.69785 930.385 302.049 5.4723 930.711 301.997 5.74791 930.523 302.436 5.51808 930.826 302.341 5.88644 930.637 302.808 5.66208 930.402 303.624 6.26409 930.617 303.554 6.17063 930.393 303.573 6.18494 930.96 302.909 6.42002 930.721 303.141 5.9036 930.775 303.408 6.2238 930.563 303.288 5.84757 930.348 303.324 5.79822 930.87 301.133 6.7786 930.949 301.964 6.42276 930.764 301.391 6.06847 930.623 301.09 6.00254 930.457 300.802 6.00576 929.551 297.671 7.03013 928.851 298.523 6.27148 928.908 298.497 6.28638 928.576 297.673 6.49071 928.943 298.427 6.3138 928.958 298.323 6.35028 929.474 297.671 6.94466 929.299 297.671 6.75154 929.115 297.672 6.68538 930.909 302.655 6.11579 928.845 297.672 6.58774 922.144 297.666 10.479 917.621 264.415 17.8529 913.228 270.728 17.085 914.471 255.019 20.2031 907.575 253.649 21.3351 893.014 209.653 32.2837 899.696 210.503 31.3175 893.015 209.658 32.2823 903.217 221.445 28.6006 913.962 253.5 20.5832 885.727 187.636 37.6708 892.219 187.34 36.9841 892.49 188.166 36.799 888.456 195.883 35.7103 893.38 190.876 36.1905 899.347 209.42 31.5864 887.036 171.557 40.5267 879.662 169.314 42.0266 885.096 165.777 41.8013 884.9 165.192 41.9302 878.429 165.585 42.9044 881.342 154.595 44.2671 878.427 165.579 42.9058 881.3 154.471 44.2944 874.778 154.556 45.5012 881.186 154.123 44.3869 877.841 143.958 47.0914 873.255 149.956 46.5843 871.148 143.589 48.363 874.715 133.893 50.3954 877.591 143.153 47.3558 877.703 143.516 47.2367 871.146 143.583 48.3645 868.975 137.024 50.1965 874.333 132.568 50.908 867.552 132.725 51.6335 874.271 132.351 50.9918 864.008 122.016 55.2127 871.204 121.709 55.1072 726.402 165.331 37.9502 727.995 165.298 36.3189 712.617 143.053 41.7224 858.606 297.665 1.15144 864.978 297.665 1.41728 844.643 253.638 11.7853 903.435 297.665 3.97074 907.081 297.666 4.2727 892.15 253.65 14.9877 827.157 297.666 1.86813 827.324 297.666 1.85061 799.178 253.644 11.9971 828.727 253.644 11.1727 824.304 209.666 21.8256 841.988 209.656 22.7727 795.576 253.638 12.4701 770.962 209.656 22.0242 779.86 209.659 21.2666 766.553 209.654 22.6516 762.309 209.659 23.7989 792.012 253.639 13.4345 898.205 225.339 23.4399 893.025 209.687 27.341 885.97 209.665 26.4562 892.964 209.504 27.3866 885.708 187.581 32.851 878.606 187.689 31.8288 867.479 132.505 46.5937 864.008 122.016 50.9263 861.208 122.136 50.2261 859.217 122.221 49.728 856.693 122.328 49.2777 860.19 132.802 45.2951 747.886 126.969 39.2791 742.582 127.195 39.3274 751.525 143.141 35.2361 732.486 127.626 39.4884 730.775 127.699 39.5979 740.057 143.105 35.7591 705.59 128.773 43.7614 705.292 128.786 43.9669 714.829 143.009 40.4658 703.763 128.851 45.0206 703.506 128.862 45.2876 860.801 122.153 55.2937 863.763 143.532 49.2494 854.674 143.53 50.2883 849.144 122.65 55.9124 856.634 122.331 55.5148 835.403 143.455 52.1152 835.687 123.224 56.9332 847.553 122.718 56.033 814.39 143.362 53.7142 818.643 123.951 57.9689 828.145 123.546 57.3915 793.476 143.25 54.8574 800.305 124.733 59.0135 806.547 124.467 58.6579 764.503 126.26 60.189 770.667 125.997 60.1547 773.071 143.239 55.6014 774.585 125.83 60.1021 785.205 125.377 59.6527 754.457 126.689 60.2448 751.382 143.13 55.9417 742.428 127.202 60.3347 741.758 127.23 60.3397 739.889 143.093 55.7398 731 127.689 59.8712 718.747 128.212 58.6483 719.143 128.195 58.7176 728.34 143.078 54.6967 728.776 127.784 59.7018 730.617 127.705 59.842 713.222 128.447 57.6822 722.67 143.026 53.7944 712.965 128.458 57.6069 709.066 128.625 56.4685 717.206 142.991 52.3484 707.511 128.691 55.7944 706.701 128.725 55.4436 714.734 143.023 51.2737 705.131 128.792 54.4729 703.938 128.843 53.736 712.704 143.044 49.8716 703.604 128.858 53.4724 711.004 143.1 48.2005 702.101 128.922 51.9459 703.154 128.877 53.0162 710.499 143.101 47.1139 701.465 128.949 50.7898 701.692 128.939 51.2019 710.35 143.087 45.8962 701.231 128.959 49.4859 701.343 128.954 50.1114 710.497 143.099 44.6613 701.437 128.95 48.3093 701.322 128.955 48.9645 703.12 128.878 45.6881 702.184 128.918 46.9538 710.957 143.098 43.5225 701.925 128.929 47.3045 701.643 128.941 47.8862 717.373 143.015 39.4478 722.86 143.05 38.016 713.176 128.449 41.4437 710.02 128.584 42.1262 707.689 128.683 42.913 706.827 128.72 43.2041 728.531 143.072 37.0619 722.028 128.072 40.1578 718.932 128.204 40.5542 714.906 128.376 41.0696 735.141 127.512 39.395 773.197 143.257 35.7438 793.61 143.298 36.4326 782.88 125.477 40.9338 770.731 125.995 40.239 764.614 126.256 39.9465 755.269 126.654 39.4998 813.013 124.191 43.2301 806.665 124.462 42.688 814.513 143.402 37.5107 804.756 124.543 42.5251 785.319 125.372 41.1112 851.082 132.854 44.0754 847.634 122.715 47.6612 846.196 122.776 47.4047 831.682 133.017 41.9701 829.335 123.495 45.0391 828.229 123.542 44.9165 864.736 132.764 45.9506 867.56 132.747 46.4935 871.13 143.533 42.7972 871.035 143.247 42.8753 863.767 143.497 41.8754 870.671 142.148 43.1751 867.959 133.954 45.995 878.297 165.19 37.6188 874.754 154.484 39.963 867.436 154.434 39.0887 874.669 154.228 40.0189 873.813 151.641 40.5855 858.436 154.446 38.1004 885.676 187.484 32.8715 878.412 165.535 37.5453 871.159 165.515 36.6653 878.336 165.305 37.5941 900.255 231.531 21.9277 900.688 253.634 15.8037 907.571 253.635 16.5299 907.551 253.574 16.5448 920.096 297.662 5.52571 922.143 297.662 5.77879 917.594 297.662 5.21624 907.747 297.666 4.32777 911.697 297.664 4.68421 920.079 297.666 10.682 911.679 297.665 11.5076 877.168 209.663 33.8874 885.934 209.671 33.0586 907.023 297.665 11.9621 908.54 297.665 11.8163 871.155 165.548 43.8088 878.453 297.658 14.1598 841.896 209.635 36.6304 889.01 297.665 13.4635 859.579 209.667 35.3615 902.18 297.666 12.4276 895.706 297.664 13.1121 891.718 297.665 13.3214 824.201 209.664 37.5267 856.125 297.666 15.1247 806.491 209.649 38.1594 855.959 297.666 15.1275 779.898 209.655 38.2417 788.76 209.66 38.4829 837.227 297.664 15.2522 766.577 209.651 36.9288 771.018 209.655 37.5494 825.559 297.664 14.4616 787.246 253.645 21.3605 757.978 209.687 33.5188 760.054 209.662 34.9297 825.255 297.666 14.3901 824.399 297.669 14.1889 762.201 209.647 35.8396 821.646 297.682 13.5419 832.577 297.664 14.9372 829.224 297.664 14.71 827.124 297.664 14.5677 850.765 297.665 15.219 839.627 297.665 15.4148 838.148 297.665 15.3147 876.17 297.656 14.3104 874.943 297.655 14.3913 864.911 297.661 14.7823 786.833 253.635 18.3203 756.769 209.629 28.0379 786.684 253.619 19.3654 756.386 209.629 29.0607 786.839 253.632 20.3958 756.358 209.639 30.2208 756.609 209.651 31.4162 806.32 253.641 11.3447 788.822 209.661 20.9395 813.523 253.641 11.0182 806.597 209.657 21.1611 787.237 253.65 17.3026 788.565 253.661 15.5301 790.287 253.649 14.2926 821.716 297.663 3.1234 757.307 209.633 27.1547 758.662 209.666 25.714 822.688 297.662 2.71976 824.556 297.664 2.3638 825.363 297.664 2.21002 838.908 297.665 0.910878 832.512 297.665 1.30248 837.269 297.665 1.01125 838.253 297.665 0.950933 829.352 297.666 1.63627 876.171 297.664 1.88422 860.248 253.645 12.5668 867.923 253.642 13.0432 859.658 209.674 23.9986 875.707 253.636 13.593 877.222 209.669 25.5483 878.524 297.664 1.98233 884.745 297.664 2.24185 885.066 297.664 2.27368 891.791 297.663 2.94173 895.705 297.663 3.33059 846.026 297.665 0.997782 850.847 297.665 1.05667 855.957 297.665 1.11914 823.673 165.486 32.642 803.838 165.411 31.6042 784.352 165.405 30.9116 763.953 165.325 30.5148 753.325 165.309 30.9163 742.679 165.296 32.0076 737.433 165.286 32.8233 732.36 165.256 34.1723 854.707 143.5 40.8343 835.479 143.433 39.0768 862.212 165.531 35.6765 843.528 165.488 34.0765 851.629 187.675 29.2387 869.746 187.671 30.8483 725.603 165.327 40.1521 725.626 165.352 41.3801 726.024 165.36 42.5552 727.642 165.307 44.5019 729.783 165.28 45.9645 732.227 165.221 46.9323 737.382 165.249 48.1763 742.655 165.301 48.9593 753.287 165.3 49.8537 763.86 165.321 50.0754 784.242 165.427 49.7322 803.764 165.493 48.99 823.605 165.561 47.9275 843.461 165.523 46.5157 862.177 165.566 44.7687 891.58 184.476 34.6956 888.848 176.336 36.3943 886.987 170.788 37.5521 885.07 165.128 38.6701 884.961 164.807 38.7335 881.964 155.954 40.4819 881.272 153.83 41.0107 881.219 153.667 41.0513 879.225 147.543 42.576 877.722 142.677 44.1264 877.691 142.575 44.1589 876.981 140.277 44.8912 874.858 133.04 47.8212 874.559 132.006 48.3202 874.446 131.613 48.5097 871.956 122.978 52.6767 871.584 121.693 53.3271 892.422 187.084 34.0409 892.549 187.478 33.9421 896.594 200.004 30.798 899.573 209.192 28.4162 899.744 209.722 28.2788 905.443 227.303 23.7215 917.063 261.927 15.5411 914.504 254.303 17.3422 914.218 253.45 17.5437 907.014 231.986 22.6148 906.78 231.286 22.7802 921.795 276.62 11.821 847.718 300.895 0.0934601 829.192 303.74 12.4443 848.597 302.579 0.232458 849.424 304.168 0.856161 859.034 303.944 1.338 827.305 300.715 1.51086 829.301 303.829 1.51193 831.019 306.483 3.37267 857.507 300.821 0.460029 887.771 302.97 2.35617 878.573 303.264 2.22957 879.071 304.435 3.19874 897.253 302.044 2.75374 897.049 301.467 2.82085 887.271 301.686 1.93036 877.364 300.447 13.7097 896.558 300.104 12.3727 897.166 301.846 11.8449 897.382 302.443 11.421 878.554 303.234 12.676 897.633 303.139 10.927 879.069 304.434 11.8308 898.304 304.989 8.5547 879.67 305.833 9.15396 898.219 304.756 8.99673 879.447 305.315 10.6436 898.076 304.362 9.74607 897.764 303.502 10.669 897.98 304.1 10.2444 898.005 304.169 10.1134 857.477 300.773 14.4519 858.987 303.865 13.3952 859.619 305.167 12.3924 860.077 306.114 10.9652 860.325 306.629 9.28032 860.365 306.719 7.50279 896.73 300.598 12.223 898.378 305.195 6.98209 898.384 305.21 6.24204 879.745 306.009 7.5264 898.354 305.126 6.00147 879.674 305.84 5.92565 879.448 305.314 4.45783 897.992 304.113 4.20475 898.347 305.107 5.94544 898.236 304.792 5.04148 898.146 304.543 4.73392 878.002 301.923 1.63519 877.402 300.518 1.45888 897.839 303.688 3.67975 897.718 303.349 3.26252 897.474 302.665 2.99573 897.273 302.1 2.77567 835.203 307.205 5.1415 834.743 306.466 3.37577 834.06 305.372 2.02227 830.239 305.283 2.16651 860.013 305.987 4.00066 859.621 305.164 2.48051 841.657 305.477 1.8878 833.195 303.971 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<library_visual_scenes> + <visual_scene id="VisualSceneNode" name="VisualScene"> + <node id="node" name="node"> + <instance_geometry url="#shape0-lib"/> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#VisualSceneNode"/> + </scene> +</COLLADA> diff --git a/Tools/simulation/gz/models/ssrc_standard_vtol/model.config b/Tools/simulation/gz/models/ssrc_standard_vtol/model.config new file mode 100644 index 000000000000..c3f018d76c85 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_standard_vtol/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>Standard VTOL</name> + <version>1.0</version> + <sdf version='1.10'>model.sdf</sdf> + + <author> + <name>Roman Bapst</name> + <email>roman@px4.io</email> + </author> + + <description> + This is a model of a standard VTOL quad plane. + </description> +</model> diff --git a/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf b/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf new file mode 100644 index 000000000000..12dbbba38e5b --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf @@ -0,0 +1,852 @@ +<?xml version="1.0"?> +<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja --> +<sdf version='1.10'> + <model name='standard_vtol'> + <pose>0 0 0.246 0 0 0</pose> + <link name='base_link'> + <pose>0 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>5</mass> + <inertia> + <ixx>0.477708333333</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.341666666667</iyy> + <iyz>0</iyz> + <izz>0.811041666667</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0 0 -0.07 0 0 0</pose> + <geometry> + <box> + <size>0.55 2.144 0.05</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <kp>100000</kp> + <kd>1.0</kd> + <max_vel>0.1</max_vel> + <min_depth>0.001</min_depth> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='base_link_visual'> + <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_wing.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='left_motor_column'> + <pose>0 0.35 0.01 0 0 0</pose> + <geometry> + <box> + <size>0.74 0.03 0.03</size> + </box> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='right_motor_column'> + <pose>0 -0.35 0.01 0 0 0</pose> + <geometry> + <box> + <size>0.74 0.03 0.03</size> + </box> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m0'> + <pose>-0.35 0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m1'> + <pose>-0.35 -0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m2'> + <pose>0.35 -0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m3'> + <pose>0.35 0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + <sensor name="imu_sensor" type="imu"> + <always_on>1</always_on> + <update_rate>250</update_rate> + </sensor> + <sensor name="navsat_sensor" type="gps"/> + </link> + <link name='rotor_0'> + <pose>0.35 -0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_0_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_0_joint' type='revolute'> + <child>rotor_0</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_1'> + <pose>-0.35 0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_1_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_1_joint' type='revolute'> + <child>rotor_1</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_2'> + <pose>0.35 0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_2_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_2_joint' type='revolute'> + <child>rotor_2</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_3'> + <pose>-0.35 -0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_3_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_3_joint' type='revolute'> + <child>rotor_3</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name='rotor_puller'> + <pose>-0.22 0 0.0 0 1.57 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_puller_collision'> + <pose>0.0 0 -0.04 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.06</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_puller_visual'> + <pose>0 0 -0.04 0 0 0</pose> + <geometry> + <mesh> + <scale>0.8 0.8 0.8</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_puller_joint' type='revolute'> + <pose>0.0 0 0.0 0 -1.57 0</pose> + <child>rotor_puller</child> + <parent>base_link</parent> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name="left_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 0.3 0 0.00 0 0.0</pose> + </inertial> + <visual name='left_elevon_visual'> + <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_elevon_left.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + </link> + <link name="right_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 -0.6 0 0.00 0 0.0</pose> + </inertial> + <visual name='right_elevon_visual'> + <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_elevon_right.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + </link> + <link name="elevator"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose> -0.5 0 0 0.00 0 0.0</pose> + </inertial> + </link> + <link name="rudder"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>-0.5 0 0.05 0 0 0 </pose> + </inertial> + </link> + <joint name='servo_0' type='revolute'> + <parent>base_link</parent> + <child>left_elevon</child> + <pose>-0.18 0.6 -0.005 0 0 0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_1' type='revolute'> + <parent>base_link</parent> + <child>right_elevon</child> + <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_2' type='revolute'> + <parent>base_link</parent> + <child>elevator</child> + <pose> -0.5 0 0 0 0 0</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_3' type='revolute'> + <parent>base_link</parent> + <child>rudder</child> + <pose>-0.5 0 0.05 0.00 0 0.0</pose> + <axis> + <xyz>1 0 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.01</lower> + <upper>0.01</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!-- CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>100 -100 100</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END CAMERA --> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 0.3 0.05</cp> + <area>0.50</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_0</control_joint_name> + <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_0</joint_name> + <sub_topic>servo_0</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 -0.3 0.05</cp> + <area>0.50</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_1</control_joint_name> + <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_1</joint_name> + <sub_topic>servo_1</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>-0.2</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.5 0 0</cp> + <area>0.01</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_2</control_joint_name> + <control_joint_name>servo_2</control_joint_name> + <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_2</joint_name> + <sub_topic>servo_2</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0.</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.5 0 0.05</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_3</control_joint_name> + <control_joint_name>servo_3</control_joint_name> + <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_3</joint_name> + <sub_topic>servo_3</sub_topic> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_0_joint</jointName> + <linkName>rotor_0</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_1_joint</jointName> + <linkName>rotor_1</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>1</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_2_joint</jointName> + <linkName>rotor_2</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>2</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_3_joint</jointName> + <linkName>rotor_3</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>3</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_puller_joint</jointName> + <linkName>rotor_puller</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>3500</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.01</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>4</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + + <static>0</static> + </model> +</sdf> \ No newline at end of file diff --git a/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf.jinja b/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf.jinja new file mode 100644 index 000000000000..b98b2609e759 --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf.jinja @@ -0,0 +1,864 @@ +<?xml version="1.0"?> +<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja --> +<sdf version='1.10'> + <model name='standard_vtol'> + <pose>0 0 0.246 0 0 0</pose> + <link name='base_link'> + <pose>0 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>5</mass> + <inertia> + <ixx>0.477708333333</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.341666666667</iyy> + <iyz>0</iyz> + <izz>0.811041666667</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0 0 -0.07 0 0 0</pose> + <geometry> + <box> + <size>0.55 2.144 0.05</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <kp>100000</kp> + <kd>1.0</kd> + <max_vel>0.1</max_vel> + <min_depth>0.001</min_depth> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='base_link_visual'> + <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_wing.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='left_motor_column'> + <pose>0 0.35 0.01 0 0 0</pose> + <geometry> + <box> + <size>0.74 0.03 0.03</size> + </box> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='right_motor_column'> + <pose>0 -0.35 0.01 0 0 0</pose> + <geometry> + <box> + <size>0.74 0.03 0.03</size> + </box> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m0'> + <pose>-0.35 0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m1'> + <pose>-0.35 -0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m2'> + <pose>0.35 -0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m3'> + <pose>0.35 0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + <sensor name="imu_sensor" type="imu"> + <always_on>1</always_on> + <update_rate>250</update_rate> + </sensor> + <sensor name="navsat_sensor" type="gps"/> + </link> + <link name='rotor_0'> + <pose>0.35 -0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_0_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_0_joint' type='revolute'> + <child>rotor_0</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_1'> + <pose>-0.35 0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_1_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_1_joint' type='revolute'> + <child>rotor_1</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_2'> + <pose>0.35 0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_2_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_2_joint' type='revolute'> + <child>rotor_2</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_3'> + <pose>-0.35 -0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_3_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_3_joint' type='revolute'> + <child>rotor_3</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name='rotor_puller'> + <pose>-0.22 0 0.0 0 1.57 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_puller_collision'> + <pose>0.0 0 -0.04 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.06</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_puller_visual'> + <pose>0 0 -0.04 0 0 0</pose> + <geometry> + <mesh> + <scale>0.8 0.8 0.8</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_puller_joint' type='revolute'> + <pose>0.0 0 0.0 0 -1.57 0</pose> + <child>rotor_puller</child> + <parent>base_link</parent> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name="left_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 0.3 0 0.00 0 0.0</pose> + </inertial> + <visual name='left_elevon_visual'> + <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_elevon_left.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + </link> + <link name="right_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 -0.6 0 0.00 0 0.0</pose> + </inertial> + <visual name='right_elevon_visual'> + <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_elevon_right.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + </link> + <link name="elevator"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose> -0.5 0 0 0.00 0 0.0</pose> + </inertial> + </link> + <link name="rudder"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>-0.5 0 0.05 0 0 0 </pose> + </inertial> + </link> + <joint name='servo_0' type='revolute'> + <parent>base_link</parent> + <child>left_elevon</child> + <pose>-0.18 0.6 -0.005 0 0 0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_1' type='revolute'> + <parent>base_link</parent> + <child>right_elevon</child> + <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_2' type='revolute'> + <parent>base_link</parent> + <child>elevator</child> + <pose> -0.5 0 0 0 0 0</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_3' type='revolute'> + <parent>base_link</parent> + <child>rudder</child> + <pose>-0.5 0 0.05 0.00 0 0.0</pose> + <axis> + <xyz>1 0 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.01</lower> + <upper>0.01</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!-- CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>100 -100 100</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END CAMERA --> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 0.3 0.05</cp> + <area>0.50</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_0</control_joint_name> + <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_0</joint_name> + <sub_topic>servo_0</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 -0.3 0.05</cp> + <area>0.50</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_1</control_joint_name> + <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_1</joint_name> + <sub_topic>servo_1</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>-0.2</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.5 0 0</cp> + <area>0.01</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_2</control_joint_name> + <control_joint_name>servo_2</control_joint_name> + <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_2</joint_name> + <sub_topic>servo_2</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0.</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.5 0 0.05</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_3</control_joint_name> + <control_joint_name>servo_3</control_joint_name> + <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_3</joint_name> + <sub_topic>servo_3</sub_topic> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_0_joint</jointName> + <linkName>rotor_0</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_1_joint</jointName> + <linkName>rotor_1</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>1</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_2_joint</jointName> + <linkName>rotor_2</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>2</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_3_joint</jointName> + <linkName>rotor_3</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>3</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_puller_joint</jointName> + <linkName>rotor_puller</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>3500</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.01</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>4</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + {% if hitl_mode %}<plugin + filename="libmavlink_hitl_gazebosim.so" + name="mavlink_interface::GazeboMavlinkInterface"> + <robotNamespace/> + <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic> + <gpsSubTopic>/link/base_link/sensor/navsat_sensor/navsat</gpsSubTopic> + <poseSubTopic>/pose/info</poseSubTopic> + <mavlink_addr>{{ mavlink_addr }}</mavlink_addr> + <mavlink_udp_local_port>{{ mavlink_udp_local_port }}</mavlink_udp_local_port> + <mavlink_udp_remote_port>{{ mavlink_udp_remote_port }}</mavlink_udp_remote_port> + <mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port> + <use_tcp>0</use_tcp> + </plugin>{% endif %} + <static>0</static> + </model> +</sdf> diff --git a/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf.last_generated b/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf.last_generated new file mode 100644 index 000000000000..12dbbba38e5b --- /dev/null +++ b/Tools/simulation/gz/models/ssrc_standard_vtol/model.sdf.last_generated @@ -0,0 +1,852 @@ +<?xml version="1.0"?> +<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja --> +<sdf version='1.10'> + <model name='standard_vtol'> + <pose>0 0 0.246 0 0 0</pose> + <link name='base_link'> + <pose>0 0 0 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>5</mass> + <inertia> + <ixx>0.477708333333</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.341666666667</iyy> + <iyz>0</iyz> + <izz>0.811041666667</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0 0 -0.07 0 0 0</pose> + <geometry> + <box> + <size>0.55 2.144 0.05</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <kp>100000</kp> + <kd>1.0</kd> + <max_vel>0.1</max_vel> + <min_depth>0.001</min_depth> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='base_link_visual'> + <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_wing.dae</uri> + </mesh> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='left_motor_column'> + <pose>0 0.35 0.01 0 0 0</pose> + <geometry> + <box> + <size>0.74 0.03 0.03</size> + </box> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='right_motor_column'> + <pose>0 -0.35 0.01 0 0 0</pose> + <geometry> + <box> + <size>0.74 0.03 0.03</size> + </box> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m0'> + <pose>-0.35 0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m1'> + <pose>-0.35 -0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m2'> + <pose>0.35 -0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <visual name='m3'> + <pose>0.35 0.35 0.045 0 0 0</pose> + <geometry> + <cylinder> + <length>0.035</length> + <radius>0.02</radius> + </cylinder> + </geometry> + <material> + <ambient>.175 .175 .175 1.0</ambient> + <diffuse>.175 .175 .175 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + <sensor name="imu_sensor" type="imu"> + <always_on>1</always_on> + <update_rate>250</update_rate> + </sensor> + <sensor name="navsat_sensor" type="gps"/> + </link> + <link name='rotor_0'> + <pose>0.35 -0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_0_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_0_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_0_joint' type='revolute'> + <child>rotor_0</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_1'> + <pose>-0.35 0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_1_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_1_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_1_joint' type='revolute'> + <child>rotor_1</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_2'> + <pose>0.35 0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_2_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_2_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_2_joint' type='revolute'> + <child>rotor_2</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_3'> + <pose>-0.35 -0.35 0.07 0 0 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_3_collision'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.1</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_3_visual'> + <pose>0 0 0 0 0 0</pose> + <geometry> + <mesh> + <scale>1 1 1</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_3_joint' type='revolute'> + <child>rotor_3</child> + <parent>base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name='rotor_puller'> + <pose>-0.22 0 0.0 0 1.57 0</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_puller_collision'> + <pose>0.0 0 -0.04 0 0 0</pose> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.06</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_puller_visual'> + <pose>0 0 -0.04 0 0 0</pose> + <geometry> + <mesh> + <scale>0.8 0.8 0.8</scale> + <uri>model://standard_vtol/meshes/iris_prop_ccw.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_puller_joint' type='revolute'> + <pose>0.0 0 0.0 0 -1.57 0</pose> + <child>rotor_puller</child> + <parent>base_link</parent> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <link name="left_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 0.3 0 0.00 0 0.0</pose> + </inertial> + <visual name='left_elevon_visual'> + <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_elevon_left.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + </link> + <link name="right_elevon"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>0 -0.6 0 0.00 0 0.0</pose> + </inertial> + <visual name='right_elevon_visual'> + <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>model://standard_vtol/meshes/x8_elevon_right.dae</uri> + </mesh> + </geometry> + <material> + <ambient>0 0 1 1.0</ambient> + <diffuse>0 0 1 1.0</diffuse> + </material> + </visual> + </link> + <link name="elevator"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose> -0.5 0 0 0.00 0 0.0</pose> + </inertial> + </link> + <link name="rudder"> + <inertial> + <mass>0.00000001</mass> + <inertia> + <ixx>0.000001</ixx> + <ixy>0.0</ixy> + <iyy>0.000001</iyy> + <ixz>0.0</ixz> + <iyz>0.0</iyz> + <izz>0.000001</izz> + </inertia> + <pose>-0.5 0 0.05 0 0 0 </pose> + </inertial> + </link> + <joint name='servo_0' type='revolute'> + <parent>base_link</parent> + <child>left_elevon</child> + <pose>-0.18 0.6 -0.005 0 0 0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_1' type='revolute'> + <parent>base_link</parent> + <child>right_elevon</child> + <pose>-0.18 -0.6 -0.005 0 0 -0.265</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_2' type='revolute'> + <parent>base_link</parent> + <child>elevator</child> + <pose> -0.5 0 0 0 0 0</pose> + <axis> + <xyz>0 1 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <joint name='servo_3' type='revolute'> + <parent>base_link</parent> + <child>rudder</child> + <pose>-0.5 0 0.05 0.00 0 0.0</pose> + <axis> + <xyz>1 0 0</xyz> + <limit> + <!-- -30/+30 deg. --> + <lower>-0.01</lower> + <upper>0.01</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + <physics> + <ode> + <implicit_spring_damper>1</implicit_spring_damper> + </ode> + </physics> + </joint> + <!-- CAMERA {--> + <link name="camera_link"> + <kinematic>1</kinematic> + <pose>-2 0 1 0 0.3 0</pose> + <inertial> + <mass>0</mass> + <inertia> + <ixx>0.0</ixx> + <iyy>0.0</iyy> + <izz>0.0</izz> + </inertia> + </inertial> + <sensor type="camera" name="third-person-camera"> + <camera> + <horizontal_fov>1.7</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + </image> + <clip> + <near>0.1</near> + <far>1000</far> + </clip> + </camera> + <always_on>true</always_on> + <update_rate>30</update_rate> + <visualize>true</visualize> + </sensor> + </link> + <joint name='camera_joint' type='fixed'> + <kinematic>1</kinematic> + <child>camera_link</child> + <parent>base_link</parent> + <axis> + <xyz>100 -100 100</xyz> + <limit> + <lower>0</lower> + <upper>0</upper> + <effort>0</effort> + <velocity>0</velocity> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <!--} END CAMERA --> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 0.3 0.05</cp> + <area>0.50</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_0</control_joint_name> + <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_0</joint_name> + <sub_topic>servo_0</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 -0.3 0.05</cp> + <area>0.50</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_1</control_joint_name> + <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_1</joint_name> + <sub_topic>servo_1</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>-0.2</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.5 0 0</cp> + <area>0.01</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_2</control_joint_name> + <control_joint_name>servo_2</control_joint_name> + <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_2</joint_name> + <sub_topic>servo_2</sub_topic> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0.</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.5 0 0.05</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_3</control_joint_name> + <control_joint_name>servo_3</control_joint_name> + <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_3</joint_name> + <sub_topic>servo_3</sub_topic> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_0_joint</jointName> + <linkName>rotor_0</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_1_joint</jointName> + <linkName>rotor_1</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>1</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_2_joint</jointName> + <linkName>rotor_2</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>2</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_3_joint</jointName> + <linkName>rotor_3</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>3</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_puller_joint</jointName> + <linkName>rotor_puller</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>3500</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.01</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>4</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + + <static>0</static> + </model> +</sdf> \ No newline at end of file diff --git a/Tools/simulation/gz/worlds/default.sdf b/Tools/simulation/gz/worlds/default.sdf index 4b6f38400283..65f5ea1857df 100644 --- a/Tools/simulation/gz/worlds/default.sdf +++ b/Tools/simulation/gz/worlds/default.sdf @@ -5,11 +5,21 @@ <real_time_factor>1.0</real_time_factor> <real_time_update_rate>250</real_time_update_rate> </physics> + <spherical_coordinates> + <surface_model>EARTH_WGS84</surface_model> + <world_frame_orientation>ENU</world_frame_orientation> + <latitude_deg>47.3977</latitude_deg> + <longitude_deg>8.5456</longitude_deg> + <elevation>488.0</elevation> + <heading_deg>0</heading_deg> + </spherical_coordinates> + <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/> <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/> <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/> <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/> <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/> + <plugin name='gz::sim::systems::NavSat' filename='gz-sim-navsat-system'/> <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/> <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'> <render_engine>ogre2</render_engine> diff --git a/packaging/entrypoint_sitl_gzsim.sh b/packaging/entrypoint_sitl_gzsim.sh index cd35be3312e2..e3e2bca97181 100755 --- a/packaging/entrypoint_sitl_gzsim.sh +++ b/packaging/entrypoint_sitl_gzsim.sh @@ -13,7 +13,7 @@ case $PX4_VEHICLE_TYPE in export PX4_GZ_MODEL=scout_mini ;; vtol) - export PX4_SYS_AUTOSTART=4004 + export PX4_SYS_AUTOSTART=4404 export PX4_GZ_MODEL=standard_vtol ;; fw) @@ -31,6 +31,7 @@ esac export PX4_GZ_MODEL_NAME=$DRONE_DEVICE_ID export PX4_GZ_WORLD=${PX4_GZ_WORLD:-default} +export PX4_RUN_GZSIM=0 export GZ_PARTITION=sim export GZ_IP=${GZ_IP:-127.0.0.1} diff --git a/src/modules/simulation/gz_bridge/CMakeLists.txt b/src/modules/simulation/gz_bridge/CMakeLists.txt index dbad5d3fee94..6c7a11b7a11f 100644 --- a/src/modules/simulation/gz_bridge/CMakeLists.txt +++ b/src/modules/simulation/gz_bridge/CMakeLists.txt @@ -88,13 +88,6 @@ if(gz-transport_FOUND) ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_* ) - # remove any _gz_ssrc_ files - foreach(gz_airframe IN LISTS gz_airframes) - if(gz_airframe MATCHES "_gz_ssrc_") - list(REMOVE_ITEM gz_airframes ${gz_airframe}) - endif() - endforeach() - # remove any .post files foreach(gz_airframe IN LISTS gz_airframes) if(gz_airframe MATCHES ".post") diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index 9fcc16e0e1f2..f629fd6dd72d 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -172,7 +172,7 @@ int GZBridge::init() #if 0 // Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed std::string airspeed_topic = "/world/" + _world_name + "/model/" + _model_name + - "/link/airspeed_link/sensor/air_speed/air_speed"; + "/link/airspeed_link/sensor/air_speed/air_speed"; if (!_node.Subscribe(airspeed_topic, &GZBridge::airspeedCallback, this)) { PX4_ERR("failed to subscribe to %s", airspeed_topic.c_str());