-
0
2
2
-
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- 6c7d22d1-5273-4a15-863e-8d59e40e327b
- Shaded
- 1
-
100;150;0;0
-
100;0;150;0
- 639173308455188100
- false
- 01_visualize_and_pose.ghx
- 0
-
-13
271
- 0.6661122
- 0
- 0
- 2
- Robert McNeel & Associates
- 00000000-0000-0000-0000-000000000000
- Grasshopper
- 8.32.26160.13002
- Robert McNeel & Associates
- 00000000-0000-0000-0000-000000000000
- Grasshopper
- 8.32.26160.13002
- 12
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Load Robot Cell From Library
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACOElEQVRIDbVVTUscQRCtGXWWRfZgxIt7jO6uXiUi6I8Q45JDLjl6CIg3DYIIwXgLgt6TQxDxA/+EOYQccon7lRwMGMIumBjFDww76VdsTXp6pt0hsAW73f2q6r3qnpppog6bo/P7vj+r1vPV2tfJZrMZ8ulxcXPXdf3c8MMj5dtwHGdPYgISRb5WrtSWxGGOx6UyQ6MjBdMVWRfyw6+UyAs4WACVK/LdSGQLWH25TiJQfDxNszPTttAAVyJF7MRtIfOBR5uA9MnTZ0wule/uHzK2d3CoRcZOmZN3UKl+UUcePnMQgAymV23DTQk8k3xuyOUdmOQIFnIzUV/fFyOc3XqCbQ4i/HBM8ixssSYuz8DEg/XOuzd8RABADhFgSa2tAIj0rllZXkzKzXFWAemauG5B2yY17qJSueqbCTiO+4hQALpLCjHzsR4p5ByrgCTobSmY3raCxY2JBCQRQp+Py22rlniMVoGt2nc9LtH8UX+Gxh9kQrEQiLwHH84uaPM/BJ7TYEQAaiGB0u8r+vTzkqvIZdJUvbjm+UI+y2Pc34+bO9o+qce5GAsJzH2sUV0lwIQc89eVUwyx1ueFKCIx7MWHSb4dA6ke8tQn6vT6lrLpFOFss2kvlMitp5Cdbw1CH76dyEeOB5xIYgHcROo+mBKWX3d/eIrxfeNc4GA0Xxrz4SKwdbuRvMkbAMf6MnwDeaosz3Wot0vc8P4z7EB+yLEYc8puqd2VaSGJhSNXpkR14tIX7o6NfwE199vqib3YxwAAAABJRU5ErkJggg==
- c63937c3-4934-47ab-96d1-771d589e3dc2
- true
- false
- true
- COMPAS FAB: Load Robot Cell From Library
- COMPAS FAB: Load Robot Cell From Library
- 3
- false
- false
- false
- false
-
414
129
193
104
-
506
181
- 5
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 2
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- Name of the RobotCellLibrary classmethod to call. A dropdown is auto-created on first use with every available cell (e.g. 'ur5', 'ur10e', 'abb_irb4600_40_255', 'panda', 'rfl', 'ur5_cone_tool', 'abb_irb4600_40_255_printing_tool').
- a0ecccd6-d253-4eb7-a737-3219963eeb46
- name
- name
- true
- 0
- 2
- true
- caa1362d-7ce9-4e2d-9088-7cb04c77500e
- 1
- Name of the RobotCellLibrary classmethod to call. A dropdown is auto-created on first use with every available cell (e.g. 'ur5', 'ur10e', 'abb_irb4600_40_255', 'panda', 'rfl', 'ur5_cone_tool', 'abb_irb4600_40_255_printing_tool').
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
416
131
75
20
-
455
141
- System.Private.CoreLib
- System.String
- true
- Whether to load the robot's mesh geometry. Required for visualization. Defaults to True when unwired. A Boolean Toggle is auto-created on this input when nothing is wired.
- 25c91145-c5d2-48f7-8644-3b4cace570f6
- load_geometry
- load_geometry
- true
- 0
- 2
- true
- 3920bd9e-49b4-444b-bb4f-1e85753c22dd
- 1
- Whether to load the robot's mesh geometry. Required for visualization. Defaults to True when unwired. A Boolean Toggle is auto-created on this input when nothing is wired.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
416
151
75
20
-
455
161
- System.Private.CoreLib
- System.Object
- true
- Force a reload (bypass cache). Defaults to False.
- b78759ff-b09d-4f12-ae4c-b3d255c34e7c
- reload
- reload
- true
- 0
- 2
- true
- 0
- Force a reload (bypass cache). Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
416
171
75
20
-
455
181
- System.Private.CoreLib
- System.Boolean
- 1
- true
- Optional list of ToolModels to register into the cell. Each is keyed by its `.name`.
- 010c777d-31b9-48d6-baba-c4b4a3a90b44
- tools
- tools
- true
- 1
- 2
- true
- 0
- Optional list of ToolModels to register into the cell. Each is keyed by its `.name`.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
416
191
75
20
-
455
201
- System.Private.CoreLib
- System.Object
- 1
- true
- Optional list of RigidBodies to register into the cell. Each is keyed by its `.name` (set it on the Rigid Body From… component).
- bf0c7664-9df3-4d12-a842-22b715e8ca7e
- rigid_bodies
- rigid_bodies
- true
- 1
- 2
- true
- 0
- Optional list of RigidBodies to register into the cell. Each is keyed by its `.name` (set it on the Rigid Body From… component).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
416
211
75
20
-
455
221
- System.Private.CoreLib
- System.Object
- false
- The loaded RobotCell.
- e9489d0e-92c3-4c7e-af2f-c5171c7e77d4
- robot_cell
- robot_cell
- false
- 0
- 2
- true
- 0
- The loaded RobotCell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
521
131
84
50
-
563
156
- System.Private.CoreLib
- System.Object
- false
- The default RobotCellState matching the cell.
- f3c2c5ea-b619-40ec-bee4-03bcbcbec865
- robot_cell_state
- robot_cell_state
- false
- 0
- 2
- true
- 0
- The default RobotCellState matching the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
521
181
84
50
-
563
206
- System.Private.CoreLib
- System.Object
- true
- false
- true
- 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
- COMPAS FAB: Load Robot Cell From Library
- *.*.python
- 3.*
-
412
199
550
650
- 00027467-0d24-4fa7-b178-8dc0ac5f42ec
- Value List
- Provides a list of preset values to choose from
- caa1362d-7ce9-4e2d-9088-7cb04c77500e
- 11
- 1
- Value List
- name
- false
- 0
- "abb_irb120_3_58"
- abb_irb120_3_58
- false
- "abb_irb4600_40_255"
- abb_irb4600_40_255
- false
- "abb_irb4600_40_255_gripper_one_beam"
- abb_irb4600_40_255_gripper_one_beam
- false
- "abb_irb4600_40_255_printing_tool"
- abb_irb4600_40_255_printing_tool
- false
- "panda"
- panda
- false
- "rfl"
- rfl
- false
- "ur10e"
- ur10e
- false
- "ur10e_gripper_one_beam"
- ur10e_gripper_one_beam
- false
- "ur5"
- ur5
- true
- "ur5_cone_tool"
- ur5_cone_tool
- false
- "ur5_gripper_one_beam"
- ur5_gripper_one_beam
- false
-
65
130
270
22
-
102
130
- 2e78987b-9dfb-42a2-8b76-3923ac8bd91a
- Boolean Toggle
- Boolean (true/false) toggle
- 3920bd9e-49b4-444b-bb4f-1e85753c22dd
- Boolean Toggle
- load_geometry
- false
- 0
- true
-
196
150
139
22
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Robot Configuration
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAAB4UlEQVRIDWNgoDFgRDb/////UUB+5q3bd63//fuHIoesDhubiYnpv5qq8lGg3HRGRsZlMDVwQ4CG99y4ebsYJkEJraGu2gu0pARkBtgCkMuBhi+lxFB0vUBLokE+YYJKZKIroAIfbCbYBzdv3QEGOfYwX3T/JdiuOEVxkuwExYm6mgoTC0gXzPBLl68wvH79Bm7Q9F8cDFf/gZUwbLp5nyGT7QdcDhdDVFSEQU9XB24mRDdU9bSZcxjev/8A13s1OgfBBlo0a+4COB8XQ1BQgGHGlAlwaRQLstJT0HzwB+4DbaY/DGnJCXCNuBggHyADFAtAXkMGzkAOuXEAMwfFApggMo0eueufvGFouPIQrKRBR54hUAbVxch6QWxwKrp+49Z/EKe9q5fh4aPHICZOcNgjiuEfEyR1M/37x2C7A55pwXrk5WQZKssg+VVTQ40Rlg9wGkipBIoPiDGMlCAC+YBgHMAsRY5sQuEO0wOiUSxAz2gwhaRkOFhGg+lFsQA9o8EUkZLhSMpoMAum/yI+w2HNaKCCCVQeoWc0mAXkZDiQmSD94FQErA8OA+sDG5iB1KCB9cERYH1gC8sH06lhKJoZYDPBFoBqHlA1h6aAbC60ygRncXAQwUyiRaUPM5tmNACVDsEtgc8jGAAAAABJRU5ErkJggg==
- cf7d3729-5f86-4dc2-a38d-a8d67d059b5e
- true
- false
- true
- COMPAS FAB: Robot Configuration
- COMPAS FAB: Robot Configuration
- 3
- false
- false
- false
- false
-
1057
144
155
44
-
1125
166
- 2
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 2
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- The RobotCell to derive joint metadata from. Wiring a new cell rebuilds the slider bank to match its configurable joints.
- 30ad9c5e-575d-402c-bc17-cfce2fe52fd0
- robot_cell
- robot_cell
- true
- 0
- 2
- true
- e9489d0e-92c3-4c7e-af2f-c5171c7e77d4
- 1
- The RobotCell to derive joint metadata from. Wiring a new cell rebuilds the slider bank to match its configurable joints.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1059
146
51
20
-
1086
156
- System.Private.CoreLib
- System.Object
- 1
- true
- Joint values in canonical joint order. Auto-populated by the per-joint sliders the component creates; wire your own values to override.
- 8da8bb1f-1b92-4473-8ca2-3e8cf36e9fc8
- joints
- joints
- true
- 1
- 2
- true
- b0591c32-3ec1-47f3-868a-fc85be1f96de
- bdde6355-4e0b-486d-925a-b1b83c3e1526
- 3244f1a8-512a-4d5b-953b-7cc235e6117a
- 057821c0-7976-4437-a7cd-c76e7a1caa7e
- 7f34a6a5-3f76-487e-a846-f3eb6adc2959
- 0ecc6d27-9982-4b93-9fb3-d2fa37797e46
- 6
- Joint values in canonical joint order. Auto-populated by the per-joint sliders the component creates; wire your own values to override.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
-
1059
166
51
20
-
1086
176
- System.Private.CoreLib
- System.Double
- false
- Configuration with joint_names and joint_types extracted from the cell.
- 6092f313-7735-4bbb-9f2c-de9867c6687b
- configuration
- configuration
- false
- 0
- 2
- true
- 0
- Configuration with joint_names and joint_types extracted from the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1140
146
70
20
-
1175
156
- System.Private.CoreLib
- System.Object
- false
- A copy of the default cell state with `robot_configuration` set to the selected configuration.
- e66c373c-86a9-4a3a-9199-810b19a5ae97
- cell_state
- cell_state
- false
- 0
- 2
- true
- 0
- A copy of the default cell state with `robot_configuration` set to the selected configuration.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1140
166
70
20
-
1175
176
- System.Private.CoreLib
- System.Object
- true
- false
- true
- 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
- COMPAS FAB: Robot Configuration
- *.*.python
- 3.*
-
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550
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- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- b0591c32-3ec1-47f3-868a-fc85be1f96de
- Number Slider
- shoulder_pan_joint
- false
- 0
-
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- 0
- 6.283185
- -6.283185
- 0
- 1.455502
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- bdde6355-4e0b-486d-925a-b1b83c3e1526
- Number Slider
- shoulder_lift_joint
- false
- 0
-
754
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-
754.8124
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- 6
- 1
- 0
- 6.283185
- -6.283185
- 0
- -1.18763
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- 3244f1a8-512a-4d5b-953b-7cc235e6117a
- Number Slider
- elbow_joint
- false
- 0
-
754
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-
754.8124
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- 6
- 1
- 0
- 3.141593
- -3.141593
- 0
- 1.678268
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- 057821c0-7976-4437-a7cd-c76e7a1caa7e
- Number Slider
- wrist_1_joint
- false
- 0
-
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- 6
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- 6.283185
- -6.283185
- 0
- -1.787724
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- 7f34a6a5-3f76-487e-a846-f3eb6adc2959
- Number Slider
- wrist_2_joint
- false
- 0
-
754
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-
754.8124
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- 6
- 1
- 0
- 6.283185
- -6.283185
- 0
- -1.441819
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- 0ecc6d27-9982-4b93-9fb3-d2fa37797e46
- Number Slider
- wrist_3_joint
- false
- 0
-
754
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-
754.8124
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- 6
- 1
- 0
- 6.283185
- -6.283185
- 0
- -1.633628
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Visualize Robot Cell
- true
- 2
-
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- e3ecf34e-b507-4e7a-b64b-25f7eb105fc0
- true
- false
- true
- COMPAS FAB: Visualize Robot Cell
- COMPAS FAB: Visualize Robot Cell
- 3
- false
- false
- false
- false
-
1327
144
203
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-
1414
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- true
- 5
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 4
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- The RobotCell to draw.
- 8b0bc1eb-9409-451a-b2a6-fcc5421efdce
- robot_cell
- robot_cell
- true
- 0
- 2
- true
- f592bffe-d89d-4601-9a92-a32d05dab2f3
- 1
- The RobotCell to draw.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1329
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70
20
-
1365.5
156
- true
- System.Private.CoreLib
- System.Object
- true
- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- a1e82ddd-b31d-4d37-983a-6aace3e7fff1
- cell_state
- cell_state
- true
- 0
- 2
- true
- e66c373c-86a9-4a3a-9199-810b19a5ae97
- 1
- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1329
166
70
20
-
1365.5
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- true
- System.Private.CoreLib
- System.Object
- true
- Draw visual meshes. Defaults to True.
- 498e4f80-5588-4914-ab07-978b2f0b02eb
- draw_visual
- draw_visual
- true
- 0
- 2
- true
- 0
- Draw visual meshes. Defaults to True.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
1329
186
70
20
-
1365.5
196
- true
- System.Private.CoreLib
- System.Boolean
- true
- Draw collision meshes. Defaults to False.
- 261295c0-67b7-428f-aaa4-cc8af1b3e119
- draw_collision
- draw_collision
- true
- 0
- 2
- true
- 0
- Draw collision meshes. Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
1329
206
70
20
-
1365.5
216
- true
- System.Private.CoreLib
- System.Boolean
- true
- Scale factor for the drawn geometry: meter_value / native_scale = native_value. Use 0.001 for a millimeter document. Defaults to 1.0.
- e09a4c2c-f2ea-4cb1-a16c-29e869f46e6d
- native_scale
- native_scale
- true
- 0
- 2
- true
- 0
- Scale factor for the drawn geometry: meter_value / native_scale = native_value. Use 0.001 for a millimeter document. Defaults to 1.0.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
-
1329
226
70
20
-
1365.5
236
- true
- System.Private.CoreLib
- System.Double
- false
- Rhino meshes of the robot model.
- 89b6240d-ee33-4e83-a428-2ae362d387a8
- robot_meshes
- robot_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of the robot model.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1429
146
99
25
-
1478.5
158.5
- true
- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all tool models in the cell.
- b40f08a0-c123-4bb3-aebe-a042e4b1d33a
- tool_meshes
- tool_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of all tool models in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1429
171
99
25
-
1478.5
183.5
- true
- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all rigid bodies in the cell.
- 09e59373-7a61-47c0-b5b1-3f8c516a8bf5
- rigid_body_meshes
- rigid_body_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of all rigid bodies in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1429
196
99
25
-
1478.5
208.5
- true
- System.Private.CoreLib
- System.Object
- false
- Rhino plane at the robot's base frame.
- bb02faf8-6561-4933-a1f6-4e22aefb1c22
- base_plane
- base_plane
- false
- 0
- 2
- true
- 0
- Rhino plane at the robot's base frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1429
221
99
25
-
1478.5
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- true
- System.Private.CoreLib
- System.Object
- true
- false
- true
- 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
- COMPAS FAB: Visualize Robot Cell
- *.*.python
- 3.*
-
541
199
550
650
- b6236720-8d88-4289-93c3-ac4c99f9b97b
- Relay
- 2
- A wire relay object
- f592bffe-d89d-4601-9a92-a32d05dab2f3
- Relay
- false
- e9489d0e-92c3-4c7e-af2f-c5171c7e77d4
- 1
-
1111
96
40
16
-
1131
104
-
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LS3NTgORgHjyoY38ta+3v683hRCyp7dPBNNclPJKt7v5qqab/+n2cqXntISm0ejaG+9p4bzoRe3qzIiVsj3r/e1KXMi0WwQiEqm9NeynzTcO73Bj4rOaNogWytFAmD3ONCCkgWCYx/o4tDZxpIVky/qaJsX6H9tv5LM13fgPkUlyh05ZZnYMm7zbKmyZ77UyhVvW8Gf8IQOLH332Ey3mrrrFZLYPQQYOlp6clpHmGhrK28k3jzqCQSgChLl69arbpYFpZNkKkvl4/EA0iB7YpYsX7cLogLUWtQ9+YcrK+YKVB07UNhZqyUdrhJHUZAALxEoGxz1JYZH5/oNHIpM0iqYSOrQFG3JMT0+5idIm7Wcb6I8WySGQJw7TJ+whY3mJZ/hVaC5mynHueR6NXrVWOjNlpaUOq+YHrHj4jCOSVJdhBt0HFuwFSzAEHytBMHcr6sYNLfquaF1OrYFpLJej3QaR9ol2aqa16NzT0+1e4c0nZIJIBO9bxa/9ZHGXJmB789objw/lzZ60Y9O1f7FKuz6GYGmroF0KCflYQWO5Znm1P2wvwoeCWBvB9fmNW11BJK+tfIR/5snG8/o0EIsASR1p8N1FKMiVu/lfbuqh0qYdE/rSBw2WVAjESgrJXcqh4S9e/EzEYsuMyCUNhBZiHgsyuK3Yam948eabw5umUiAQc3bs52KdFHJhKvG9uOZgoRxH/rH2UfX3dFm+s9VSc+OWnnpglX0HrTh8znJ3P5U51O5ZpU8qBGIlheQe5MzOzkcb/TSKYzvM/r68ph/W3LzU/PycZbSjszBSWHfMvRaCgPhSF3HML1xwBGOPFqNBCEa6EydOOOd+XvNgSzc/taFvnLC15k4ramqBT8dS+kglvTApgh1x5nAP1diU1elbmM1KeAivAoGqXbr0mUaAa9JU0Ua/EluMsYtql5wcd+a35HnZocG8m/ykvXzgGg3lpxW8GfRpuOdgMnV45Kg1NTOhqvzKoxc65z376JqtMRNf/7m9f8EOz34eK2isHQKXdHImQc+ff9tpGMhET68PjkL6gWeRU18fu+FPeSL52HqCEYcWS8ueVnHOESY/i28Xc3cu29qxX0xUW1GGQCzfEq/ojLm6dOmKiIUe0Yy6yhGZOpFMGox7FFQqVbajRw/JHG40GeRhyoGzc85dWkfF9dp4grEkdERfJunbFjP9TYfM5APLzIxZceTn9Tl+j14abSFaz7jHi41S7lFQyL47BNAmExPTbh6LbzEz+myuq0tzVmIaJnF+YV6rLRlt8xmu7ViFaBF5MH+XL192prBQKGhToD6PkwwmViEaa4enT592G/9+ev26VW5dtjMjB23NMlbp7rfVU78szVVbN9xd8bfNFYi1LTQvJwKN0tyS06a83mjBWISqVvmwF/Kk9TFF3pGlqF2dfE3Osg0BcpG3IEKh4Rj58eEEz7j35OOefWr7NFk69M45W2rXJKkGA7hZzqdKWFO5wukn0rQqZHDePSQv/4w5wwH3ATL44Aniz/G4rSZIfV7O5OOAeFlpOD4iaWQIznsj0d2hbBr9ZYRGk6q+DsEU1qPxiq69NnpFr2/Ia8O2mYbAGoQGYgUONASBQKyGwBqEBmIFDjQEgUCshsAahAZiBQ40BIFArIbAGoQGYgUONASBQKyGwBqEBmIFDjQEgUCshsAahAZiBQ40BIFArIbAGoQGYgUONASBQKyGwBqEBmIFDjQEgUCshsAahAZiBQ40BIFArIbAGoQGYgUONASBQKyGwBqEBmIFDjQEgUCshsAahK5/CR2gCAgkhQBfaztiJSUwyAkIeAT+D2zrSHbWlcudAAAAAElFTkSuQmCC