From d4c57245bddba73a1576f001f6b875384f4393f6 Mon Sep 17 00:00:00 2001 From: L-ED Date: Wed, 12 Jun 2024 23:40:17 +0300 Subject: [PATCH] added new data --- devel.ipynb | 235 ++++++++++++------ .../examples/hover/hover_test_auto2.py | 31 ++- 2 files changed, 188 insertions(+), 78 deletions(-) diff --git a/devel.ipynb b/devel.ipynb index f412647..7cbed39 100644 --- a/devel.ipynb +++ b/devel.ipynb @@ -2,18 +2,36 @@ "cells": [ { "cell_type": "code", - "execution_count": 34, + "execution_count": 2, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "2024-06-12 23:28:54.745563: I tensorflow/core/platform/cpu_feature_guard.cc:210] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.\n", + "To enable the following instructions: AVX2 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.\n", + "2024-06-12 23:28:55.678061: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT\n" + ] + } + ], "source": [ "import stable_baselines3" ] }, { "cell_type": "code", - "execution_count": 35, + "execution_count": 3, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "pybullet build time: Sep 27 2023 23:43:15\n" + ] + } + ], "source": [ "from stable_baselines3 import PPO\n", "from gym_pybullet_drones.envs.single_agent_rl import HoverIMU, HoverGPS, HoverFullState\n" @@ -21,14 +39,22 @@ }, { "cell_type": "code", - "execution_count": 36, + "execution_count": 4, "metadata": {}, "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/led/miniconda3/lib/python3.11/site-packages/gymnasium/spaces/box.py:130: UserWarning: \u001b[33mWARN: Box bound precision lowered by casting to float32\u001b[0m\n", + " gym.logger.warn(f\"Box bound precision lowered by casting to {self.dtype}\")\n" + ] + }, { "name": "stdout", "output_type": "stream", "text": [ - "\n", + "\n", "Frequency 1000\n" ] }, @@ -36,8 +62,8 @@ "name": "stderr", "output_type": "stream", "text": [ - "/home/led/miniconda3/lib/python3.11/site-packages/gymnasium/spaces/box.py:130: UserWarning: \u001b[33mWARN: Box bound precision lowered by casting to float32\u001b[0m\n", - " gym.logger.warn(f\"Box bound precision lowered by casting to {self.dtype}\")\n" + "/home/led/miniconda3/lib/python3.11/site-packages/tqdm/auto.py:21: TqdmWarning: IProgress not found. Please update jupyter and ipywidgets. See https://ipywidgets.readthedocs.io/en/stable/user_install.html\n", + " from .autonotebook import tqdm as notebook_tqdm\n" ] } ], @@ -55,7 +81,7 @@ }, { "cell_type": "code", - "execution_count": 37, + "execution_count": 5, "metadata": {}, "outputs": [ { @@ -64,7 +90,7 @@ "array([1., 2., 3.])" ] }, - "execution_count": 37, + "execution_count": 5, "metadata": {}, "output_type": "execute_result" } @@ -77,7 +103,7 @@ }, { "cell_type": "code", - "execution_count": 38, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ @@ -87,7 +113,7 @@ }, { "cell_type": "code", - "execution_count": 39, + "execution_count": 7, "metadata": {}, "outputs": [], "source": [ @@ -96,7 +122,7 @@ }, { "cell_type": "code", - "execution_count": 40, + "execution_count": 8, "metadata": {}, "outputs": [ { @@ -105,7 +131,7 @@ "array([0.0000000e+00, 2.4492936e-16, 1.0000000e+00])" ] }, - "execution_count": 40, + "execution_count": 8, "metadata": {}, "output_type": "execute_result" } @@ -116,7 +142,7 @@ }, { "cell_type": "code", - "execution_count": 41, + "execution_count": 9, "metadata": {}, "outputs": [ { @@ -125,7 +151,7 @@ "array([ 0., 45., 90., 135., 180., 225., 270., 315.])" ] }, - "execution_count": 41, + "execution_count": 9, "metadata": {}, "output_type": "execute_result" } @@ -136,7 +162,7 @@ }, { "cell_type": "code", - "execution_count": 42, + "execution_count": 10, "metadata": {}, "outputs": [], "source": [ @@ -154,7 +180,7 @@ }, { "cell_type": "code", - "execution_count": 43, + "execution_count": 11, "metadata": {}, "outputs": [ { @@ -163,7 +189,7 @@ "(52, 3)" ] }, - "execution_count": 43, + "execution_count": 11, "metadata": {}, "output_type": "execute_result" } @@ -174,7 +200,7 @@ }, { "cell_type": "code", - "execution_count": 44, + "execution_count": 12, "metadata": {}, "outputs": [ { @@ -183,7 +209,7 @@ "(26, 3)" ] }, - "execution_count": 44, + "execution_count": 12, "metadata": {}, "output_type": "execute_result" } @@ -194,7 +220,7 @@ }, { "cell_type": "code", - "execution_count": 45, + "execution_count": 13, "metadata": {}, "outputs": [ { @@ -228,7 +254,7 @@ " [ 0.5 , -0.5 , -0.707]])" ] }, - "execution_count": 45, + "execution_count": 13, "metadata": {}, "output_type": "execute_result" } @@ -239,7 +265,7 @@ }, { "cell_type": "code", - "execution_count": 46, + "execution_count": 14, "metadata": {}, "outputs": [ { @@ -248,7 +274,7 @@ "(26, 3)" ] }, - "execution_count": 46, + "execution_count": 14, "metadata": {}, "output_type": "execute_result" } @@ -259,7 +285,7 @@ }, { "cell_type": "code", - "execution_count": 47, + "execution_count": 15, "metadata": {}, "outputs": [ { @@ -274,7 +300,7 @@ " -1.11022302e-16, 5.00000000e-01])" ] }, - "execution_count": 47, + "execution_count": 15, "metadata": {}, "output_type": "execute_result" } @@ -285,7 +311,7 @@ }, { "cell_type": "code", - "execution_count": 48, + "execution_count": 16, "metadata": {}, "outputs": [ { @@ -294,7 +320,7 @@ "(array([0., 0., 1.]), array([ 0., 0., -1.]))" ] }, - "execution_count": 48, + "execution_count": 16, "metadata": {}, "output_type": "execute_result" } @@ -305,7 +331,7 @@ }, { "cell_type": "code", - "execution_count": 49, + "execution_count": 17, "metadata": {}, "outputs": [], "source": [ @@ -314,16 +340,16 @@ }, { "cell_type": "code", - "execution_count": 50, + "execution_count": 18, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "" + "" ] }, - "execution_count": 50, + "execution_count": 18, "metadata": {}, "output_type": "execute_result" }, @@ -346,16 +372,16 @@ }, { "cell_type": "code", - "execution_count": 69, + "execution_count": 19, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "" + "" ] }, - "execution_count": 69, + "execution_count": 19, "metadata": {}, "output_type": "execute_result" }, @@ -394,7 +420,7 @@ }, { "cell_type": "code", - "execution_count": 82, + "execution_count": 20, "metadata": {}, "outputs": [], "source": [ @@ -423,16 +449,16 @@ }, { "cell_type": "code", - "execution_count": 87, + "execution_count": 21, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "" + "" ] }, - "execution_count": 87, + "execution_count": 21, "metadata": {}, "output_type": "execute_result" }, @@ -461,19 +487,19 @@ }, { "cell_type": "code", - "execution_count": 131, + "execution_count": 22, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "array([0.55934515, 0.36265043, 0.38148458, 0.99296318, 0.90369408,\n", - " 0.74694362, 0.84451948, 0.6218462 , 0.62822523, 0.96344821,\n", - " 0.80132444, 0.40410221, 0.50611341, 0.53812369, 0.85078264,\n", - " 0.79331358, 0.52287836, 0.94054507, 0.6778334 ])" + "array([0.1096052 , 0.57408731, 0.65003222, 0.41210526, 0.01790723,\n", + " 0.63035445, 0.02535013, 0.84931628, 0.57064354, 0.87174354,\n", + " 0.24518025, 0.3834353 , 0.26579054, 0.34187833, 0.64689164,\n", + " 0.34734184, 0.75455705, 0.1929095 , 0.88821208])" ] }, - "execution_count": 131, + "execution_count": 22, "metadata": {}, "output_type": "execute_result" } @@ -484,22 +510,22 @@ }, { "cell_type": "code", - "execution_count": 184, + "execution_count": 23, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "" + "" ] }, - "execution_count": 184, + "execution_count": 23, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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", 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", 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" ] @@ -525,27 +551,78 @@ }, { "cell_type": "code", - "execution_count": 54, + "execution_count": 24, + "metadata": {}, + "outputs": [], + "source": [ + "rates2 = np.array([[1.5,1.0],\n", + " [1.0,1.0],\n", + " [2.0,1.0],\n", + " [2.5,1.0],\n", + " [3.0,1.0],\n", + " [3.5,0.9615384615384616],\n", + " [4.0,0.9615384615384616],\n", + " [4.5,0.9615384615384616],\n", + " [5.0,0.9230769230769231],\n", + " [5.5,1.0],\n", + " [6.0,0.9230769230769231],\n", + " [6.5,0.9615384615384616],\n", + " [7.0,0.8461538461538461],\n", + " [7.5,0.8846153846153846],\n", + " [8.0,0.8846153846153846],\n", + " [8.5,0.7692307692307693],\n", + " [9.0,0.6923076923076923],\n", + " [9.5,0.7307692307692307],\n", + " [10.0,0.5769230769230769]]\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 40, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "" + "" ] }, - "execution_count": 54, + "execution_count": 40, "metadata": {}, "output_type": "execute_result" + }, + { + "data": { + "image/png": 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nUcuE/TFIPNdTsnHoSgokEmBga3/YKuV4uaUv1h65gQ3H4sya3FQndnZ2qFevXqnvHT58GH369MHgwYMBFI5YiY2NRePGjYvt5+7uDnd3dzRu3BirVq3Cjh07DAlAQUGBoQkKKOwgnJ6ebni/qJ/Oiy++CKDwA/fGjRuGc9etWxdyuRyHDx9GQECAIY4jR46gf//+AApHE/30008QBMGQ8Bw+fBgODg6G/iaPcu/ePVy6dAkrV65Ex44dAQCHDh0qdV8/P79iz6u0IfOenp7F9imte4Sbm5thn+nTp2Pjxo0laquK3LlzB8uWLcPff//92Hv5rzfffBNvvfUW+vbtW6IGq0WLFtDpdLh7967hvo3VqFEjHD5cfETw4cOHERwcXCxhOnDgAAYOHFiha5iSqMnNU089ZRgyVprSZh9+6qmncPr0aTNGRdZILpNiyYCW6Pv1Ydy8l4PRG05iw8g2nAPHCmw8dhMA8FRwbfjVKmxGGdzWH2uP3MDei0lISM+FTzWeCqAq1K9fHz/++COOHDkCFxcXLFiwAElJSYbkJj09Hdu3b0fbtm2hVCrx+++/4+zZs8X60CgUCrzzzjv48ssvIZfLERERgbZt2xqSnfr162Pbtm3o3bs3JBIJZs6cWWyYsL29PUaNGoUpU6bA2dkZQUFBWLx4MW7fvo23334bAPD2229j0aJFeOeddxAREYFLly5h9uzZmDBhQrn6dLi4uMDV1RUrVqyAl5cX4uLizD4UvqCgAHl5ecjOzsbq1avh5OQEPz+/UvddunQpXn755WLPtbxeffVVJCYm4oUXXijxXnBwMAYNGoTw8HB88cUXaNGiBZKTk7Fnzx40a9as2IivskyaNAlPPPEEPvzwQ/Tv3x9Hjx7FkiVLDKOxcnNz8e233+Lq1avo2bMnkpKSkJOTg6ysrMK501JTUatWLaPvq6L4l51qDBc7JVaGh8FeJcfx66n44LfzYodElZSn1eGHk7cAAIPbBhi213N3QNs6taAXgM0nSv8vmf41Y8YMtGzZEj169MBTTz0FT09P9O3b1/C+IAhYu3Yt2rVrh6ZNm2LFihVYtmwZunTpYtjH1tYWU6dOxcCBA9GhQwfY29tjy5YthvcXLFgAFxcXtG/fHr1790aPHj3QsmXLYnF8/vnn6Nu3L4YOHYrmzZsjOjoaf/75J7y8vAAAPj4+2LlzJ06cOIHQ0FC89dZbGDFiBN57771y3adUKsXmzZtx8uRJNG3aFBMmTMBnn31WiSf3eFOmTIFarYafnx8OHjyIn3/+udRBLkBhTdXHH39coeuo1WpMnTq1zGbCNWvWIDw8HJMmTUKDBg3Qt29f/PPPP/D39y/X+Vu2bImtW7di8+bNaNq0KWbNmoU5c+YYRkpt2bIFY8eOhV6vR7t27dCwYUP4+Pjgiy++wPnz5/HSSy9V6L4qSiI8qurECmVkZMDJyckwBJJK0mq12LlzJ3r16mWVo3P+upCEUesjIQjAh32bYshDH4qWyNrLozJ+PHkLk3+Iho+zGgfefRqyhzoP/37mNiI2nUZtBxWOTHum0rV0eXl5uH79OgICApCfnw9HR0dRR0tZkrVr12L8+PFIT08X5fp6vR4ZGRksExGtXbsW+/fvx9q1a0uUR9FySfv373/seYp+z4KCgkodCl7ez2/+FFCN07WxByZ3bwAA+ODX8zh69Z7IEVFFbXjQJDWwjX+xxAYAujf2hJu9CsmZGuw6n1Ta4URkIo9aJkOhUFRpkxTA5IZqqLefqoveod4o0At4e+NJxKeWf+ZLsgznEu4jKj4dCpkEr4aV7MOglEvx2hOF24uSICIyj/79+2Px4sWlvtekSRNs27atSuNhckM1kkQiwfyXmyHExwlpOVqMXBeJLE3B4w8ki7HxeGHC0qOJJ2o7lN6HYUAbf0glwNFr93DlblZVhlejDBs2TLQmKaLSMLmhGkutlGFFeCu42atwKSkTE7dEQa+vUV3Qqq2MPC22n74NoHhH4v/ycVbjmYaFQ8GLkqHKqmHdFImqlKl+v5jcUI3m5aTGN0NaQSmTYteFJCz6K1bskKgcfj6VgFytDvXd7dEm6NFt+YMeJD8/nbyF3Hxdha9Z1JnbmMX7iMg4RZMp/neyQWNVj6k1icyoVYAL5r4Ugsk/ROPLvVcQ7OmA55t5P/5AEoUgCIY+NIPa+D929trO9WvDr5Ya8am5+C36Nl59ovQ5Rh5HJpPB2dkZycnJcHBwgEKhqPQfYDINvV6P/Px85OXlcbSUBahoeej1eiQnJ8PW1rbUSRONweSGCMArrXxx8U4Gvj10HZN/iEagqx2a+pTe85/EdeJ6Ki7fzYJaIcNLrXwfu79UKsHA1gH49I+L2HD8ZoWTG6BwRlqdToc7d+4gMzOzWq4yb40EQUBubi7UajXLxAJUpjykUin8/R//T8vjMLkhemDasw0RezcLB2KT8cZ3kfgl4skyO6qSeDYcL5yUr09zbzjalG/en1fDfLFwdyzO3LqPM7fS0czXuULXlkgk8PDwwKlTp/DMM89U+r9LMg2tVosDBw6gU6dOnAvKAlSmPJRKpUlq3/ibSfSAXCbFVwNa4MWlh3EtJRtvbTiJTaPaQCVn04OlSMnS4I9zdwA8uiPxf7naq/BsiCd+ibqNjcfi0OwV50rFIQgCVCoVP0gthEwmQ0FBAWxsbFgmFsASyoONk0QPcVIrsHJoGBxs5Dh5Mw0zt5/j6BgLsjUyHlqdgFA/Z6ObDYuSoV+iE3A/V2uO8IjIQjC5IfqPurXt8eWAFpBKgK2Rt7D2yA2xQyIAOr2ATQ+apAa3Kd96OA8LC3BBAw8H5Gn12HbqlqnDIyILwuSGqBRPN3DH9GcLF6D7aEcMDl1OETkiOhCbjFtpuXBSK9A71PjRbBKJBIPbFiZFG4/HsUaOyIoxuSEqw8iOQXippQ90egFjNp3CjZRssUOq0YqGf7/Syhc2ior1g+rbwge2Shmu3M3CsWuppgyPiCwIkxuiMkgkEsx9MQTN/ZxxP1eLkd9FIjOPfTXEcCstB3sv3QVQOLdNRTnYKNC3hQ8AYIOJZiwmIsvD5IboEWwUMqwY0goejipcuZuFcZujoOMSDVXu+xNxEASgQz1X1KltX6lzDW5T2LH4z3OJuJuZZ4rwiMjCMLkhegx3RxusGBIGlVyKvRfv4vNdl8QOqUbJL9Bjyz/xAP5NTCqjsbcjWvo7o0AvYOuD8xKRdWFyQ1QOoX7OmP9KMwDAsv1X8UtUgsgR1Rx/nk9ESlY+3B1U6NrYwyTnLBoW/v2JeNbEEVkhJjdE5dSnuQ9GP1UXAPDuj2cQHZ8ubkA1RFFH4tda+0MhM82frF4hXnCxVSAhPRf7Lt41yTmJyHIwuSEywuTuDdCloTs0BXq8sT4SdzPYZ8OcLidl4vj1VMikEgxoXfE1of7LRiFDv7DC87FjMZH1YXJDZASZVIJFrzVHPXd7JGVo8Mb6k8jT6sQOy2ptfDBpX5eG7vByUpv03ANbF466+js2GfGpOSY9NxGJi2tLERnJwUaBb8PD0GfpYUTFp2PYmhNo4OFgtuvp9XrcuClF5O8xJllQriz13O0xsE0AZFLLWFU5J78AP50snEl4kBHrSJVXoJsdOtZ3w8HLKdh4PA7Tnm1o8mtU1NXkLOw8cwcjOgbBVsk/00TG4m8NUQUEutlh6cCWGLrmBI5dS62CCeGkOJho/pE9cak5eO+5xma/Tnn8GnUbmZoCBLjaomM9N7NcY1CbABy8nIKtkfGY0K2+RSySmpSRhwErjuFupgYKuRRvda4rdkhE1Q6TG6IKerK+G7a80RYHYpPNeh2dXo8rl6+gXv16kJmp5iYjrwBrj9zAyoPX0cDTEa+08jXLdcpLEARDX5iBrf0hNVNtUtdG7vB0tEFiRh7+OJeIPs19zHKd8srT6vDGd5G4m6kBULjkBJMbIuMxuSGqhLDAWggLrGXWa2i1WuzUxKJXl3pQKBRmu46jWoEv91zG/207izq17dDS38Vs13qc6Fv3cS4hA0q51NDx1xzkMilea+2HRX9dxoZjN0VNbgRBwPRtZxF96z7slDJk5+sQeSMNOfkFbJoiMhI7FBMRAGB8l/ro0cQD+To93lx/Enfu54oWS9Hw7+dCvFDLTmnWa732hD9kUgn+uZGGi4kZZr3Wo6w4cA0/n06ATCrByvAw+Dirka/T4/h1roFFZCwmN0QEAJBKJVjwanM09HRAcqYGb3wnzkiw9Jx8/BZ9GwAMq3ibk6eTDbo1KpwccOOxOLNfrzT7Lt7FJ39cBADM7t0Y7eu5oVNwYT+jg7FckZ7IWExuiMjATiXHyvAw1LJT4mzCfbz74xkIQtXO4PvjyVvQFOjR0NOhyprGimYs/vl0ArI1BVVyzSJX7mZi7PenIQjAgNb+GPIglo71awMADl42b58uImvE5IaIivGrZYuvB7WEXCrBr9G3sfzva1V2bUEQsOnB3DaD2wZAIqmaYent67oiyM0OWZoCbK/CpTXu52gx6ruTyNQUoHVgLXzwQhPDPbev6wqpBLh8N0vUJkKi6ojJDRGV0LaOKz7o0wQAMP/Pi9gTk1Ql1z1y9R6upWTDTilD3xZV17lXKpVgUJvCJrANx+KqpLaqQKdHxPencD0lGz7Oaiwb3BJK+b9/kp1tlWjm6wwAOHiZTVNExmByQ0SlGtQmAIPb+kMQgHGbo3A5KdPs1yzqSPxiSx/Yq6p2hNArrXyhkksRcycDp+LSzX69ef+7iIOXU6BWyLAyPAyu9qoS+3Sq/6DfDZMbIqMwuSGiMs3u3QRt69RClqYAI7+LRHpOvtmulZSRh10XCmuIBpthRuLHcbZV4vlm3gCAjcfMu97U1sh4rDp0HQCw4NVQNPZ2LHW/jsGF/W4OXU6GnquXE5UbkxsiKpNCJsXXg1rB10WNm/dyMGbTKRTo9Ga51uYT8dDpBYQFuKChZ+kf9uZWNDrr97N3kJZtnkTu5M1UzPj5HABgfNf6eDbEq8x9m/s5w14lR1qOFudvizdMnai6YXJDRI9Uy06Jb4eGwVYpw+Er9/DRjhiTX6NAp8f3J/7tSCyW5n7OaOLtiPwCPX44afrlLm6n5+LN9aeQr9Pj2aaeGPtM/Ufur5BJ0a6uKwDgAEdNEZUbkxsieqyGno5Y2L85AGDtkRvYfMK088HsuXgXiRl5qGWnxLMhniY9tzEkEokhudp4PM6kTUG5+Tq8sT4SKVkaNPJyxBevhpZrWYl/+90wuSEqLyY3RFQuPZp4YlK3YADAzF/O4Z8bpps5t6gjcb8wX9EXr+zT3BsOKjlu3svBoSum6cgrCAKm/BiNcwkZcLVTYmV4q3IvqVA0383Jm2lVPgcPUXXF5IaIyi3imXp4LsQLWp2At9afREJ65edfuZGSjYOXUyCRAINai9ckVcRWKcdLLQuHoW8wUcfir/dfxe9n7kAulWDZ4FbwdbEt97EBrrbwq6WGVifg+PV7JomHyNoxuSGicpNIJPisXzM08XbEvex8jFoXiZz8ytUmbHrQxNWpfm34u5b/Q9+cBj1omvorJqnSE+jtOp+Iz/68BAD4sG9TtA4ybqFViURiqL05wKUYiMqFyQ0RGcVWKceK8DC42Stx4U4GJv8QXeFJ7/K0OvwQWdhxV8yOxP8V7OGA1kG1oBeA709UvGPxpcRMTNgSBQAY2i4AA1pXbK0s9rshMg6TGyIymo+zGssHt4JCJsHOs4n4au+VCp3nf+fuIC1HC28nGzzT0N3EUVZOUbK1+UQctBUY/p6WnY+R3/2D7Hwd2td1xYznG1c4lnZ13SCVAFeTs03SFEhk7ZjcEFGFhAXWwsd9QwAAC3bH4o9ziUafY8ODVbgHtPaHrBwjh6pSzyaecLNX4m6mxujlJ7Q6Pd7eeArxqbnwr2WLpQNbQiGr+J9bJ7UCzf2cARRO6EdEj8bkhogq7NUn/PB6h0AAwMStUYi5U/6J5mLuZODkzTTIpRL0b+1npggrTimX4tWwwriKkrDy+vD3Czh67R7slDJ8OzQMLnbKSsdj6HfDpRiIHovJDRFVynu9GuHJem7Iyddh5LpI3MvSlOu4opFIPZp4wt3BxpwhVtiA1v6QSIBDV1JwPSW7XMdsPH4T3x29CYkEWPxaCwR7OJgklk7Bhf1uDl9JgY5LMRA9EpMbIqoUuUyKJQNbINDVFgnpuRi98RTyCx7dRyVLU4DtpxMAAIPaVqyTbVXwq2WLpxsU9gUqz3pTx6/dw+xfzgMAJndvgK6NPUwWS6ivMxxUcqTnaHEu4b7JzktkjZjcEFGlOdsWLtFgr5LjxPVUfPDb+Ufu//PpBGTn61C3th3a1XGtoigrpmi9qR9O3kKeVlfmfvGpORi98RQK9AJ6h3rj7afqmjQOuUyK9vUKnxVHTRE9GpMbIjKJeu4O+HJAc0gkhUsXrC+jpkMQBEMtyKA2AZBILKsj8X91DnaHj7Ma93O1+P3MnVL3ydYUYNR3kUjNzkeIjxPmv9zMLPfFfjdE5cPkhohM5pmGHpjasyEA4INfz+PI1ZIfwidvpuFiYiZsFFK83Mq3qkM0mkwqwcA2hbU3pc1YrNcLmLg1ChcTM+Fmr8KK8FZQK82zhESnB8nNqZtpyOJSDERlYnJDRCb1Zqc66NvcGwV6AWM2nkLcvZxi7xclCC+EesNJrRAjRKP1f8IPCpkEUfHpOH+7+IiwxXsu48/zSVDKpPhmSCt4OanNFoe/qy0CXG1RoBdw7CqXYiAqC5MbIjIpiUSCT15uhlBfJ6TlaDHqu0hDLcO9LA12ni2cD8eSZiR+HDd7FXo29QIAfP/PvzMW7zx7B4v3XAYAzH0pBK0CXMweS0fOVkz0WExuiMjkbBQyfDMkDO4OKlxKKlyCQK8X8MPJW8jX6dHM1wnNfJ3FDtMogx80Tf0afQe5BcCFOxmYtDUaADDiySC8UkVNbEX9bg6y3w1RmZjcEJFZeDrZ4JshraCUS7H7QhK+2H0Jm44XToY3uE31qbUp0jqoFoI97JGr1WPfbSlGb4xCrlaHjvXdMP3ZhlUWR7u6rpBJJbiWko341JzHH0BUAzG5ISKzaeHvgk9eKlyiYem+q4hLzYGDjRy9Q71Fjsx4EokEgx4kZX8mSHH7fh6C3OywZEBLyCuxtIKxHG0UaFG0FMMV1t4QlYbJDRGZ1UstffFGpzqG1y+39DXbaCJze7GlD9SKwj+b9io5VoaHwcm26jtF/9s0xX43RKVhckNEZje1Z0P0CvGEi60CwzsEiR1OhTnaKDC8QyBsZAIW92+Geu72osTR8cFSDIcucykGotLIxQ6AiKyfTCrB0oEtIQiA1MJW/zbW+C71UC8vFp0ejFoSQzMfJzjayJGRV4Azt9LRwt/8o7SIqhPW3BBRlZBIJNU+sSki9m3IZVJ0qFc0JJz9boj+i8kNEVE1xH43RGVjckNEVA0VTeZ3Ki4dmXlakaMhsixMboiIqiG/WrYIcrODTi/gKJdiICqGyQ0RUTX171IM7HdD9DAmN0RE1RT73RCVjskNEVE11bZOLcilEty4l8OlGIgewuSGiKiacrBRoOWDOW7YNEX0LyY3RETV2L/9btg0RVSEyQ0RUTXWMbiw383hKyko0OlFjobIMjC5ISKqxkJ8nOCkVhQuxZBwX+xwiCwCkxsiompMJpXgyaKlGGLZ74YIYHJDRFTtsd8NUXGiJzdLly5FYGAgbGxs0KZNG5w4caLMfbVaLebMmYO6devCxsYGoaGh+OOPP6owWiIiy/Pkg+TmdHw6MrgUA5G4yc2WLVswceJEzJ49G6dOnUJoaCh69OiBu3fvlrr/jBkz8M033+Crr77ChQsX8NZbb+HFF1/E6dOnqzhyIiLL4etiizq1uRQDURG5mBdfsGABRo0ahddffx0AsHz5cuzYsQOrV6/GtGnTSuy/fv16vPfee+jVqxcAYPTo0fjrr7/wxRdfYMOGDaVeQ6PRQKPRGF5nZGQAKKwF0mr5H05pip4Ln49lYHlYFkstjw51XXEtORt/X0rCM8GuYodTpSy1TGoqc5WHMecTLbnJz8/HyZMnMX36dMM2qVSKrl274ujRo6Ueo9FoYGNjU2ybWq3GoUOHyrzOvHnz8MEHH5TYvmvXLtja2lYw+pph9+7dYodAD2F5WBZLKw+bdAkAGXZFx6ON7IbY4YjC0sqkpjN1eeTklH8WbtGSm5SUFOh0Onh4eBTb7uHhgYsXL5Z6TI8ePbBgwQJ06tQJdevWxZ49e7Bt2zbodLoyrzN9+nRMnDjR8DojIwN+fn7o3r07HB0dTXMzVkar1WL37t3o1q0bFAqF2OHUeCwPy2Kp5dFZU4C18/YhRQM0afsUAmrVnH/eLLVMaipzlUdRy0t5iNosZazFixdj1KhRaNiwISQSCerWrYvXX38dq1evLvMYlUoFlUpVYrtCoeAvwWPwGVkWlodlsbTycFYULsVw/Hoqjl1PRz0PJ7FDqnKWViY1nanLw5hzidah2M3NDTKZDElJScW2JyUlwdPTs9Rjateuje3btyM7Oxs3b97ExYsXYW9vjzp16lRFyEREFq1TMFcJJwJETG6USiVatWqFPXv2GLbp9Xrs2bMH7dq1e+SxNjY28PHxQUFBAX766Sf06dPH3OESEVm8ovlujly5x6UYqEYTdSj4xIkTsXLlSqxbtw4xMTEYPXo0srOzDaOnwsPDi3U4Pn78OLZt24Zr167h4MGD6NmzJ/R6Pd59912xboGIyGI08XaCi60CmZoCRN9KFzscItGI2uemf//+SE5OxqxZs5CYmIjmzZvjjz/+MHQyjouLg1T6b/6Vl5eHGTNm4Nq1a7C3t0evXr2wfv16ODs7i3QHRESWQyaVoEM9N/x+5g4OxKagVUAtsUMiEoXoHYojIiIQERFR6nv79+8v9rpz5864cOFCFURFRFQ9dapfG7+fuYODl5MxoVuw2OEQiUL05ReIiMh0ipZiiIpPx/1cTmpHNROTGyIiK+LtrEbd2nbQC8DRq1wlnGomJjdERFamY/3CIeEHLjO5oZpJ9D43RERkWp2C3bD2yA0ciE2GIAiQSCSixHE/R4ufTt1CtqbArNdRyABHtsDRQ5jcEBFZmTZBrlDIJLiVloub93IQ6GZX5THkaXUIX30c0bfuV8n1OnpI0a9KrkTVAZMbIiIrY6eSo1WAC45dS8XBy8lVntwIgoBpP51B9K37cLZV4Nmmpc86bwopWfnYfSEJ59MlEATBbNeh6oXJDRGRFepYvzaOXUvFgcspGNIusEqv/c2Ba9gedRsyqQRfD2qJ9nXdzHatbE0Bms/ZhVQNEJeai3qeSrNdi6oPdigmIrJCnR50Kj569R60VbgUw96LSfj0j4sAgPd7NzZrYgMU1lK18HMGABy6wg7UVIjJDRGRFWri7QgXWwWyNAWIik+vkmteuZuJsd9HQRCAgW38MbhtQJVc98l6rgCAw1dTq+R6ZPmY3BARWSGpVIInH9TeHIw1/yrh6Tn5GLkuElmaArQOqoX3ezepslFaRcnN0WupVVpLRZarQn1uIiMjsXXrVsTFxSE/P7/Ye9u2bTNJYEREVDkd67vht+jbOHA5BRO7NzDbdQp0ekRsOo0b93Lg46zGskEtoZRX3f/Ojb0cYScXkKUpQHR8OsICuaZWTWf0T9/mzZvRvn17xMTE4Oeff4ZWq8X58+exd+9eODk5mSNGIiKqgI4PlmI4cysd6Tn5j9m74j7eGYNDV1Jgq5Th26FhcLVXme1apZFJJQh2KhwpxYkLCahAcjN37lwsXLgQv/32G5RKJRYvXoyLFy/i1Vdfhb+/vzliJCKiCvByUqO+uz30AnDk6j2zXGPLP3FYc/gGAGDBq6Fo5OVolus8TkPnwuTm4GXzN8GR5TM6ubl69Sqee+45AIBSqUR2djYkEgkmTJiAFStWmDxAIiKquKKlGMzxoR95IxUztp8DAEzoGoyeTb1Mfo3yavCg5iY6Ph33czhdcU1ndHLj4uKCzMxMAICPjw/OnSv8wU5PT0dOTo5poyMiokrpGFzYNHUgNsWkk9wlpOfirQ0nodUJ6BXiiXeeqWeyc1eEiwqGBUOPcMHQGs/o5KZTp07YvXs3AKBfv34YN24cRo0ahQEDBqBLly4mD5CIiCquTVAtKGVSJKTn4npKtknOmZNfgFHrIpGSlY9GXo74vF8opFJx1q96WNGoKfa7IaNHSy1ZsgR5eXkAgPfeew8KhQJHjhzByy+/jBkzZpg8QCIiqjhbpRxhgS44cvUeDl5OQZ3a9pU6nyAImPLDGVy4kwFXOyVWhreCrdIyJrt/sp4r1h2NE33BUBKf0T+RtWr9O8ROKpVi2rRpJg2IiIhMq2P92g+Sm2QMbR9YqXMt2XsFO87egUImwfIhreDrYmuaIE2gdaALFDIJEtJzceNeDoJEWDCULIPRzVJr164tdXtBQQGmT59e2XiIiMjEioaEH716D/kFFZ/kbtf5RHyxOxYA8GGfpnjCwuaTsVXKERZQGBNHTdVsRic3Y8eORb9+/ZCWlmbYdunSJbRp0wbff/+9SYMjIqLKa+zlCFc7JbLzdTgdl/b4A0pxMTEDE7ZEAQCGtgvAa60tc+qPhztQU81ldHJz+vRp3Lp1CyEhIdi9ezeWLl2Kli1bomHDhoiOjjZHjEREVAmFSzEUfugfrEBn29TsfIz6LhLZ+Tq0r+uKGc83NnWIJvPvgqEpXIqhBjM6ualbty4OHz6Ml156CT179sSECRPw7bffYuPGjZyhmIjIQlV0vhutTo+3N55EfGou/GvZYunAllDILHdZwsZejqhlqKVKFzscEkmFfkJ37NiBzZs3o127dnB2dsaqVatw+/ZtU8dGREQmYliKIeE+0rLLvxTDnN8u4Ni1VNg9WFrBxU5prhBNQiqV4Ml6RbVU7HdTUxmd3Lz55pvo168fpk6dioMHD+LMmTNQKpUICQnB1q1bzREjERFVkoejDRp4OEAQgMPlnORuw7GbWH/sJiQSYPFrLRDs4WDmKE2jKJHjfDc1l9HJzeHDh3H8+HFMmjQJEokEnp6e2LlzJ+bMmYPhw4ebI0YiIjKBog/9g+XobHvs2j28/+t5AMDk7g3QtbGHWWMzpaImOHMvGEqWy+jk5uTJkwgNDS2xfcyYMTh58qRJgiIiItPrGPxvv5tHLcUQn5qD0RtOokAvoHeoN95+qm5VhWgSnk42CPawL6ylumKeBUPJshmd3KhUKhQUFOCvv/7CN998Y1hn6vbt2/Dx8TF5gEREZBqtA2tBKZfi9v08XE0ufSmGbE0BRn0XibQcLUJ8nDD/5WbVcqZfcy4YSpbP6OTm5s2bCAkJQZ8+fTBmzBgkJxf+4Hz66aeYPHmyyQMkIiLTUCtlaB1Y9iR3er2AiVujcDExE272KqwIbwW1UlbVYZpEx4eGvptywVCqHoxObsaNG4ewsDCkpaVBrVYbtr/44ovYs2ePSYMjIiLT6viI+W4W7bmMP88nQSmT4pshreDlpC6xT3XRJsjVsGDoNRMtGErVh9HJzcGDBzFjxgwolcWHAwYGBiIhIcFkgRERkel1NExydw+aAp1h+44zd/DlnssAgLkvhaBVgIso8ZmKWinDE0GF93Awlk1TNY3RyY1er4dOpyux/datW3BwqB7DBImIaqqGng5ws1chV6vDqZvpAIBzCfcx6YcoAMDIJ4PwSitf8QI0oX/73XBIeE1jdHLTvXt3LFq0yPBaIpEgKysLs2fPRq9evUwZGxERmZhUKnmoaSoZyZkavPFdJPK0enQKro1pzzYUOULTMSwYeq1yC4ZS9WN0cvPFF1/g8OHDaNy4MfLy8jBw4EBDk9Snn35qjhiJiMiEij709168i9EbTuL2/TzUcbPDVwNaQG7BSysYq5GnI9zslcjJ1+FUBRcMpepJbuwBvr6+iI6OxubNm3HmzBlkZWVhxIgRGDRoULEOxkREZJmKlie4mFg4lYeDjRwrh4bBSa0QMyyTK1qKYXvUbRy8nIy2dVzFDomqiNHJDQDI5XIMHjzY1LEQEVEVcHe0QUNPB1xMzIRUAnw5oAXq1rYXOyyz6Fi/9oPkJgVTeogdDVUVo5ObX3/99ZHvv/DCCxUOhoiIqsZLLX0w738X8d5zjfF0A3exwzGboia4swn3kZqdj1oWvvAnmYbRyU3fvn3LfE8ikZQ6koqIiCzLqI518FprfzjaWFdT1H89XEt1+EoKeod6ix0SVYEK9RxLTEyEXq8v8cXEhoioepBIJFaf2BR5eHQY1QzW0y2eiIioFA/Pd8OlGGoGJjdERGTVWgcVLhh6534eriZniR0OVQGjkxuJRILMzExkZGSU+kVERGRJbBQytAkqXDD0QCxnK64JjE5uBEFAcHAwXFxcin05OzvDxaV6r0VCRETWif1uahajR0vt27fPHHEQERGZTWG/m4s4di0VmgIdVHKZ2CGRGRmd3HTu3NkccRAREZlN0YKhKVkanLyZhvZ13cQOiczI6GapNWvW4Icffiix/YcffsC6detMEhQREZEpSSQSdDI0TbHfjbUzOrmZN28e3NxKZrzu7u6YO3euSYIiIiIytY7B7HdTUxid3MTFxSEoKKjE9oCAAMTFxZkkKCIiIlPr8GDB0HMJGbiXpRE5GjIno5Mbd3d3nDlzpsT26OhouLpyxVUiIrJM7g42aOTlCAA4dIVNU9bM6ORmwIABGDt2LPbt2wedTgedToe9e/di3LhxeO2118wRIxERkUmw303NYPRoqQ8//BA3btxAly5dIJcXHq7X6xEeHs4+N0REZNE61q+Nbw5cw8HLyRAEARKJROyQyAyMTm6USiW2bNmCDz/8ENHR0VCr1QgJCUFAQIA54iMiIjKZsEAXqORSJGVocPluFoI9HMQOicygQpP4Pf300wgODkZwcLA5YiIiIjILG4UMbeq44kBsMg7EJjO5sVJG97np2bMn6tati48++gi3bt0yR0xERERmw3431s/o5CYhIQERERH48ccfERQUhB49emDr1q3Iz883R3xEREQm9eSD5Ob49XvI0+pEjobMwejkxs3NDRMmTEBUVBSOHz+O4OBgvP322/D29sbYsWMRHR1tjjiJiIhMooGHA2o7qJCn1ePkzTSxwyEzMDq5eVjLli0xffp0REREICsrC6tXr0arVq3QsWNHnD9/3lQxEhERmYxEIjGsEn6AsxVbpQolN1qtFj/++CN69eqFgIAA/Pnnn1iyZAmSkpJw5coVBAQEoF+/fqaOlYiIyCQ61a8NADgYy3431sjo0VLvvPMOvv/+ewiCgCFDhmD+/Plo2rSp4X07Ozt8/vnn8Pb2NmmgREREplK0FMOFOxlIztSgtoNK5IjIlIxObi5cuICvvvoKL730ElSq0n8Y3NzcsG/fvkoHR0REZA61HVRo7OWIC3cycPhKCvq28BE7JDIho5ObPXv2PP6kcjk6d+5coYCIiIiqQsdgN1y4k4EDl5OZ3FiZSnUoJiIiqq4M/W4up0AQBJGjIVNickNERDVSqwAX2CikSM7U4FJSptjhkAkxuSEiohrJRiFDmyBXABw1ZW2Y3BARUY3F+W6sU6WTm5MnT2L16tU4ceKEKeIhIiKqMp2CC/vdnLieyqUYrEilkps1a9agdevWmDZtGtq3b4/ly5ebKi4iIiKzq+9uDw9HFTQFevxzI1XscMhEKpXcLF68GJ9//jnu3r2LjRs3YuHChaaKi4iIyOwKl2L4d9QUWYdKJTdxcXHo1asXAOC5557DjRs3TBETERFRlTH0u4llvxtrUankRqvVQqlUAgAUCgUKCgqMPsfSpUsRGBgIGxsbtGnT5rF9dxYtWoQGDRpArVbDz88PEyZMQF5eXoXiJyIievLBUgwXEzNxN4OfJ9bA6BmKX3rpJcP3eXl5eOutt2BnZwe9Xm/0xbds2YKJEydi+fLlaNOmDRYtWoQePXrg0qVLcHd3L7H/pk2bMG3aNKxevRrt27dHbGwshg0bBolEggULFhh9fSIiIld7FZr6OOJcQgYOXUnBSy19xQ6JKsnomhtHR0c4OTnByckJgwcPhre3N5ycnODi4oLw8HCjzrVgwQKMGjUKr7/+Oho3bozly5fD1tYWq1evLnX/I0eOoEOHDhg4cCACAwPRvXt3DBgwgCO1iIioUtjvxroYXXOzdu1ak1w4Pz8fJ0+exPTp0w3bpFIpunbtiqNHj5Z6TPv27bFhwwacOHECrVu3xrVr17Bz504MGTKkzOtoNBpoNBrD64yMDACFTWpardYk92Jtip4Ln49lYHlYFpaH5TFFmbQPcsGy/cDBy8nQaPIhlUpMFF3NY67fEWPOZ3Ry88wzz2Dbtm1wdnY29tBiUlJSoNPp4OHhUWy7h4cHLl68WOoxAwcOREpKCp588kkIgoCCggK89dZb+L//+78yrzNv3jx88MEHJbbv2rULtra2lboHa7d7926xQ6CHsDwsC8vD8lSmTAr0gFIqQ0pWPlb99D/42JkwsBrK1L8jOTk55d7X6ORm//79yM/PN/Ywk9i/fz/mzp2Lr7/+Gm3atMGVK1cwbtw4fPjhh5g5c2apx0yfPh0TJ040vM7IyICfnx+6d+8OR0fHqgq9WtFqtdi9eze6desGhUIhdjg1HsvDsrA8LI+pyuTXtFP4OzYF8GqEXk8GmTDCmsVcvyNFLS/lYXRyAxTOC1BZbm5ukMlkSEpKKrY9KSkJnp6epR4zc+ZMDBkyBCNHjgQAhISEIDs7G2+88Qbee+89SKUluxCpVCqoVKoS2xUKBf8wPQafkWVheVgWloflqWyZdA52x9+xKThyNQ1vPx1swshqJlP/jhhzrgolNy+++KJhCPh/7d27t1znUCqVaNWqFfbs2YO+ffsCAPR6Pfbs2YOIiIhSj8nJySmRwMhkMgDgcvVERFQpnYILh4SfuJGK3Hwd1EqZyBFRRVUouWnXrh3s7e0rffGJEydi6NChCAsLQ+vWrbFo0SJkZ2fj9ddfBwCEh4fDx8cH8+bNAwD07t0bCxYsQIsWLQzNUjNnzkTv3r0NSQ4REVFF1K1tDy8nG9y5n4cTN1LR+cG6U1T9GJ3cSCQSTJkypdR5aIzVv39/JCcnY9asWUhMTETz5s3xxx9/GDoZx8XFFaupmTFjBiQSCWbMmIGEhATUrl0bvXv3xscff1zpWIiIqGYrXIrBDVsjb+FgbDKTm2rM6OTG1M0/ERERZTZD7d+/v9hruVyO2bNnY/bs2SaNgYiICCic72Zr5C3Od1PNGT2J3+zZs03SJEVERGRpOtRzg0QCXErKRBKXYqi2jE5uwsPDkZCQUGL75cuXuXAmERFVa7XslAjxcQLA2YqrM6OTm2HDhuHIkSMlth8/fhzDhg0zRUxERESiKVol/OBlrhJeXRmd3Jw+fRodOnQosb1t27aIiooyRUxERESiKVpn6tDlFOj1nGakOjI6uZFIJMjMzCyx/f79+9DpdCYJioiISCwt/V1gq5ThXnY+Ltwp/6y4ZDmMTm46deqEefPmFUtkdDod5s2bhyeffNKkwREREVU1pVyKdnVcAQCHrrDfTXVk9FDwTz/9FJ06dUKDBg3QsWNHAMDBgweRkZFR7tmJiYiILFnH+m7Yc/EuDl5Oxlud64odDhnJ6Jqbxo0b48yZM3j11Vdx9+5dZGZmIjw8HBcvXkTTpk3NESMREVGV6vhgAr9/rqchN59dLqqbCi2/4O3tjblz55o6FiIiIotQx80OPs5qJKTn4vj1e3iqQeVn5aeqU6HkJj09HatWrUJMTAwAoEmTJhg+fDicnJxMGhwREZEYipZi2PxPPA5eTmFyU80Y3SwVGRmJunXrYuHChUhNTUVqaioWLFiAunXr4tSpU+aIkYiIqMoVDQnnfDfVj9E1NxMmTMALL7yAlStXQi4vPLygoAAjR47E+PHjceDAAZMHSUREVNU61HOFRALEJmUh8X4ePJ1sxA6JyqlCNTdTp041JDZA4YKW7777LiIjI00aHBERkVicbZVo5usMgLU31Y3RyY2joyPi4uJKbI+Pj4eDg4NJgiIiIrIEnQxLMXC+m+rE6OSmf//+GDFiBLZs2YL4+HjEx8dj8+bNGDlyJAYMGGCOGImIiERhWIrhCpdiqE6M7nPz+eefQyKRIDw8HAUFBQAAhUKB0aNH45NPPjF5gERERGJp4e8MO6UMqQ+WYmjqw1HB1YHRNTdKpRKLFy9GWloaoqKiEBUVhdTUVCxcuBAqlcocMRIREYlCIZOiXd3Cpqm/Y9nvprowOrkpYmtri5CQEISEhMDW1taUMREREVmMpxsWNk1tP50AQWDTVHVgdLPUSy+99Mj3t23bVuFgiIiILE3vUG989HsMLt/NwonrqWjzYFFNslxG19w4OTkZvnbs2AGpVFpsGxERkTVxtFGgbwtvAMCG4yVHC5PlMbrmZs2aNYbvf/zxR8yfPx916tQxaVBERESWZFCbAHx/Ih5/nLuD5MzGqO3APqaWrMJ9boiIiGqKpj5OCPVzhlYnYGtkvNjh0GMwuSEiIiqHwW38AQCbjsdBxzlvLJrRzVJffvml4fuCggKsXbsWbm5uhm1jx441TWREREQWpHeoNz7aEYOE9Fz8HXsXzzT0EDskKoPRyc3ChQsN33t6emL9+vWG1xKJhMkNERFZJRuFDK+08sWqQ9ex4VgckxsLZnRyc/36dXPEQUREZPEGtfHHqkPXse/SXcSn5sCvFud5s0RG97mZM2cOcnJyzBELERGRRatT2x4d6rlCEIDvT3BYuKUyOrn54IMPkJWVZY5YiIiILN7gNgEAgK2R8cgv0IscDZXG6OSGU08TEVFN1rWxB9wdVEjJyscf5xPFDodKYXSfG6BwZXB7e/tS35s1a1alAiIiIrJkCpkUr7X2x5d7LmPDsZt4IdRb7JDoPyqU3Bw+fBhKpbLEdolEwuSGiIis3oDWfli67wpOXE9FbFImgj0cxA6JHlKh5Obnn3+Gu7u7qWMhIiKqFryc1OjS0B27LiRh47Gb+KBPU7FDoodwhmIiIqIKGNy2sGPxtlMJyNYUiBwNPczo5KZz586lNkkRERHVJE/Wc0OAqy0yNQX4Nfq22OHQQ4xObvbt2wdnZ2czhEJERFR9SKUSDHqw3tSGYzc5mtiCGN3n5qWXXnrk+9u2batwMERERNVJv1Z++HxXLM7fzkBUfDpa+LuIHRKhAjU327dvh1KphJOTE5ycnLBjxw5IpVLDayIioprCxU6J50O8AAAbjnHGYktRodFSX375pWG01I8//oj58+ejTp06Jg2MiIioOhjUNgDbTifg9zO3MfP5RnC2Zb9UsRldc2NjY4O8vDwAhbMV5+fnY/HixdDpdCYPjoiIyNK19HdGIy9HaAr0+PHkLbHDIVQguQkODsaiRYuQmJiIRYsWwcHBASdPnsTTTz+NpKQkc8RIRERksSQSCQa3LexYvPF4HPR6diwWm9HJzUcffYQVK1bAx8cH06ZNw/z587F//340b94cLVq0MEeMREREFq1vcx/Yq+S4npKNo9fuiR1OjWd0n5vnn38eCQkJiI2NhZ+fHzw9PQEU9sNp3769yQMkIiKydHYqOV5s4YP1x25iw7Gb6FDPTeyQarQKzVDs5OSEJ554wpDYFHnttddMEhQREVF1UzRj8a4LSUjKyBM5mpqtQqOl0tPTsWrVKsTExAAAmjRpguHDh3MoOBER1VgNPB3wRKAL/rmRhs0n4jGua32xQ6qxjK65iYyMRN26dbFw4UKkpqYiNTUVCxYsQN26dXHq1ClzxEhERFQtFNXefH8iDgU6vcjR1FxGJzcTJkzACy+8gBs3bmDbtm3Ytm0brl+/jueffx7jx483Q4hERETVQ8+mnnC1UyIxIw97Lt4VO5waq0I1N1OnToVc/m+Lllwux7vvvovIyEiTBkdERFSdqOQy9AvzA1C43pSlOX/7fo1Ywdzo5MbR0RFxcSWnmI6Pj4eDg4NJgiIiIqquBrXxh0QCHLycghsp2WKHY7B03xU89+UhzNx+TuxQzM7o5KZ///4YMWIEtmzZgvj4eMTHx2Pz5s0YOXIkBgwYYI4YiYiIqg2/WrboHFwbALDphGWsN7X7QhI+33UJAHDwSorVr2Bu9Gipzz//HBKJBOHh4SgoKKzaUigUGD16ND755BOTB0hERFTdDG4TgP2XkvFDZDwmdguGjUImWiyxSZkYv/k0ivKZ5EwNkjI08HSyES0mczO65kapVGLx4sVIS0tDVFQUoqKikJqaioULF0KlUpkjRiIiomrl6Ybu8HFWIy1Hi51n74gWR1p2Pkaui0R2vg5tgmqhvrs9ACD6VrpoMVWFCk3iBwC2trZwdnaGs7MzbG1tTRkTERFRtSaTSjCgtbgdi7U6Pd7eeApxqTnwdVFj2eBWaOHvDAA4e+u+KDFVFaOTm4KCAsycORNOTk4IDAxEYGAgnJycMGPGDGi1WnPESEREVO28+oQf5FIJTsWl48LtjCq//ke/X8DRa/dgq5Th26FhqGWnRDNfZwCsuSnhnXfewYoVKzB//nycPn0ap0+fxvz587Fq1SqMHTvWHDESERFVO+4ONujRtHCZog3Hq7b25vsTcVh3tPCaC/s3R0NPRwBAM9/ClQTOJty36k7FRnco3rRpEzZv3oxnn33WsK1Zs2bw8/PDgAEDsGzZMpMGSEREVF0NbhOAHWfuYPvpBEx/tiEcbBRmv+aJ66mY9UvhcO9J3YLRo8m/60A28HSAUiZFeo4Wt9Jy4VfLOruVGF1zo1KpEBgYWGJ7UFAQlEqlKWIiIiKyCm3r1EI9d3vk5Ouw/XSC2a93Ky0HozechFYn4LkQL0Q8U6/Y+yq5DA29Cueks+amKaOTm4iICHz44YfQaDSGbRqNBh9//DEiIiJMGhwREVF1JpFIMKiNPwBgw7E4szYF5eQXYNR3J3EvOx9NvB3xWb9mkEgkJfYzNE1Zcadio5ulTp8+jT179sDX1xehoaEAgOjoaOTn56NLly546aWXDPtu27bNdJESERFVQy+19MX8Py7hUlImIm+m4YnAWia/hl4vYNLWaMTcyYCbvRIrwsNgqyz9I76ZjzOAOKuuuTE6uXF2dsbLL79cbJufn5/JAiIiIrImTmoFXgj1xpbIeGw4dtMsyc1Xe6/gf+cSoZBJsHxwK/g4q8vcN+RBzc25hAzo9QKk0pK1O9Wd0cnNmjVrzBEHERGR1RrcNgBbIuPxv7OJmPW8Bq72ppv09o9zd7Dwr1gAwMd9QxD2mOSpvrs9bBRSZGkKcC0lG/UeTOxnTSo0iV9BQQH++usvfPPNN8jMzAQA3L59G1lZWSYNjoiIyBqE+Doh1NcJ+To9tkbeMtl5L9zOwIQt0QCAYe0D8eoTj29JkcukaOJdNCQ83WSxWBKjk5ubN28iJCQEffr0wZgxY5CcnAwA+PTTTzF58mSTB0hERGQNBrUNAABsOnETen3lOxbfy9Jg1HeRyNXq8GQ9N8x4rlG5jy3qVBwdb52dio1ObsaNG4ewsDCkpaVBrf63Te/FF1/Enj17TBocERGRtejdzBuONnLEp+bi78vJlTpXfoEeozeeQkJ6LgJcbbFkYAvIZeX/SH94Mj9rZHRyc/DgQcyYMaPEnDaBgYFISDD/GH4iIqLqSK2U4ZVWhc1GGyu53tT7v53HieupsFfJ8W14GJxtjZtnrmgZhvO376NAp69ULJbI6ORGr9dDp9OV2H7r1i04ODiYJCgiIiJrNPDBnDd7L95FQnpuhc6x/thNbDoeB4kEWPxac9T3MP6zN8jVDg4qOfK0ely+a339ZY1Obrp3745FixYZXkskEmRlZWH27Nno1auXKWMjIiKyKvXc7dGujiv0AvD98Tijjz9yNQUf/HoeAPBuj4bo0sijQnFIpRI09SlsmjpjhfPdGJ3cfPHFFzh8+DAaN26MvLw8DBw40NAk9emnn5ojRiIiIqsx+EHH4s3/xCO/oPxNQnH3cjBm4ykU6AX0ae6NtzrXqVQcRf1uzljhTMVGz3Pj6+uL6OhobNmyBdHR0cjKysKIESMwaNCgYh2MiYiIqKTuTTxQ20GF5EwNdl1IxPPNvB97TJamAKO+i0RajhbNfJ3w6culL61gjKJ+N0xuig6SyzFo0CAMGjTI1PEQERFZNYVMitee8MNXe69gw7Gbj01u9HoBE7ZE4VJSJmo7qLBiSBhsFLJKx1FUc3MxMQOaAh1U8sqf01IY3Sx17949w/fx8fGYNWsWpkyZggMHDlQ4iKVLlyIwMBA2NjZo06YNTpw4Uea+Tz31FCQSSYmv5557rsLXJyIiqkoDWvtDKgGOXUvFlbuZj9x34V+x2H0hCUq5FCuGtIKnk41JYvB1UcPFVgGtTsDFO4+Oobopd3Jz9uxZBAYGwt3dHQ0bNkRUVBSeeOIJLFy4ECtWrMAzzzyD7du3Gx3Ali1bMHHiRMyePRunTp1CaGgoevTogbt375a6/7Zt23Dnzh3D17lz5yCTydCvXz+jr01ERCQGb2c1nmlY2Bl4w7GyOxb/Fn0bX+29AgCY92IIWvi7mCwGiUSCkKKmKSub76bczVLvvvsuQkJCsHHjRqxfvx7PP/88nnvuOaxcuRIA8M477+CTTz5B3759jQpgwYIFGDVqFF5//XUAwPLly7Fjxw6sXr0a06ZNK7F/rVrF18zYvHkzbG1ty0xuNBoNNBqN4XVGRgYAQKvVQqvVGhVrTVH0XPh8LAPLw7KwPCxPdS2TAU/44K+YJPx06hYmdKlTYhXv87czMOXHwqUVRnQIwAvNPEx+j029HHAgNhlRcal4rdXj+/6Uh7nKw5jzSQRBKNcc0G5ubti7dy+aNWuGrKwsODo64p9//kGrVq0AABcvXkTbtm2Rnp5e7ovn5+fD1tYWP/74Y7GkaOjQoUhPT8cvv/zy2HOEhISgXbt2WLFiRanvv//++/jggw9KbN+0aRNsbW3LHSsREZEp6QXgo9My3NNIMKCuDm3d//04zsgHvjgrQ3q+BI2c9XijoR7mWLz7bKoE316SwctWwLTQknPYWZKcnBwMHDgQ9+/fh6Oj4yP3LXfNTWpqKjw9PQEA9vb2sLOzg4vLv9VjLi4uhkU0yyslJQU6nQ4eHsXH6Xt4eODixYuPPf7EiRM4d+4cVq1aVeY+06dPx8SJEw2vMzIy4Ofnh+7duz/24dRUWq0Wu3fvRrdu3aBQKMQOp8ZjeVgWloflqc5lctvxOj7bdRnn8lwwp1dbAICmQI/wNZFIz09HHTdbbHijDRzV5rmvVhl5+PazA0jKleCprt1L1B5VhLnKo6jlpTyMuov/Djur7DC0ylq1ahVCQkLQunXrMvdRqVRQqUouLa9QKKrdL0FV4zOyLCwPy8LysDzVsUxeax2AxXuu4mxCBmKSshHi44T3fjmDU3HpcLCR49uhT8DV0XytDL6uCrg7qHA3U4PLybkIC6z1+IPKydTlYcy5jEpuhg0bZkgU8vLy8NZbb8HOzg4AivVrKS83NzfIZDIkJSUV256UlGSoJSpLdnY2Nm/ejDlz5hh9XSIiIkvgaq9CrxBPbI+6jQ3HbqKRlyO2Rt6CVAIsGdgSdWrbmz2GZr7O+CsmCdG37ps0uRFTuUdLDR06FO7u7nBycoKTkxMGDx4Mb29vw2t3d3eEh4cbdXGlUolWrVoVW01cr9djz549aNeu3SOP/eGHH6DRaDB48GCjrklERGRJimYs3h51Gx/tiAEA/F+vRugcXLtKrm9YIdyKlmEod83NmjVrzBLAxIkTMXToUISFhaF169ZYtGgRsrOzDaOnwsPD4ePjg3nz5hU7btWqVejbty9cXV3NEhcREVFVaBXggoaeDriYWNhv9ZVWvhjxZFCVXd8al2GofM+hSurfvz+Sk5Mxa9YsJCYmonnz5vjjjz8MnYzj4uIglRavYLp06RIOHTqEXbt2iREyERGRyUgkEgzvEIR3fzqDlv7O+PjFplXap7VoGYZrKdnIyNPC0aZ69VsqjejJDQBEREQgIiKi1Pf2799fYluDBg1QzhHsREREFq9fmC8CXG3RzNe5ypdBqGWnhK+LGrfScnHu1n20r+dWpdc3B6OXXyAiIiLTkkgkaFPHFWqlOOs7GZqmrGSmYiY3RERENdy/K4SnixqHqTC5ISIiquGa+VhXp2ImN0RERDVc0wfNUrfScpGanS9yNJXH5IaIiKiGc7RRoI5b4aS81tA0xeSGiIiIHprMr/o3TTG5ISIiIoQ86FQczeSGiIiIrEFoUc1NQrq4gZgAkxsiIiJCY29HSCVAUoYGSRl5YodTKUxuiIiICLZKOYI9HABU/yHhTG6IiIgIABBimO8mXdxAKonJDREREQEAmvk5A2DNDREREVmJZg/V3FTnBaqZ3BAREREAoKGXAxQyCdJytLiVlit2OBXG5IaIiIgAACq5DA09HQFU76YpJjdERERkEPJgvpsz1Xi+GyY3REREZFA0md+ZeNbcEBERkRUI8XEGAJxLuA+9vnp2KmZyQ0RERAbBHvZQyaXI1BTg+r1sscOpECY3REREZCCXSdHEu7BTcXVdIZzJDRERERXTzLBCeLqocVQUkxsiIiIqplnRCuGsuSEiIiJrUFRzc+72fRTo9OIGUwFMboiIiKiYOm52sFfJkafV40pyltjhGI3JDRERERUjlUrQ1OfBTMXVcL4bJjdERERUQlHTVHWcqZjJDREREZVQ1Km4Oq4xxeSGiIiISmj2YKbimDsZ0BToxA3GSExuiIiIqAS/Wmo42yqg1Qm4lJgpdjhGYXJDREREJUgkEoT4VM+mKSY3REREVKrQB52Kq9tkfkxuiIiIqFQhDzoVV7dlGJjcEBERUamKam4u381Cbn716VTM5IaIiIhK5eGoQm0HFXR6ARfuVJ+mKSY3REREVCqJRILQajjfDZMbIiIiKlPIg/lumNwQERGRVWjmV1Rzky5uIEZgckNERERlavZgrptrKdnIzNOKHE35MLkhIiKiMrnaq+DjrIYgAOcSMsQOp1yY3BAREdEj/buIZrq4gZQTkxsiIiJ6pGYP5rs5k1A9OhUzuSEiIqJHYs0NERERWZWmDzoVx6fmIi07X+RoHo/JDRERET2Sk1qBIDc7ANWjaYrJDRERET1WUdPU2WrQNMXkhoiIiB4rxKdohXDW3BAREZEVCPVzBgCcZXJDRERE1qCJtyOkEiAxIw93M/LEDueRmNwQERHRY9kq5ajv7gDA8hfRZHJDRERE5RJSTea7YXJDRERE5RJalNxY+HBwJjdERERULiFFyzDcug9BEMQN5hGY3BAREVG5NPJygEImQWp2PhLSc8UOp0xMboiIiKhcVHIZGnhafqdiJjdERERUbiE+zgCY3BAREZGVCK0GI6aY3BAREVG5FQ0HP5twH3q9ZXYqZnJDRERE5Rbs4QCVXIrMvALcuJctdjilYnJDRERE5aaQSdHY2xFAYe2NJWJyQ0REREYJfWi+G0vE5IaIiIiMEuJj2Z2KmdwQERGRUUL9CpObcwkZ0Flgp2ImN0RERGSUIDd72CllyNXqcOVultjhlMDkhoiIiIwik0rQ1IKbppjcEBERkdGaGSbzs7xOxUxuiIiIyGjNikZMWeBwcCY3REREZLSimpuY2xnIL9CLHE1xTG6IiIjIaP61bOGkViBfp0dsUqbY4RQjenKzdOlSBAYGwsbGBm3atMGJEyceuX96ejrGjBkDLy8vqFQqBAcHY+fOnVUULREREQGARCIx1N5EW1inYlGTmy1btmDixImYPXs2Tp06hdDQUPTo0QN3794tdf/8/Hx069YNN27cwI8//ohLly5h5cqV8PHxqeLIiYiIqCi5OWthnYrlYl58wYIFGDVqFF5//XUAwPLly7Fjxw6sXr0a06ZNK7H/6tWrkZqaiiNHjkChUAAAAgMDqzJkIiIieiDExxkAEM3kplB+fj5OnjyJ6dOnG7ZJpVJ07doVR48eLfWYX3/9Fe3atcOYMWPwyy+/oHbt2hg4cCCmTp0KmUxW6jEajQYajcbwOiMjAwCg1Wqh1WpNeEfWo+i58PlYBpaHZWF5WB6WiXgae9oBAGKTMpGZkwcbhcxs5WHM+URLblJSUqDT6eDh4VFsu4eHBy5evFjqMdeuXcPevXsxaNAg7Ny5E1euXMHbb78NrVaL2bNnl3rMvHnz8MEHH5TYvmvXLtja2lb+RqzY7t27xQ6BHsLysCwsD8vDMql6ggA4KGTI1AKrtv2JIId/3zN1eeTk5JR7X1GbpYyl1+vh7u6OFStWQCaToVWrVkhISMBnn31WZnIzffp0TJw40fA6IyMDfn5+6N69OxwdHasq9GpFq9Vi9+7d6Natm6H5j8TD8rAsLA/LwzIR1y9pp7DvUgocApqiV1t/s5VHUctLeYiW3Li5uUEmkyEpKanY9qSkJHh6epZ6jJeXFxQKRbEmqEaNGiExMRH5+flQKpUljlGpVFCpVCW2KxQK/hI8Bp+RZWF5WBaWh+VhmYgj1M8F+y6l4PztzGLP39TlYcy5RBstpVQq0apVK+zZs8ewTa/XY8+ePWjXrl2px3To0AFXrlyBXv/vZEGxsbHw8vIqNbEhIiIi8wq1wJmKRR0KPnHiRKxcuRLr1q1DTEwMRo8ejezsbMPoqfDw8GIdjkePHo3U1FSMGzcOsbGx2LFjB+bOnYsxY8aIdQtEREQ1WsiD4eBXk7OQpSkQOZpCova56d+/P5KTkzFr1iwkJiaiefPm+OOPPwydjOPi4iCV/pt/+fn54c8//8SECRPQrFkz+Pj4YNy4cZg6dapYt0BERFSjudmr4OOsRkJ6Ls4l3EcrP/H7s4reoTgiIgIRERGlvrd///4S29q1a4djx46ZOSoiIiIqrxAfJySk5+LMrXSLSG5EX36BiIiIqrdmfoVNU2csZDI/JjdERERUKc0ezFTM5IaIiIisQohPYc1NXGoO0nPEnymayQ0RERFVipOtAoGuhbP+n70tfu0NkxsiIiKqtGYP5rs5l1D+mYTNhckNERERVVqzB/PdnGVyQ0RERNagqObmrAXMVMzkhoiIiCqtibcjpBIgMUODjHxxY2FyQ0RERJVmp5Kjnrs9ACAuWyJqLExuiIiIyCRCHsx3E5/F5IaIiIisQOiDmYrjssSNg8kNERERmUSIjxOkEiBfL24cTG6IiIjIJEJ8nHDqvWfwThNxsxsmN0RERGQScpkUdiq52GEwuSEiIiLrwuSGiIiIrAqTGyIiIrIqTG6IiIjIqjC5ISIiIqvC5IaIiIisCpMbIiIisipMboiIiMiqMLkhIiIiq8LkhoiIiKwKkxsiIiKyKkxuiIiIyKowuSEiIiKrIv7SnVVMEAQAQEZGhsiRWC6tVoucnBxkZGRAoVCIHU6Nx/KwLCwPy8MysSzmKo+iz+2iz/FHqXHJTWZmJgDAz89P5EiIiIjIWJmZmXBycnrkPhKhPCmQFdHr9bh9+zYcHBwgkUjEDsciZWRkwM/PD/Hx8XB0dBQ7nBqP5WFZWB6Wh2ViWcxVHoIgIDMzE97e3pBKH92rpsbV3EilUvj6+oodRrXg6OjIPxQWhOVhWVgelodlYlnMUR6Pq7Epwg7FREREZFWY3BAREZFVYXJDJahUKsyePRsqlUrsUAgsD0vD8rA8LBPLYgnlUeM6FBMREZF1Y80NERERWRUmN0RERGRVmNwQERGRVWFyQ0RERFaFyQ0ZzJs3D0888QQcHBzg7u6Ovn374tKlS2KHRQA++eQTSCQSjB8/XuxQarSEhAQMHjwYrq6uUKvVCAkJQWRkpNhh1Ug6nQ4zZ85EUFAQ1Go16tatiw8//LBc6w5R5R04cAC9e/eGt7c3JBIJtm/fXux9QRAwa9YseHl5Qa1Wo2vXrrh8+XKVxcfkhgz+/vtvjBkzBseOHcPu3buh1WrRvXt3ZGdnix1ajfbPP//gm2++QbNmzcQOpUZLS0tDhw4doFAo8L///Q8XLlzAF198ARcXF7FDq5E+/fRTLFu2DEuWLEFMTAw+/fRTzJ8/H1999ZXYodUI2dnZCA0NxdKlS0t9f/78+fjyyy+xfPlyHD9+HHZ2dujRowfy8vKqJD4OBacyJScnw93dHX///Tc6deokdjg1UlZWFlq2bImvv/4aH330EZo3b45FixaJHVaNNG3aNBw+fBgHDx4UOxQC8Pzzz8PDwwOrVq0ybHv55ZehVquxYcMGESOreSQSCX7++Wf07dsXQGGtjbe3NyZNmoTJkycDAO7fvw8PDw+sXbsWr732mtljYs0Nlen+/fsAgFq1aokcSc01ZswYPPfcc+jatavYodR4v/76K8LCwtCvXz+4u7ujRYsWWLlypdhh1Vjt27fHnj17EBsbCwCIjo7GoUOH8Oyzz4ocGV2/fh2JiYnF/m45OTmhTZs2OHr0aJXEUOMWzqTy0ev1GD9+PDp06ICmTZuKHU6NtHnzZpw6dQr//POP2KEQgGvXrmHZsmWYOHEi/u///g///PMPxo4dC6VSiaFDh4odXo0zbdo0ZGRkoGHDhpDJZNDpdPj4448xaNAgsUOr8RITEwEAHh4exbZ7eHgY3jM3JjdUqjFjxuDcuXM4dOiQ2KHUSPHx8Rg3bhx2794NGxsbscMhFCb8YWFhmDt3LgCgRYsWOHfuHJYvX87kRgRbt27Fxo0bsWnTJjRp0gRRUVEYP348vL29WR7EZikqKSIiAr///jv27dsHX19fscOpkU6ePIm7d++iZcuWkMvlkMvl+Pvvv/Hll19CLpdDp9OJHWKN4+XlhcaNGxfb1qhRI8TFxYkUUc02ZcoUTJs2Da+99hpCQkIwZMgQTJgwAfPmzRM7tBrP09MTAJCUlFRse1JSkuE9c2NyQwaCICAiIgI///wz9u7di6CgILFDqrG6dOmCs2fPIioqyvAVFhaGQYMGISoqCjKZTOwQa5wOHTqUmBohNjYWAQEBIkVUs+Xk5EAqLf4RJpPJoNfrRYqIigQFBcHT0xN79uwxbMvIyMDx48fRrl27KomBzVJkMGbMGGzatAm//PILHBwcDG2jTk5OUKvVIkdXszg4OJTo62RnZwdXV1f2gRLJhAkT0L59e8ydOxevvvoqTpw4gRUrVmDFihVih1Yj9e7dGx9//DH8/f3RpEkTnD59GgsWLMDw4cPFDq1GyMrKwpUrVwyvr1+/jqioKNSqVQv+/v4YP348PvroI9SvXx9BQUGYOXMmvL29DSOqzE4gegBAqV9r1qwROzQSBKFz587CuHHjxA6jRvvtt9+Epk2bCiqVSmjYsKGwYsUKsUOqsTIyMoRx48YJ/v7+go2NjVCnTh3hvffeEzQajdih1Qj79u0r9fNi6NChgiAIgl6vF2bOnCl4eHgIKpVK6NKli3Dp0qUqi4/z3BAREZFVYZ8bIiIisipMboiIiMiqMLkhIiIiq8LkhoiIiKwKkxsiIiKyKkxuiIiIyKowuSEiIiKrwuSGiIiIrAqTGyIiIrIqTG6IymHYsGGQSCSQSCRQKpWoV68e5syZg4KCArFDIyKi/+DCmUTl1LNnT6xZswYajQY7d+7EmDFjoFAoMH36dLFDIyKih7DmhqicVCoVPD09ERAQgNGjR6Nr16749ddfAQD37t3DgAED4OPjA1tbW4SEhOD7778vdrxer8f8+fNRr149qFQq+Pv74+OPPza8f+vWLQwYMAC1atWCnZ0dwsLCcPz4caxdu9ZQa/Tfr8DAQMPxy5YtQ926daFUKtGgQQOsX7++2PUvXryIbt26wcnJyXC8s7Oz4f1hw4aVWLF37dq1xfZ5//330bx5c8Pr/Px81KtXDxKJBOnp6Ybthw4dQseOHaFWq+Hn54exY8ciOzv7sc+4tHuMiooyvJ+Wlobw8HC4uLjA1tYWzz77LC5fvvzYc27fvr3Ytqeeegrjx48vtu3bb79Fo0aNYGNjg4YNG+Lrr78uca6nnnqqRHyLFi0CANy4caNEvDNnziy2T2n+WyvYsGHDEmX3sKLr1K5dG/n5+Ybt0dHRJX4mHndfZf1cSSQS7N+/33CtzZs3o3379rCxsUHTpk3x999/G86h0+kwYsQIBAUFQa1Wo0GDBli8eLHh/by8PDRp0gRvvPGGYdvVq1fh4OCA1atXl3mfRJXB5IaogtRqteHDJS8vD61atcKOHTtw7tw5vPHGGxgyZAhOnDhh2H/69On45JNPMHPmTFy4cAGbNm2Ch4cHACArKwudO3dGQkICfv31V0RHR+Pdd9+FXq9H//79cefOHdy5cweLFi2Cr6+v4fU///wDAPj5558xbtw4TJo0CefOncObb76J119/Hfv27TNcf/jw4dBqtTh8+LDhXJW1ZMkSJCUlFdt29epV9OzZEy+//DLOnDmDLVu24NChQ4iIiCjXOdesWYM7d+4Ue3ZFhg0bhsjISPz66684evQoBEFAr169oNVqK3UfGzduxKxZs/Dxxx8jJiYGc+fOxcyZM7Fu3bpi+wmCgFGjRhmev6+vb5nnvHXrFhYtWgS1Wv3Y6/fs2RN37tzB5cuX0bt3b7z++uvIysp65DEqlQrbtm0zvP7mm2/g4+Nj1H0V3cedO3cAAD/99JPhdfv27Q3nmTJlCiZNmoTTp0+jXbt26N27N+7duwegMGn39fXFDz/8gAsXLmDWrFn4v//7P2zduhUAYGNjg40bN2LdunX45ZdfoNPpMHjwYHTr1g3Dhw9/7LMhqpAqW3+cqBobOnSo0KdPH0EQBEGv1wu7d+8WVCqVMHny5DKPee6554RJkyYJgiAIGRkZgkqlElauXFnqvt98843g4OAg3Lt375FxrFmzRggICCixvX379sKoUaOKbevXr5/Qq1cvw2u1Wi1s3Lix2LmcnJxKvcey9pk9e7YQGhoqCIIg3Lt3T3BxcRE+/PBDAYCQlpYmCIIgjBgxQnjjjTeKnefgwYOCVCoVcnNzy7y3vLw8AYDw+++/C4IgCNevXxcACKdPnxYEQRBiY2MFAMLhw4cNx6SkpAhqtVrYunVrmecFIPz888/FtnXu3FkYN26c4XXdunWFTZs2Fdvnww8/FNq1a1dsW7t27YqVeUBAgLBw4cJS4w0PDxdGjBhRbJ/S/Pdna8GCBYKjo6OQk5NT6v5F15k5c6bwzDPPCIIgCNnZ2YKrq6swbdq0Yj8f5b0vQSh8Tvv27Sv1Wp988olhm1arFXx9fYVPP/20zHsaM2aM8PLLLxfbNn/+fMHNzU2IiIgQvLy8hJSUlDKPJ6os9rkhKqfff/8d9vb20Gq10Ov1GDhwIN5//30AhVXzc+fOxdatW5GQkID8/HxoNBrY2toCAGJiYqDRaNClS5dSzx0VFYUWLVqgVq1aFYotJiamWLU/AHTo0KFY80BQUBB+/vln9O3b1xBXWfdYpKCgADY2NqXuO2fOHDz99NN48skni22Pjo7GmTNnsHHjRsM2QRCg1+tx/fp1NGrUqNTzFdUEODo6lnmPcrkcbdq0MWxzdXVFgwYNEBMTU+ox5ZGdnY2rV69ixIgRGDVqlGF7QUEBnJyciu2bkZEBOzu7x57z1KlT+Pnnn3Hp0iX89ddfj92/6Lnn5+dDqVRiw4YNj63xeeGFF/Dtt9/iypUrOHDgADp37myoCTT2vh6nXbt2hu/lcjnCwsKKPfOlS5di9erViIuLQ25uLvLz84s1XwLApEmTsH37dixZsgT/+9//4OrqalQMRMZgckNUTk8//TSWLVsGpVIJb29vyOX//vp89tlnWLx4MRYtWoSQkBDY2dlh/Pjxhmarx31QlafporJWrVqFoUOHwsHBAWq1utTEpegei2zbtg1z584tca7Lly/j22+/RVRUFG7dulXsvaysLLz55psYO3ZsieP8/f3LjO/atWsACpOwqlTU/LNy5cpiiRMAyGSyYq9v374Nb2/vx55z0qRJmDx5Mry8vMoVQ9Fz12q1+N///ofw8HCcOXOmRP+Zh8nlcgwbNgzffvst9u3bhzlz5hRLOIy5r8rYvHkzJk+ejC+++ALt2rWDg4MDPvvsMxw/frzYfnfv3kVsbCxkMhkuX76Mnj17miwGov9inxuicrKzs0O9evXg7+9fLLEBgMOHD6NPnz4YPHgwQkNDUadOHcTGxhrer1+/PtRqNfbs2VPquZs1a4aoqCikpqZWKLZGjRrh8OHDJWJq3Lix4XXbtm3xwgsvICwsDKdPn8acOXPKvMeiL3d391KvN3XqVIwcORL16tUr8V7Lli1x4cKFYucp+lIqlWXew99//43AwMAy+7E0atQIBQUFxT407927h0uXLhW7T2N5eHjA29sb165dKxHvw4nW1atXkZaWhhYtWjzyfL/++itiY2MxefLkcsdQ9NwbNWqEiRMnQqlUlqvGZ9SoUVi2bBnu3r2Lbt26Vei+yuPYsWOG7wsKCnDy5ElDDdzhw4fRvn17vP3222jRogXq1auHq1evljjH8OHDERISgnXr1mHq1KmVqm0jehzW3BCZQP369fHjjz/iyJEjcHFxwYIFC5CUlGT40LWxscHUqVPx7rvvQqlUokOHDkhOTsb58+cxYsQIDBgwAHPnzkXfvn0xb948eHl54fTp0/D29i7WJFCWKVOm4NVXX0WLFi3QtWtX/Pbbb9i2bVuxD8iffvoJa9euxcmTJ+Hv719m4vI4V65cQVxcHK5cuVLq+1OnTkXbtm0RERGBkSNHws7ODhcuXMDu3buxZMmSUo+JiorC0qVLMXjwYCQmJgIAkpOTARQmMDqdDvXr10efPn0watQofPPNN3BwcMC0adPg4+ODPn36PDJmrVaLvLw8w2u9Xg+dToeCggLI5XJ88MEHGDt2LJycnNCzZ09oNBpERkYiLS0NEydORGRkJMaOHYuQkBCEhYU98lrz58/HV199VWbTX2k0Gg0SExNRUFCAP/74A6mpqWjYsOFjjwsKCsKCBQvg6+sLqbTk/6qPu6/yWrp0KerXr49GjRph4cKFSEtLM3QGrl+/Pr777jv8+eefCAoKwvr16/HPP/8US6CWLl2Ko0eP4syZM/Dz88OOHTswaNAgHDt27JEJL1GFid3ph6g6KK2z7cPu3bsn9OnTR7C3txfc3d2FGTNmCOHh4cWO0el0wkcffSQEBAQICoVC8Pf3F+bOnWt4/8aNG8LLL78sODo6Cra2tkJYWJhw/PjxYtcpq0OxIAjC119/LdSpU0dQKBRCcHCw8N133xneu3TpkuDs7Czs2rWr2Lkq0qEYgPD5558btu3bt69Yh2JBEIQTJ04I3bp1E+zt7QU7OzuhWbNmwscff1zm8wPwyK/r168LgiAIqampwpAhQwQnJydBrVYLPXr0EGJjY8s87+POPXv2bMN+GzduFJo3by4olUrBxcVF6NSpk7Bt2zZBEAThySefFPr16yfEx8cXO3dpHYpDQ0MFnU5X6j6lGTp0qCEeuVwu1KtXT1iyZEmZ+/+34/LDFi5cWOLn41H39d/nVFaH4k2bNgmtW7cWlEql0LhxY2Hv3r2GffLy8oRhw4YJTk5OgrOzszB69Ghh2rRpho7nMTExglqtLtaxOS0tTfDz8xPefffdMu+TqDIkgiAIVZhLERGVIJFIUNafoubNm2P79u2P7H9SEYsWLUJ6erqhUziVdOPGDQQFBeH06dMlOggTWTL2uSEi0T08yue/3NzcTNoBtohcLi/Rd4qIrANrboiIqFSsuaHqiskNERERWRU2SxEREZFVYXJDREREVoXJDREREVkVJjdERERkVZjcEBERkVVhckNERERWhckNERERWRUmN0RERGRV/h9+WZA+2T/D1QAAAABJRU5ErkJggg==", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" } ], "source": [ - "plt" + "plt.plot(rates2[:, 0], rates2[:, 1])\n", + "# plt.plot(rates[:, 0], np.clip(np.exp(1.5*(-1+1*rates[:, 1]/(rates[:, 0]**1.2))), 0,a_max=1))\n", + "# plt.plot(rates[:, 0], np.clip(np.exp((-1+1*rates[:, 1])), 0,a_max=1))\n", + "# plt.plot(rates[:, 0], np.clip(rates[:, 1]-np.random.randn(*rates[:, 1].shape)*0.02-rates[:, 0]/500, 0, 1))\n", + "\n", + "plt.xlabel(\"Расстояние до цели в метрах\")\n", + "plt.ylabel(\"Вероятность успеха\")\n", + "plt.grid()\n", + "plt.legend(\n", + " [\n", + " 'Разработанный метод ',\n", + " # 'Существующий'\n", + " ]\n", + ")" ] }, { "cell_type": "code", - "execution_count": 55, + "execution_count": 26, "metadata": {}, "outputs": [ { @@ -555,7 +632,7 @@ " 205.71428571, 257.14285714, 308.57142857, 360. ])" ] }, - "execution_count": 55, + "execution_count": 26, "metadata": {}, "output_type": "execute_result" } @@ -573,7 +650,7 @@ }, { "cell_type": "code", - "execution_count": 56, + "execution_count": 27, "metadata": {}, "outputs": [ { @@ -584,7 +661,7 @@ " [-0.70710678, 0. , -0.70710678]])" ] }, - "execution_count": 56, + "execution_count": 27, "metadata": {}, "output_type": "execute_result" } @@ -595,7 +672,7 @@ }, { "cell_type": "code", - "execution_count": 57, + "execution_count": 28, "metadata": {}, "outputs": [ { @@ -604,7 +681,7 @@ "45.091584" ] }, - "execution_count": 57, + "execution_count": 28, "metadata": {}, "output_type": "execute_result" } @@ -615,7 +692,7 @@ }, { "cell_type": "code", - "execution_count": 58, + "execution_count": 29, "metadata": {}, "outputs": [], "source": [ @@ -633,16 +710,16 @@ }, { "cell_type": "code", - "execution_count": 59, + "execution_count": 30, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "array([-1.20831361e-02, 3.70192767e-03, 9.99920144e-01, 2.01227980e+01])" + "array([-0.03113617, 0.02079623, 0.99929878, 19.90054697])" ] }, - "execution_count": 59, + "execution_count": 30, "metadata": {}, "output_type": "execute_result" } @@ -653,7 +730,7 @@ }, { "cell_type": "code", - "execution_count": 60, + "execution_count": 31, "metadata": {}, "outputs": [ { @@ -662,7 +739,7 @@ "3.830339193428011e-172" ] }, - "execution_count": 60, + "execution_count": 31, "metadata": {}, "output_type": "execute_result" } @@ -673,7 +750,7 @@ }, { "cell_type": "code", - "execution_count": 61, + "execution_count": 32, "metadata": {}, "outputs": [ { @@ -682,7 +759,7 @@ "array([0.66666667, 1.33333333, 2. ])" ] }, - "execution_count": 61, + "execution_count": 32, "metadata": {}, "output_type": "execute_result" } @@ -694,16 +771,24 @@ }, { "cell_type": "code", - "execution_count": 62, + "execution_count": 33, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "\n", + "\n", "Frequency 1000\n" ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/led/miniconda3/lib/python3.11/site-packages/gymnasium/spaces/box.py:130: UserWarning: \u001b[33mWARN: Box bound precision lowered by casting to float32\u001b[0m\n", + " gym.logger.warn(f\"Box bound precision lowered by casting to {self.dtype}\")\n" + ] } ], "source": [ @@ -721,7 +806,7 @@ }, { "cell_type": "code", - "execution_count": 63, + "execution_count": 34, "metadata": {}, "outputs": [ { @@ -756,7 +841,7 @@ ")" ] }, - "execution_count": 63, + "execution_count": 34, "metadata": {}, "output_type": "execute_result" } @@ -767,7 +852,7 @@ }, { "cell_type": "code", - "execution_count": 64, + "execution_count": 35, "metadata": {}, "outputs": [], "source": [ @@ -776,7 +861,7 @@ }, { "cell_type": "code", - "execution_count": 65, + "execution_count": 36, "metadata": {}, "outputs": [ { @@ -786,7 +871,7 @@ "traceback": [ "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", "\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)", - "Cell \u001b[0;32mIn[65], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[43mnp\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mint256\u001b[49m\n", + "Cell \u001b[0;32mIn[36], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[43mnp\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mint256\u001b[49m\n", "File \u001b[0;32m~/miniconda3/lib/python3.11/site-packages/numpy/__init__.py:333\u001b[0m, in \u001b[0;36m__getattr__\u001b[0;34m(attr)\u001b[0m\n\u001b[1;32m 330\u001b[0m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mRemoved in NumPy 1.25.0\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m 331\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mRuntimeError\u001b[39;00m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mTester was removed in NumPy 1.25.\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m--> 333\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mAttributeError\u001b[39;00m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mmodule \u001b[39m\u001b[38;5;132;01m{!r}\u001b[39;00m\u001b[38;5;124m has no attribute \u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m 334\u001b[0m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;132;01m{!r}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;241m.\u001b[39mformat(\u001b[38;5;18m__name__\u001b[39m, attr))\n", "\u001b[0;31mAttributeError\u001b[0m: module 'numpy' has no attribute 'int256'" ] diff --git a/gym_pybullet_drones/examples/hover/hover_test_auto2.py b/gym_pybullet_drones/examples/hover/hover_test_auto2.py index ee8a37e..dd1262d 100644 --- a/gym_pybullet_drones/examples/hover/hover_test_auto2.py +++ b/gym_pybullet_drones/examples/hover/hover_test_auto2.py @@ -6,6 +6,7 @@ import pybullet as pb from scipy.spatial.transform import Rotation as R import numpy as np +import json def fly_to_point(delta, env, agent, max_timestemp=500): @@ -16,6 +17,13 @@ def fly_to_point(delta, env, agent, max_timestemp=500): term = False success = False + transitions = { + 'pos':[], + 'rpy':[], + 'vel':[], + 'angvel':[], + "motor_speed":[] + } while not term: @@ -27,6 +35,12 @@ def fly_to_point(delta, env, agent, max_timestemp=500): ) state, reward, terminated, truncated, info = env.step(action) + transitions['pos'].append(env.drone.state.world.pos.copy().tolist()) + transitions['rpy'].append(env.drone.state.world.rpy.copy().tolist()) + transitions['vel'].append(env.drone.state.world.vel.copy().tolist()) + transitions['angvel'].append(env.drone.state.world.ang_vel.copy().tolist()) + transitions['motor_speed'].append(env.preprocess_action(action).tolist()) + pos = env.drone.state.world.pos.copy() if pos[2]<0.2 or env.step_idx>max_timestemp: @@ -38,12 +52,13 @@ def fly_to_point(delta, env, agent, max_timestemp=500): time.sleep(env.timestep) - return success + return success, transitions def main(test=True): - savedir = '/home/led/robotics/engines/Bullet_sym/gym-pybullet-drones/gym_pybullet_drones/results/hover/multienv/' + data = {} + savedir = '/home/led/robotics/engines/Bullet_sym/RL_Drone/gym_pybullet_drones/results/hover/multienv/' savepath= os.path.join( savedir, # 'PPO_35' @@ -84,9 +99,19 @@ def main(test=True): for r in radius: sucess_num = 0 + radius_transition= [] for point in points*r: - sucess_num += fly_to_point(point, env=env, agent=agent) + sucess, transition = fly_to_point(point, env=env, agent=agent) + sucess_num += sucess + radius_transition.append(transition) + data[r.item()] = radius_transition print("Radius ", r, "success rate", sucess_num/len(points)) + + json_path = os.path.join( + savedir, 'data.json' + ) + with open(json_path, 'w') as f: + json.dump(data, f)