From 6b8c6fa8d87e32143651165cf3ed90d2ba854f4f Mon Sep 17 00:00:00 2001 From: Juancams Date: Tue, 14 Jan 2025 17:45:30 +0100 Subject: [PATCH 1/4] Added custom base, with option to enable/disable it in the urdf Signed-off-by: Juancams --- CMakeLists.txt | 2 + launch/rgbd_stereo.launch.py | 13 ++- launch/urdf_launch.py | 178 +++++++++++++++++++++++++++++++++++ meshes/oak_dlite_base.stl | Bin 0 -> 296484 bytes rviz/rgbd_stereo_pcl.rviz | 27 ++++-- urdf/base_camera.urdf.xacro | 50 ++++++++++ urdf/base_descr.urdf.xacro | 34 +++++++ 7 files changed, 292 insertions(+), 12 deletions(-) create mode 100644 launch/urdf_launch.py create mode 100644 meshes/oak_dlite_base.stl create mode 100644 urdf/base_camera.urdf.xacro create mode 100644 urdf/base_descr.urdf.xacro diff --git a/CMakeLists.txt b/CMakeLists.txt index 5018202..6a249dc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -69,6 +69,8 @@ dai_add_node_ros2(rgbd_stereo_node src/rgbd_stereo_publisher.cpp) install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME}) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME}) install(TARGETS rgbd_stereo_node diff --git a/launch/rgbd_stereo.launch.py b/launch/rgbd_stereo.launch.py index 4b861ec..2046cd9 100644 --- a/launch/rgbd_stereo.launch.py +++ b/launch/rgbd_stereo.launch.py @@ -13,7 +13,7 @@ def generate_launch_description(): default_rviz = os.path.join(get_package_share_directory('oak_d_camera'), 'rviz', 'rgbd_stereo_pcl.rviz') - urdf_launch_dir = os.path.join(get_package_share_directory('depthai_descriptions'), 'launch') + urdf_launch_dir = os.path.join(get_package_share_directory('oak_d_camera'), 'launch') camera_model = LaunchConfiguration('camera_model', default = 'OAK-D-LITE') @@ -40,6 +40,7 @@ def generate_launch_description(): use_pointcloud = LaunchConfiguration('use_pointcloud', default = True) pc_color = LaunchConfiguration('pc_color', default = True) only_rgb = LaunchConfiguration('only_rgb', default = False) + use_base = LaunchConfiguration('use_base', default = False) declare_camera_model_cmd = DeclareLaunchArgument( @@ -151,7 +152,11 @@ def generate_launch_description(): 'only_rgb', default_value=only_rgb, description='Use only RGB image.') - + + declare_use_base_cmd = DeclareLaunchArgument( + 'use_base', + default_value=use_base, + description='Use base description.') urdf_launch = IncludeLaunchDescription( launch_description_sources.PythonLaunchDescriptionSource( @@ -165,7 +170,8 @@ def generate_launch_description(): 'cam_pos_z' : cam_pos_z, 'cam_roll' : cam_roll, 'cam_pitch' : cam_pitch, - 'cam_yaw' : cam_yaw}.items()) + 'cam_yaw' : cam_yaw, + 'use_base' : use_base}.items()) rgbd_stereo_node = launch_ros.actions.Node( @@ -275,6 +281,7 @@ def generate_launch_description(): ld.add_action(declare_use_pointcloud_cmd) ld.add_action(declare_point_cloud_color_cmd) ld.add_action(declare_only_rgb_cmd) + ld.add_action(declare_use_base_cmd) ld.add_action(rgbd_stereo_node) ld.add_action(urdf_launch) diff --git a/launch/urdf_launch.py b/launch/urdf_launch.py new file mode 100644 index 0000000..d6a6825 --- /dev/null +++ b/launch/urdf_launch.py @@ -0,0 +1,178 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.conditions import IfCondition, UnlessCondition +from launch.substitutions import Command, LaunchConfiguration +from launch_ros.actions import LoadComposableNodes, Node +from launch_ros.descriptions import ComposableNode + + +def launch_setup(context, *args, **kwargs): + bringup_dir = get_package_share_directory("oak_d_camera") + xacro_path = os.path.join(bringup_dir, "urdf", "base_descr.urdf.xacro") + + camera_model = LaunchConfiguration("camera_model", default="OAK-D") + tf_prefix = LaunchConfiguration("tf_prefix", default="oak") + base_frame = LaunchConfiguration("base_frame", default="oak-d_frame") + parent_frame = LaunchConfiguration("parent_frame", default="oak-d-base-frame") + cam_pos_x = LaunchConfiguration("cam_pos_x", default="0.0") + cam_pos_y = LaunchConfiguration("cam_pos_y", default="0.0") + cam_pos_z = LaunchConfiguration("cam_pos_z", default="0.0") + cam_roll = LaunchConfiguration("cam_roll", default="1.5708") + cam_pitch = LaunchConfiguration("cam_pitch", default="0.0") + cam_yaw = LaunchConfiguration("cam_yaw", default="1.5708") + namespace = LaunchConfiguration("namespace", default="") + rs_compat = LaunchConfiguration("rs_compat", default="false") + use_composition = LaunchConfiguration("use_composition", default="false") + use_base = LaunchConfiguration("use_base", default="false") + + name = LaunchConfiguration("tf_prefix").perform(context) + robot_description = { + "robot_description": Command( + [ + "xacro", + " ", + xacro_path, + " ", + "camera_name:=", + tf_prefix, + " ", + "camera_model:=", + camera_model, + " ", + "base_frame:=", + base_frame, + " ", + "parent_frame:=", + parent_frame, + " ", + "cam_pos_x:=", + cam_pos_x, + " ", + "cam_pos_y:=", + cam_pos_y, + " ", + "cam_pos_z:=", + cam_pos_z, + " ", + "cam_roll:=", + cam_roll, + " ", + "cam_pitch:=", + cam_pitch, + " ", + "cam_yaw:=", + cam_yaw, + " ", + "rs_compat:=", + rs_compat, + " ", + "use_base:=", + use_base, + ] + ) + } + return [ + Node( + package="robot_state_publisher", + condition=UnlessCondition(use_composition), + executable="robot_state_publisher", + name=name + "_state_publisher", + namespace=namespace, + parameters=[robot_description], + ), + LoadComposableNodes( + target_container=f"{namespace.perform(context)}/{name}_container", + condition=IfCondition(use_composition), + composable_node_descriptions=[ + ComposableNode( + package="robot_state_publisher", + plugin="robot_state_publisher::RobotStatePublisher", + name=name + "_state_publisher", + namespace=namespace, + parameters=[robot_description], + ) + ], + ), + ] + + +def generate_launch_description(): + declared_arguments = [ + DeclareLaunchArgument( + "namespace", + default_value="", + description='Specifies the namespace of the robot state publisher node. Default value will be ""', + ), + DeclareLaunchArgument( + "camera_model", + default_value="OAK-D", + description="The model of the camera. Using a wrong camera model can disable camera features. Valid models: `OAK-D, OAK-D-LITE`.", + ), + DeclareLaunchArgument( + "tf_prefix", + default_value="oak", + description="The name of the camera. It can be different from the camera model and it will be used as node `namespace`.", + ), + DeclareLaunchArgument( + "base_frame", + default_value="oak-d_frame", + description="Name of the base link.", + ), + DeclareLaunchArgument( + "parent_frame", + default_value="oak-d-base-frame", + description="Name of the parent link from other a robot TF for example that can be connected to the base of the OAK.", + ), + DeclareLaunchArgument( + "cam_pos_x", + default_value="0.0", + description="Position X of the camera with respect to the base frame.", + ), + DeclareLaunchArgument( + "cam_pos_y", + default_value="0.0", + description="Position Y of the camera with respect to the base frame.", + ), + DeclareLaunchArgument( + "cam_pos_z", + default_value="0.0", + description="Position Z of the camera with respect to the base frame.", + ), + DeclareLaunchArgument( + "cam_roll", + default_value="0.0", + description="Roll orientation of the camera with respect to the base frame.", + ), + DeclareLaunchArgument( + "cam_pitch", + default_value="0.0", + description="Pitch orientation of the camera with respect to the base frame.", + ), + DeclareLaunchArgument( + "cam_yaw", + default_value="0.0", + description="Yaw orientation of the camera with respect to the base frame.", + ), + DeclareLaunchArgument( + "use_composition", + default_value="false", + description="Use composition to start the robot_state_publisher node. Default value will be false", + ), + DeclareLaunchArgument( + "rs_compat", + default_value="false", + description="Enable RealSense compatibility mode. Default value will be false", + ), + DeclareLaunchArgument( + "use_base", + default_value="false", + description="Use base frame for the camera. Default value will be false", + ), + ] + + return LaunchDescription( + declared_arguments + [OpaqueFunction(function=launch_setup)] + ) \ No newline at end of file diff --git a/meshes/oak_dlite_base.stl b/meshes/oak_dlite_base.stl new file mode 100644 index 0000000000000000000000000000000000000000..41ad0e35eb4bc3869f115a09a803042a4a5a75ce GIT binary patch literal 296484 zcmbrn3-}e|{{BCmbkdR9Dv@+@=%7f{XRXh2NGYW)5?Lv1I;yrPl@_%-ing;3wrmnY zB_dk0)}TZsm8g7`MC9C#k3;y+`+2W>);(*@v-j`1{-5iT`(v@^v$uBEC=YtwtgF5C zbx#PUmn9WZf}JQrXdzN@1Tg`PjMgXgYH*NjPR+>))I+-BzPmOd5SQ3pntdG+`M_1%u2s>XCBnvXg+ z)~?5d__weAXEi%aG@j7Pow;#DF5}C;-4}bM{8-6w*oh)^9Bs?hj8`akX%PWhs^$&t z>aLumJuFMw2(E(GaXc{i()jfwYnTjnpe5t>%2&AkDkH;2a22#>JhgmmeEYk1$7JN} zKug9u?FPCVGFTq5$0x+=H0u(p_~e1J*`lo{WRJd`cC7t^hA1v=}MG5KEZ9^_o~5@2UfGg#C@aMr)6F#v1IvJ_v75i z*@+?~uPo`$T^GxP323Q0W=txbU*_AIK?LM!iW!=?Y*$A$J z)(n4bPh)Lo2U^-K-*8V_wk{?7Eh?ScqRwWA32bTFD}Sq9liO+?Cb$Y(Gv?enA%5Jv zcv{vHtPRqZtXFq^I?Rj~)9r*fOh7AfX4A{!^LiZVN(MX7k|$f&=3$ywmb4LE1+5t$ zK3^+-_AJNtoixnL4<=UX^X3%HN#(mZf=>U*nyS| z*@Cf-nPm>bL6x+{RnVGo=dBam7P{`H*nyS|?3F~9C5doQC2esPv}WL##9wt&4F}JP z&!4BqSI|-=8b>(cV+MAj2xQ2Xp~ohL1U{YLX?0#HX9Prw9njJ)rXwSN%m7E`2{Z_d z&y2&Y>5?Q>aH0rgm|hvGkPup`%2%ovv=lz}VFxr5$jFa_31|?98(~lF&)HxcQUxc9 zKt_HX3$EW2EOTh7!qU|BO6rlrP85NR{IRH19hubq60}r-Mn*t5>_idB$oJ~@KVzlH zfJO$UhnEN1mGmeA8Tq*@RhYZbQUy8~hihh+{|`G+1TxGx;_`3d5|lh-AUha`5Gk}P z>7bd=jIlE&$GdgEMUIwIE6&}Xc{6^K*@qty=7mL9%2cYEgHyEU&YX(PA_S~J>jn;ie@)p{m_9camz_0;yvp|g=;Be)7$Gfw(> za{Q>#le)G1QI+~=T;;3{a%khc9rVU{`OuCxm+RYRLU5iF z(2VXM9vgf1*NJ9re5&c{%;&G`zJ1D!<(V!ItHyLYAr2GJO3Xf`T>QgISD6fUpk+)u zzj!(`pt0taC2a&(L2Jg|PcDgfURuj!umdd_Z!cb)8QOPjZh6=Uu7cK#iKkDDw|ly+ zIZk8;S~7U9mnCfkS3zsWtSvXEU-|nuGmf_xZ^?AOSm#Oex*IYNOjV8Pc0wE`pq04g ziuUR5_02L*u>&pRnCrfo8Mp+?g9ryz(iT@iYsOgzcdi*a<2D&biXCXpa5ELxAcF`8 zRhp5nn(M08jQc)4cFh;>PR?cI9aKpM)?LwMNh17=Ji%4ano&PHF+Oy5Q?tymbxK?3 z%-)u1)pN92moVK_AIKtHy6+8aF|Pjo>P1&G>7wUF^|Qbzi~`v}7#)%S)N3-W!=4hmGJWXwCR+ zcGvVp&Gh>R9BH@QlqWNvwAQ|3x}6Y*31}q_yl{-$ZQMm>yHkstk`}P=< z!49-!?EK=M%!u9i93;X)m9)iG(3xk>KGV~>r=Clws@{o8%Iuf=pbA&%sMfL5aW z5m&geQ;vvB20PG_*KN^)%+dk3`Rf%NY4@f6=}f=r z+AgLS5e_>{K<9|{AC(+=hdD3mumdf5sY!2U=8nWT-n9^11+5tujcyzJv7^o_cAzDr z^Uw{MD&3G_Be)7$GiI(G66;km-YgGxpd~{-Yr8Z+hK=AVXwAU!n=B7}ZlhiKY?mq! zGF^`0^51dT0nJ2l##v1oCw{7==P9A3N_58x*tc^AJ5dBOWb4!KIfaC@D^(9Ksu{}2 z6YPLy0vW-`Q%pdEXr9G>m&YMhaH0rgm|mG>UPuTnRnkMW6h5YA2Q(AN$d7{wXb^w2 zz_BQgL#p6J5t=db*&|~M@0sMvXcl?(6F6@Fcx8ix`;;D2VY;0VhY4sUYJ65X{@Z^p zHyP|e%lf+OsYZ#OSK=7XMsO9hW@IZ2iobL6A^D7Q*nyUeMc%QAuXkWx*$A$J){OM_ zN%8dBiY9{{XvyHYUY4{GTm`KeEk3;|edRrR+%9Xz)|+*nj2K-zG5B89m~JP;VFFr- zPRq_uH*IT(2ONBC%NxFSHm1r zqe|NP>y+k+#cOrD!*n|#4inHy{Pm`OZtHWZnR&$ywB#-QwrQgBTR5h+5nKhW8RrcA zKE1TcV3WZPv}Dwsc3h%H6316If~%l4oeu3#GzX;uWSTY zL2Jghr!|gsDAQwVcAzDrZ_PT1X@ikrBe)7$Glsm^D|W*xx0+?n4zy(O-nA@gBe)7$ zGqA6c?R?q9YFS(pf|e@LUC+n4*FpkL6rmYMy`D(dxq5;b$Lwz^WgmZ4k2z2Ix^gzQ zO*N+532~T!&JlG^aNGUX)nu>(E%R#s9>CqbvkhL2JgMY2)0B7L7Ig5_X^^ zBRsEc1Xn?8#wWeH#di)lUdEAH+3VL#pV2zs?|=V~OwU)f@0eahIP5S1t;FQ7&WM*b zKHbbKcA#Y(hwd(yUDOWq%0_S%v}QbcMYZ_+Yx|iDcAzEWsudNodq2eY4;#T%(3)}V z=!;^vzoXj+JJ6DW^-6SE(nfFtqEmfeA5fBbLQ3Nvb^GbS!3}|FvdU#%;T}h83kP-CCY=gLyTnOAf4!U?8>_idB zFyjc;U1Z2|<_t^^#$gDwE9p@LGV<##uRqXI1v(gqXWA#TeC? zZYRWH0$Pb`H@=s?dfpI|!49;{pG^9;?7$_smTDuo3R*Kdo_MO;d18slUS~I419pJj7%9{*!pe2LndRfv&a22#>$a3&^JVnccm%+uqjSH4juM}H2o6Gb2+KaN5IpMy32b7LqYAX4mrmUb~68ToAxjw}Oc5WJm- z2{=&%GJ;+?d#{}t^cUJ>(6$*~9@y@rS5bs!q+4DezpwH~=DWc+bN`X8dWo*1&{73j zTJo>45W!9qp&1oYgW~^89xTeJ`To>w>~Y=hm@Z335z-bD(3;V1*G2JL+Z^M{9AgJs z`o8HeeqJ+d=Qe_?pf%&W7R}=`=bdXZ*nyUeuP>gG?Y0@`uWSTYL2JfGGhdBecg9GQ z!49-!v>10s_K_!$VI#N-S~HGq{!r}E8*egOEgWh0xqGK(pYEgWVtNtbu)_qj62tGQ zAMabWw`4f%Kug|(ou_4|tipL88^Kl3nla~|E8^#LtzCg^Pzq}X9rp`?)+v_7JJvSq>bPzXw8sy7DxNCcSc*# zQUyZtg8i`4Ut~TU-UL8BP83B^Tz-m#_mZ89dj^l0-PDlD4=CS~G_G z=M#51dOmUcy=NwH&hn1#of0^oi0O7h944TZc-lXo*lePnPhs|X z(3-(#2ibv^jDzK3iRkl*sFJq03R*L^`sWj0&Ye$W2U;?)?usr;+6bt) zv}U~FUss!vyROC#w2bMxi!VszudCSzu7cJKzDmXpv}AOwcYXrbal_ZuP$g|~6|`pX zHDNf??gRDDP2id^rrQZ|n1Id^bcL54Xvy34R3Z_5O&C?u7FR)Q#>4(K;SITK!t6jx zhHSOCN?w+<5nKhW8NAhE4}f-gUy{!#B;bIScEcHa{_m{VVAouuPdzc_zAWzX*xmo3 z?4S;M4+ExauZVEiVFFr-0~L;nue`U9*>c%|mN7lpdA@($8TZN92(E(Gj0#ng@uNQc z!+bYj2U;>Nth_MW_)**gX(PA_S~EWWWn#SZH+r8wJJ6DGaPh+IfQ9&8Ya_S{S~L2N znB=~`xwaX{ck^dwuS;uN^*i2~#r>O@ZYRWH0$PbJ_h04y(7`dwgB@rYN2Nn^vOTZF z@~{zH1+5t^msfWiOux)zumdd_XRe-`&EGp{Be)7$GrpX6V*13F^j;ixpd|xqsOYk! zjo>P1&8XOaQoMPkqs;d~EGcPg!;uTK$IR02%b0E_#9;zjiG8cDir=^YPm{q8wB#-5 zGe3JwHGFrr5nKhW8Sc&_<0rpysVkqH>_AJ#u-Ok~^S@oP5nKhW8Q=WYJl1=m{&tBS zXvyfZ`98WPY$Lb|S~E7aJS+XiI=$`;N7}7)Xl^!js($asbUPsq6VOWBQ@f5k>)XG| zyh^bHEqQm=x+~k{6f6%S98^hLTm`Ke)!!N5{^#y;CW9Sl$+$drC!Lca!aX&Ho<9MsO9h zX7I0T*nyUePW|62js86js-!Khg4T?y{NLkToclcvJJ6EBbG#c$@6~JsS3zsWeE;`qZ|8om z#tyV(T)6nh()?$Xjo>P1&1g@*S7QfSGO&hRBuPKd(yC!Iw8_nbsHsFJq03R*KB@PE&FTkiLq>_AI~ zEdTuPIf-ykC2esPv}Vw+GgIt9O9s|mT^>aE_aSS#w8d4>n$f`jy>rdn@138hv#u1+ zFKF9oeJOtLjOlhl944TZ;9oDZ11)_|-}G*2^zWTfC2esPv}WAy|K53H?)T2@KugAj zi+7afj~Q$PS3zqA|9Y7nXvx63tINYia22#>B>m?Byq0?&06t};tzOIDD}5mMJOE6$ z6XGxdtpxqLKgABT_BVA$EDHF13;B#LWjw;yE*ANgKgc(3;^NyUF33IgZOtUKg|lEma^SFMO_#ohTwV4tg#Q zs-&%3E?ZZM=i*>`5#g}I1hf+TlpA)SCGWZR>-^(Kd_T7lTm`KeZT#or-153U7l$2a z$=KguU1|QgI5vW-pf%$Z|G7A8F4X7Zumdd_`1}xEmb4LE1+5wNZfg{)TE*P&lREwR zCE53H*KlHiD()YFxKc8K9AbPzXwCRb?cdg{sH4BZVh36>I;~!u?Jy1*HiE05HDkq)#%msU z*Zh{uVFy|=u!f2*OWFvog4PUwf9UFd(Qz=}r7dWw63x#%3lngn2xOT3uF2uHprvY7 z#l@kFJi$&Bp&5U4x-Gu!%kRxS+gRgd9N9g~v%k#M^H-Q|C&Xa_T8Z-p4vGIcc8fWG z#SXO2w`JK0^>Mz$Mhu^wuY%T$W(`}#D;|}|%`2@E2UU`B!r&o6_qSW(@8>bEh;UFPZE+Q}X6!#u&-L!;E%PeH4zy&v{?+2_ zxMz?-go7$+i>shDSV=H7}&wwphsz6Iia(oq>Rdd*hB8oFctQZpSejU`@&r3k1TuoPBqdc?ccG;UG%^ChVJC_}M!r|0OIHLL(8xe`czK{* zNsl6sk)OL#g}DnYRiJ}$1nU($Q3Nu~IO6iJEHz|6BLmZeaR`w@yOJJ7XvXjU_1ZzX z>$QJuSrc5ZJ#%$7xL%9tMTEl+6VOWV)mL_)rH9|mf5URU7FE&~S3zsW_f?YdOLNz2 z*@2dfe_y|ruGiWKu7cK#eg5^@$G+C_E#nuIjsruGiWKu7cJKzWT}zv}D}faJA)nEvlp~ zu7cK#P5$-TX1VLN>_AHf)=<%9NgKgc(3-*5Yq6xHt!5+E2G?sb-A;(Z1hf)-^_3lH z$vd?C4a@afR7qQ01+5wH``2q5<*wJV11%YEe3hl^wKjsQpfzKQf4%nN-1S;^pe5tJ zc4<1^wGmtetr=hW*K1$TU9W{B?I!!K4zAZ?x}6Y*31}tg>T8M}Xvy1m<0{MbT2x6} zTm`KeKfgV|J$kNQuVn{XGL}8^B3-W~!a_idB$bSwN5;#s=I{&8_X9Prw9njJ)rXwT& zc@9VB2{Z_dFMOORRdAvRWSCx=qkuvJ$B94gosvdN!RNUl*a0o=VmdPN zsFJq03R*KB^`E!YG55SBcAzDrw9$@i{&`C_f~%l4gP)$n4zy$}?6Z@OeQX3*L2JhI z{`1IweO8}G)^gmYY`5Gq&oX;9W$`>ROt%x_FafOuKV6I+Xc@;*r)_AHf)=<%9NgKgc(3*k0n{0!a z@6r~uREg$oFu!MDCyGFZw61%(LPFY=s(m-E4`l>IiXG5QAS2%^CZIv^J~2$di6W3; zdS&)~oPAaC` z32~T!R)U^-nqmi9@~#>BVK(|Xsi=~+xC&Y`cKFXp9g}-bDm&1UG53lOviawv65*gq z+Tto`%{bIB|D05Ipe3V0VtY1!KLZgCs-!Khg4PUvjxZc)_t$mXvUrX#rrQZ|n1EK| zRR1}``*Y6`W(QjGCT`s7p98=%Wo-mkL2Jgx{&R!}=AI+W4z$jzt-*PXvZRe@kjPg- zYsO3dbA%VJ)8`1Y11%Y{rQzw#Wl0;sRnVG2TU1IM?8Bj@3WVgDeTg|5ll>e!Q3Nu~ zKG9IJtsw&%8JHgI6NL!%DvCfxaD;63CD^|Tf&DJ%;&HGOMIghB!|bVLw8(&#D$vNt z6YNA0$jFaFs<3~BmMYN52ne%0xK~0mp&9GnZQ}mi_5w4GRUg&KELx`5&j(Jdl5tPc zYt5K$C&Xa_T8Xcc=eXZLY<{<$Vh39KzI<)D%%6*KZJP)ORnit$L2Jf~Yp!=I&eshD(*e z3?dv)fUGw)Y>`=lc> zog3)0J}TC!oSEjS#&kQO8F>P<5^Jux$sIoWq1-m8RfWWgwN*1SF2a3FHiE05HDg8n zfo{DMe=`~EK+F7D`Cg68%^76a2(E(Gj2U$=a627pVzv)OJs&_)B6Bk{^+F4xaxWj1E$*vahQNsqWwn)(;bt8%=WDKT-7f#^ zZnh70pd|zAt}YKE98^hLTm`KeHO`w58+NL`3u5uS{=u^*-@mkPW>4P1&5+M=f445{m4o>%Z9z-by7|+B<4rnGc z*z}n|&gViez35oap%b_FK(y8>ZU{ahQNs;-iXZxYa71VMfmmwB(Ihe`Mye z=@W9ti8g|(pfzLAx);*Nyl|t*U$v!5Ek~MlmmO%ySlW7;|CxyI1~!7Lpf%&EbH~RkTrosGKO8vHZintuGpnlTcPC7@ z6XGxdt;EUyj>oI4Imwj_cAzD1_5Mlzyuxw2jo>P1&3LExj#%vt*P9G>pe5tsYer;R zZNNDh8^Kl3n$h^jIeJ;7wK11%W?MmNj6_&dIT*a)tI){Jwm z92fWhGusC{(2`NB8#e7 z8>(vGG2Kpx!vwSv-`{gr`n}y_O$IyAl6Uka9Wt?Im{&G}tDrSw+WwQ$5B*)A$-xe^ zWb``w?9A4V$gmMy1+5vUH}1Qp&Jz9o2RqP`AxEzjOORnBxC&Y`Zau4N?2~2s`zScl z?y8Ua`=3$TE~Xa|4m(UhE3xl}uVYh=y2dOIcAzD1#0$eSn}=b&vJqSbtr^ok=@Gx` zy@n=(9camza9~{K#-aFrZX>t~S~IRbb3%M@mGjLp13S=?ao3rX{9^_@C)Gx96|`o2 z+jDZfb&m(l?^xhSyJOZ*%>45?{T&OY+X-=)fL3DfE92uQUOdR`ciDlKye5+;WU5`F zdH%cTECg3UYetji!{g}}-ZUBPKugA*r;g8@_ba~R*a)tI){KMBrSb0NYPzydWCvO@ z_?t{w(nfFVQ70bY9mlvK>EFjp<6XA9Zf5ZI21@?_T}S zYIc}NzyC#c=Ef1`TbSRgzugymxxDVL*oh)!Ol8T-%him3;g4QM&IGhno&DyQ*_D&< zWK|o%RnR()@q;go-#fB~$zTUsGENwLAlt7pGHe7_L2Jgl%g4sw-*mUxqS%3!jA646 zWH)5=T1Z(k_V|Q&on~EP4IevjHakqTefU7O?oD{!>kq%&7Oz$Ik~ss(1Xn?8uYAG< z@rt`IXlvreeWoYUD@<3y@0FYD)oON_So_mHGp~Y?yBIk;QH11`CH=YUVtFtDEmhCm z`xz~B8^Kl3+ADu8aj{;p11%XRPx;)eyV@%o!Bx1<-EX!oCHyTa zo!g?$W`_xEY1%7)t6h`ZYW?eK`L?(US~KR{Iw5}Cytvt4VQrAMWWBoU(_!X&Kc?FW zahQNsqEXY!;%j>xY4%s_Kuex%U7Lq#URlyca22#>lwVdWe#!1jOa?p9k|BGE`3;d_ zBe)7$GrIYExE?+9I}SV0k|A?<ftEa3^YhDt2nSWt7FR)QhQ9>e+%iwG11%Y{1!EmE%N&IN6mw0NwzvvfGyHYe z&8@pBcAzB#dnM6jNg^CnNn2b6tr<9%=zrj(X6|hrT-%10D$%%t9lqCqohSks@_DA` zUJD7_2XNA$E}@J(!47C?7t@guoJmc=k$D0Qg70St2uG^mL=ng^y)vJig@n*jB|St- z;d8I-fMx<2L9fj6KwF?eMoG3yw_t#tB!Bx_AIKjlXxK`{9W2-}I;H(iT@iYX-dqJjD*QF7y049e!^( zs-!Kf;Y?@-ZBb@lg5|->Ky?1OYDAcQ37jZGGj{s-a-N#Im$S=r&4PP5p`}XJ65MN4 zmSlpRC?Xh#IbM*xmQ-OM4lPxnWiFU~dx*dtrcnek@_Xu+7d8wsppk*>V4rAm(5|FM z5y;5jDJxajCqhdV=;Cp(6Gb2+zi*dbAp;s2m>!HnJ`GZ6SJI;hWaP&oRk(*9TB<-7 zkAs~kLNoZi;i!_fMon%W+^3J}c0wE`pq1eJ^x1)yyn08svfQVSDrt+Wpf!W<(`N@- zGM=A!s^va?R7qQ01+5wU7I1c;C1dTj_Q7vY%91vMtDrT5f5!qx+CB4_GlJi-V0sbZ zu)_qj68t+BcAzD1)Z{ZQzhgm_w8d4>n!#@YX9rp`Mjkqge#c@XxC&Y`_*W_HKubn= zziT773R*L6ICW=9o!NTcr)upg9-hTIFjDpm z4m;2?j^976=C#?2Yj-w+tDrUG;!z#q^&jYHGT4EZjPYBmds}|OwIUnARnVHT;l*3x zr5GEg2WLInrA&59g_E1Xn?8M&~V;rZ2xzpXv1M;}yL`TU`b<|5nMv?<+Cg zPKd(N;RnVHT<*p@bmYksH^x1)yjGaeU z_HLMo3>(2!(3+9?X#Hyqzt#+Ppd|xqsOYk!jo>P1&G0|W%qO#~yO{6N7PM4}#{ID2 zV+MAjh}^sy(x;@y(|W!3jl-3_Q$Emj^n?zTy$^HOnlar@h{FW550zIKx26vZiIcijga|IkuJ`+}11%X?cXfH#2(E(Gj9sHAy6@IL z*?bPlRy2Q}UO#(zb49Q5qk2sc)9r*fOh7B~ZRbnfCzt3|8Frwh@8d72R#16D%T-@deZ|hIUun}AZtr=~OeJYYy?+9YsOrsW_)BheWwLG(2~*i>1tl9p2)BfTm`KeH+}wWtm<2%%;yI?(2{X^ z@2cJxn{aL0MsO9hW(>Ujk=XFze>WL$q}`D%t9WxqYP*whyD z>_AK2W8*4&3mRe^HiE05HRG$P9pYPWH=j`sJJ6ExY_rPV5pUu8xsBi|Xw5jc)vfUb z)B2lrmmO%ys8YMKS8E6|Yy?+9Yex0Hx5VE*VXEw}QgEc*-6vP}9;m48VtNtbu)_qj z63<@IHr{^9*=9Ru2U_y3nNZpL^kv)!U?aE+S~Gqg^iu4oGxYvlcAzEWU|D7F`kBbE z5nKhW87J>~yJX24y?>V-XvsM6Ko#%4@yM_dTm`Ke@9sZt&C{FoxE+qPdtA4w-q@73 zi|KYk944TZ*xd8Lniu=%IM{(U%j37IUc>t_4jXX|RY7aUY2&-4H&vftmN`4nk}>PW zYTkLPkzpga3R*K(kGwPeL>qmMFgws@922U0D-I&VMqEQx(3;_I7G?~xeTehgar%1| zXsH4rdFDF~2#1|0LNl(I)-`r-Grg9IDrsx?fofjs^2K>&$tXhFVggz-p6t{p_ChuN zj>8VLy#9Y~$s4=P@vg%Tv}8PVXH{=X@cR!N!Bx0WG9M1hChPbwq8i!IbOG{+8xRWh!i`ZrCm%%M*e&W9GNH3ATYl0`4Xvu z6Gb4y^h%bwQ%DFcRihSt7PKT8@~1sx2Q(AN$d7{wXb^n;BTT@FB9M{q)kB>R1pS4U zDlAQ1ugoxV<6tL>Kt_JwE>*bh1T9sdkr5CMJ5dBO^5b}Pz@8uj8X3qAFAuaU=}`nS z@^e?JFn6J)3Un|IvxZ3D*oh*LVa8!T*<`690~#5a9*jeX6xx;aC_*!SaVNW%R5-)j zrT5XmlY(=)&{EaluP1qvPQbZvCfJE0G$YyYqmtoM^_>2uRxN^a`XgJm^y=QE=UXwo zh;Z0p0$PcU<(I~`9XHy{D|Vn|E=>KirT1qGoZqz(Tm`KeliF5`_fGXQ8SFqy#(OWc z@&>zG$If~%l4V@I}{ z+qS7L4|bp>G2Kpx!vwSvNB_Jjy|KkmSN06-Kuh1d3~J`RI0@%6 zh;UFPZE+Q}W*mE6-2J`$$tHsxXvz57v=jYp9=|sr!a_icoao*I4@d5o?$uc(tGM3al#oP6u9!E1>mW(2#EheBf4Bxi5!dv>0ewW2`J0T7e&`Rv=RX4p*pO=wh z2U_xu_(yYZnq(czV~BW6VC09cam@@au`*KSv^i2nSWt7FR)Q2JacfIrnVc2B8aS*HRnVHTr?g${%hvjN&JMI>+;dqAZ_gZL*a)tI){N}wLrd1(r{@#dftHMS zTebAI-;N9$!Bx@+|yO?e##9;zjiFqXl(;v?mB+J}k z2U_w@{Z}im-8UGAjo>P1&1iVlrS7vg>vc7Dpe5sk|FrTp55xI(8^Kl3nlXFFL^s}| zi8P1&A4ON+;qQL`kOd*pe5t-TIIa$Ct!Kl z2(E(GjCJ+jN$>b`s9CSrftHMsPnPrMT!Rc7!Bxr@j?6lBFj9rzT7X_JvTLL4TbmH2McjCAAWH_N&oAKj#+5-_A9!EJ=ieDrt+Wpf%%(^cm@?-5Ai16Q=q3O~VS3zrrKa0#ZF7pcWUD|?{D$$32#rYB< z%o2nXMHFYq-g3&BddvweRoIK_I5>lyC_*#J#cq!+fAJQxeV|I(+SjCG{}6_W!FCa9>or{WX!7gM>hX_I2*xL(3-JpZ<}gKa`#3;j@+q2UXG*S3zsWIVbz)Mg5lr$u`Iiv}D}h?ojrI^*BdHgo7$+ zi>shD;}QSd>oq;~+$$Vu_qGoYWrO=Va~XC*944TZX!UD9H$AGV*`KfjEqR?*|CIfr z7xpDKf~%l4mW-QM{gU->uFd@x*+y^`v}PRc(jZ;+IK3~N9can; zary7TyQRyLHiE05HKTpwHYKmWVUF8VaHQS(9skVUJ6`*a=|zOY4inHytm;=eRwJw9 zUP1&Db}oQLK9Iz2R4nI?cm-!;ihHgNOHqV|o$cu)_qj5*PXJ z4IiI-Z#X;9GLGbDr+fMLhT90Pg4T?){P%`8KS$pi&JMI>9RI}`UjDt|HiE05HKVux z-tcd()c1z711%Ysp4ZXKzc<`Qa22#>@O#52e%#u_d&8GK-^Rmx!!g}Xh{FW568si$ zcA#Y(`)9ZHqTd^iDrt+Wpf!Wv0?rP!Wb7T=&WnC;II5&Au7cJKehWA|(2{{QRCM^g z;i!_fxC&Y`{EsI2oHc)#@6r~uREg$ynT82CQ3Nuid8N25XsN2+s9h){Pp}h3Xh!9; zZi~0xukQ`V8YkmuS+%2w_l9G-oe+l!XeEyK-y8n#oAtfn>_D6OmOR7Dzc<`QOr$Dk z&EU6yvjZ&|+q<9cMZY&3Rnit$L2CxT1)Lpd$#{8ldpf6YBe)7$Gwx{f>6)3j_lCof zc9(s3nuqs>W4fIXhY4sUemv{7^wYWbhO+}Ld9_bF&EL=CTsRR9s-!Khg4T>~U)6Ib z>_XotJ-aI1vu2q%E$3 z){HU!Tfhg!^}XS;Md7{S(1mnak_ogWJ&7VTgTCGQ-_P^gGqhBJmX^$Q19OBSTRS^Z zL~a}%9zSE;Gn3s9e(vqxW8x(~J8z~pZD+@<9v3E z_-w<$>BO`eGd=IUqx~M{ds~+L&p)0z^Y1>f=8y0=n5ehlwZ!2{Grg^CYG=!mV>_O5 zx{Twqf{}9-kIDZf(uj9n5~98td4B#d@zIc16X#Tz>79H>O+VwFl^qT7r^(0@T;({c z6Rpb6^zPnP!zW~3NyfK^$UD*#RE2vraLz$94qYDkjFMf?Cmw!Dmf!$?3G(t7a%0Jh zlCeG4D=dRB@pR(J^>e(xjT>mzE62InCm#Gw=5D?%$H`YY&ST+ao|3W1=TvOhyNUXp z?lkKUuS<@zB{Aa6S-JH}tCe6UOz>JFjVmReh55Fmhgg?BaVIDE9!Nv@RLW(CiQeM| zSqOHRczok!VM06QXE4E4GQICaobmF@{T|7m5^$IhU3foSG=VC~DAyimKcsP~M+O{j zSBP1cN=MRWSzUl7M-6Ho_`L?*qaW3$V z8`vX~2=|102wgai9yE^pnD*Bi;N8^po>qtrsM!|fjE_cyOs^}k1CFu_&zm&7duJ4{@$_-|hC_im2JV1la_ z_m5i$c9?LS>%HnJr{Zu9nSFz+zI-#>$G zFqe@hxQh3W0U;gpdzIfaFoEyR#cMkgT*YUNOorbh`IC&t5*Rr@*^1{#VXyM@iisNk zxiO1RZ9BnL!)Gtb;*3R@V26o2znNsoV1lcjz4wmn15=}pOXTR`E8;;foc z$38q-o^O2Q9PSl6Ovv{H+vi~ZD4eV0cm*Ulg#_-DH$+N9v{!JLz}foZUP(F=_(bNr@abD`C~mC4TO8e1XtmH@!|}2n84lN#RNM{@V(sOUa?b1 z;C}I90uB@S4Na(5{<@WNahJC^T!mlugb06SOu5`H&)xsGBTFW52D&(d+u|y|dJ-Nv zJ51pEM{x!_OyHVDF~JTKqH(T2+^a$YRk&tRoWTyaiz^Vt1UpRd^#s$aU|+)XiofIV zTn~?f@AAbxe$o@Zzbqikdc_VCxYMn8987Q(KdmX8!44Dr?4^J(>n=M?$nWU$PkZxA zR&t3{=u)_pDT`nL@1`}L`Co~n$D|VRRr{o10G8C5yuHt9+g$Z72y!>(h zWpS_AVS?{N4`(pJRk;7MID;J~_ zr;xzYP>TsTOz?eD0bzP286dcdpMV+=rdRAR!S{OwgvnrntN0110bw%OVS?{l3kZ|J z1XuABPy@nbu)_rItP8CrCW8sC;%@-q40f2nQ$s=-rdLdG6`lc7OmMq=epmVuGvqZAal= zvBL!4vu`K33eS2f9tS&2@NW;o8BA~$|2iT}@X;%t)+9ao?*x9$!33Ts6^tWTOSmnr z;@$?m@~M=IXNX8!{4^4NPC!8T%RS|?!vsGs#ZGV)KgGomG7i%#cJNdU=^@b0+h6MA_s!BzOBcR(oM6YMa-zu^w|iXA5S7ujKg9VYnq z)nS4iCh(i;;&HH3NZ=XIL57)Ec$S*9wXo05;B7$mV>ou0C~dTZ-kXt|wLu2%{^F|4 zo)7449!%irYtk!zLKpYeJ`N_Nhj{amo!}}SQ<&gh;aOpYJq#1vZegzqpGPL+_s<&m z{e{DXXxvj)oWTUDq$TKL0uHx}cj^_dSKJm?;q83I1Rp2Ly9nidvY1!M4)=;|iar+Q=U(I4+S04`FE+4z;;_R6zda;84koyY-)RyMDOu+1@Y_|m zr7*z`6a0y42)}*#OSw#N6@PYxGq_#6T|?#-(*a>J*kOXdiv~o>tnKt(06s6q&+iWi zlfe!Xc=tePO*9!ya24KS5F&~)xQd_nAMO=9g+%^c5PswGmy(e)AsSV9M?`V2*uj(i zrHWg!_lgOAt3a6G^Sg4k1@8#pV{JqDW01d;%MKHKd>zir~KOTq*@OvpMN zy1JAyo$`Cd1XtP5x3j|pUwa9UoO{C0_+>gg4tAK}rx4o-uHt7ShkL~iKe3s!?HNpn z&Oe`8=dApz`x4A|uHwCGID;J~_#FXZf*mIKiT`1O9VYmh+jfGh@Ra}JZIB%%_}Ss% z3?{gWpJ;9;xQgEq5GL4R0#9Qv9tRU##m|ekXK)q2RUk~T!vsI~-cE28KaD>iQnDtp zgD3vWXgNC|%(}}C6a40aFu_|6ug5YSN3~%>?&ZTVj=Z-Gn(y%|CU6%U6MV;>A^cJ6 z=Lc7b#t~o<;REuQa@i>)qQ@Zw9416ZA5#|+s1gEi6Ah0;<_Y>P8t?t(yzsnYr;tEi zkYPs7Z@K07r7|7PV2263d9`?pVuGviKG=Xr$bWf(h5oYD8^O!P0qcwG{W&k|n#;gJ_E z1I!+og$X`K#^=Q@s=GB z8Qd0E$#mRzU@}rlrCfHHD6LR26C!dkVS=kF)~S#wx_8j0Qtqmc>SPuz)BZM@Ts`yc zwW@hc;gPe$1otpZaQcAJ6*H^v)#qgL_`(D`OvHY!oas~(Pua{3+l+$=u3E9SYG%eo zc&-{|l#HAmCdTbPGV{v4c*-VcFu_$T->Z?iITMw^4in$LTsL#u3I8jjVx7wVwxY*| zJU;upVxniqOT+6G2Jf;{NZ_+QoFN1pCf+{jh)m}Obo3g^0KrvXJXS5^t)yeofMBQG z5r4_-c~(DPIotFqrAW$*0~t)*Uik_)`f3KZ#Z~i$c6ITo9nRn?&N%DKtKGUcMg6vq z9VTA>=%mcJ>U7KyjDrcTlI*)arBAhhV224ANA%|)J4`HHmdFg45?B7$DA!*iEgGQA3jRUh@wtg51)kPlxoBGYPv-c4hlyX-KrdjF(M}TJg9)zsWzee3!*>^q+>c4Q>@cxlo?`na75uIfB=L#9f% zf($cqc9?j3@s>=N22lh%g+%v@qwXUU0uB=^&fT7QGaj|~VS=lg*WHkLU@B$!W01d; z%MKHB-8VA>mqZclgb6oOaZNOlcbIsp>FUhquSXH=FfnDu@=TY9qX>4G*!jiNnE{QX z2zHowd-3AT(7sW726mVj+WZO2^5A_G@9jG6?PvK`#10d3R8z4es#i>K)qv5bXD*u_ zHF9>C=ymqlnXMh8GMM11qc7=@i8U)AQnFq(oz*&XLsfO|sNOvD*}1AC39}}$!^F~M zCuUB*r68k-;Hp|BCuSa7RzR3uEf{%HX4C=Qa;8*onHf`0tGKtpKG9^b!vyy**uxou z(+7-hmcd&Eczoduc9=M8Z_7-JMAQ;wf~)SksCA~#Xd?Vk%U{Z6hnFU|6pSM!1n+Tp zFS@eVua>{9L>|QnK#yx!0xhe~MwN<*hlqMX|#~ z!@;xSpzQ=#@ire`uee?Ap`7swW%y&z{T1H@-R#-z*-^9f*pTnD4tixq&JGiN|7Doq zs$sL=&*E4;l8}yto)p5wA6wQ0bdXU*aMkJ0FQIo2=&1dF{S0=PxVz!%@ZBO(?*D}e zu6kz1(kz~PA6_2pFmYAiRoR|bMt$>Qf~(p-{Cqb5tb6H>^htWf4ih6Ecrp9+j)J3% zB7&=yJ+eHTf7ZQ}`v3WV{u58gVWQjNmD%gkQD-KY;Hu;Lt?-}YMMTO(_!;alvFwo- zvr|^lH+lsM2(HTRS)Rr7$-~Qo9VYhOxGLM^l&CXBOmNlk*~_x|XOhcI!Z_GrBH4F! zHg#&$880Td>V(11W%JJ@=L~k3;HysI?Sl!f+IQnKmTO+@FtP2~r?Pn3csPR{CPd>& z82_C>)&1?3_*+!eykdvjef_J&+5Gduby>*2DVH544sUtF-_E0!Iqz|<9=Ii2BdPmD z-b;kX!44B=uFhr$b%^@5%?=Ysow7Mw`K_ou0~1{J-TXJQi`o&9($S|}c9_WQ*_2(p zmX5*|@aGj1T=nnk*ZS8|XuS2Y{4HhavhsC@}LOdMMNM)sI$w3Y-TXNL*VxRMg?RUv^Y`&DFixLv*;9nRqS zBN}(4a1X;oVY}#6WQITbl*?D#MT6jb5KM;5tAIdHgus24LSTBhSL_rL(f3(4NNf#0 z?;0ewXL0<=bU1?@Cgxu8LAFLZYWrYM;Cq@R6lxd=uj1(r^Ylg#_qg z0uB@X`)rIwuO*TJf~yu>zbBX;&S0mIz!TGo2{=rM#+v`%2~@54vVOYgI%i7O5_Y)V zq3<+K<8GlK!w~E+ao?!+>7whkhG2(@W5%S?q3gA>%niW~6Se!imd3qU;a;)B1Yau- z2#Il-;HoWsD!8Hhulyd#U&>{NiN_zP?}qO2N*TZ>*kMAhW`@QQ5bQ7^*I0|@mFX3) zuRrdcl8#y{&B%icnLk*onGlWX;d#YJdVCiWA8UmPK64}A8qq764qZ&ZVdC~bW2J{1 z72FSJM$T<<)k8aHSu)ruB(SB0=amp}m=KNW;c*lasNyI2h6#4KUD;!Rwi8?>Ybfq? z3lr=xAzMN89dzt4A=_s3-3jb4A=`iG4hVng$)A7jl^iB`uM{3f`*Rlt%l5hU>q;NK zTaVlLTvnK1hlyJ*TUR>j03G#dr~FICY&L?!aDjyopq%he%9;q+}mOTYdaJB z8>}lmbaqs)xGk>YF@-a@UG8DqPU}ls^^7_eWrvB;r7ME*g)^Aos`O3omKNPxYnC}X zOkB8lM``pOjqETXI(qvkBv7^Cnf;~F_aU>x?ef#K!y{*ct45XnR2qGM2|G+Yyr^aZ zpVZ+DCb+8MlTIS~judv75FNd5FCuJ4|eA z{qHQ^iWwd`6I>;v@@xQ1XSxax50V-m;z9iV3db9)>fxUGAam`Ow=i!44Dk z{^=y5@4sS#t7M;#JGtx`T*dq2VgmbcCU~D85N3Js8pqoTuc2Y$%++&)YbkrLof%v+ z=dC#)%o1dWi5m5$2DF{vs*8UcXCc^O;>DGzY~P7d_boBORWg0!)pVTb&nNjyx$H2J ze&NQ#`z4ilO5ZP|fKq6l7sl@84bu3GW3 z2`>+Jn5f_J&fxr2diJ+QQFp|%!$hS+bHi83f($0OD%tlR*@pF^&P=ew zM3>F?g|B%98BA~$f6j-O2Rlp*oBfdGmtjnB)q+0rEms=Y*>L2-;0gw}WbYLde8dqZ z_|1#_E+KvsQJCPj5Ahp^s$SR5@;!K<;3}Dp z?^NM&u*1amd(TYZ7vKTmuPK^=wzx{>Nc1%?c9;+yx-Ub9VKNE{RQ+{I^F-0LJ43L; z?JoVcX`<+gq9NE}qVBZg61e6W9yvQqL>|M*P+WGH;N!<2!w_6mcUoyMf9wQ1Ox&>R zqJR!(Fu_&)w$(7fRfQRSM$^9CpR@9pa)p4ygy^p46QMu^5mY_cBhm9!I#ZNVB;}To z!|iSy(><}MT@=9%6W3jQL1OQRQJ){|FwwEz`H9D0B_bFHJ520)Dv_vh9Q7)a;Hn4e zpPPtnE6DIipK|#)k&n*)-|i`5f}aNxUgq2uSMhzFhVXkNe<_#WQpcYqMSJR$0eqsx zxI40sJfUmD*B4L8cH6Ale$2oQ6Py0xAIUVMBN@{r=@k=P#m6h*k@I_zMdNM6{5H5S z!44Cm@t)!TPM}H%Jl`u!#5#@*dLo($^e{|tPYMaphLGjq|L5OfT5fpIu4uF?pMxPn z=C1#ja@i>)K!PB2YU(g-f+_?zgL9>s_uXPk4*HwgdJ}8 z(B0+y^9;1rrjWr76IZRMkd5A#u*1acZz}nBo)v88X5{QJvH$X_+30-<6I^x5*OjwH z`x28Ocar1G@0)YC`@bd9t%&b14=+J>m^eIqyMO}?rb8QHjedj{8WcsYeL*kNMUQ`!V{gYWF+tFL?=x0t{ctn!uW1y|+xDrvY^>@Xo3SI@#3d=8nfVDgh`!UQ`^@b8Di zggogI&m`xkjTb!uQ)jL}ciCa0@R{VPcnd%snh=?!mF+b5d5 z`SD80*jtdnRgQCs_t|+fy=gl;`o!v1HD8j9K_(;bFwyq3KHiKPGreV7j`oR`myYNt z8ONK9Ji%2TpZ8a0sitBa%0IE(yQ%$uhb=Pk{g1FpNG123i&$DG?PyHVRs${<1 z@o8nR%9qU|2)wOVsvKv#+k4V*>eZ+S0&f~FBz|ZzH`}M}8UKSomCzVd@yNL+$4&m( zedeSaOs_x}6L6$mCjN1)lWFkMH4(jH0#!oa6z`V3?EH>-BBg6f-jOOMQj_*%mbRdg z2Lzl#;))vU-8S1#%V%hW-!7Jv5O=)N$ou({MzlQs*IL5F>Qoyq`EIR<46JdIfhy5I zRw?y1j4K}|{IOu&)in`SGCjX9DO`8qaJ!;AHow^Wd7r=j7Om|}ph}3QOOsx?wQoic zBgYN%Uixy8|7p;}8*|4<@AWoM8Eq%v6cXb;8RI>*eQ87n6Q~lp$Gls--nIT0fhr*| zzW+XQChl4|!MnNAlM%f_ThcD7L@%y*o40i5BmaXyl@RzuE$$T@Zddee=ilaCc8As1joJ4}bT*YxIx* zLGo4062d$V3)e8Id5wsSbrE)(6)zTLZ|Nu`JkCQv2xgQ*!_$-F-^#Tjs4!WK>`RzHmC$w0pYAoOeIQQ+Q(a)rr&BLr*o@V^tN zlHNiqao>W~B?G^^&1Arl4A$L4BexN#GIJzE)OzLRbTx0J&a0ebMot=YU3+CCP$e1A zN(_Fli#z+{Q%wdO$zYAO=f4xEk_>1iYWy_T?fA=_7(0@IDw&S0pqPLYCRPwJr^Eh| zZ?;TwhmV_D^23ZwqP>44+}=MDb{sE(Bkx-ue>3s7qh@-Gcb(#IgQp%jHFi$xTinKT zYOP_13CDRmvG>&(UTNJked4^<8)A>H7~-~jeML!_$XAtI|8`>M>>1vBH6^1_gVyoc zox8ZHD`O?>aJ!>QHYJXGYPxsp!zcSh>ylIA@6GJ&{?f8sj0vv#F!^@khVy24r>7hH zMAzFo$Iq(T(tS97L5v+HUOIDA;;W|9y}u@p^@&qDbc)|o(!yHlxg1HtB&-EsaAt@MrqB z4i(}|aMi+(-c0O!Y`XWwujPE=qmHM>dmeirz4pM-adw#azkj}!*!9alyuZx<&EH>T zk2xxyZ18!yb)&W+f~&sYlTEakINj@h_>fP;Z#Xjk?&i(u3cJsav%^HC|Bte>fQ}-0 z9)HlF!QBb&ZrSb5B1zC72_XR%x8M#DEC~?Y-CZsOm#~>m26y+v4|iRhf7NW7soC83 z-tW(Q_paYoecGm_rmK3g{*dL)o+$NIe_VH`eu-xV!_O*DinlcoRIB9x#qy}%Bz0Qv z*FY5iw1eGTeN>5>6vU~75`%+GZMe(3liFLqZcyC6pL8RJE}66VzPkKLK&+Sukr-r7vH! zcpakz)xvhj-N$b2+BBGrI@g@HotR0hm6TAzd^yo_f9QC1%U4$zyYcVqvtzmZ`6Hgj zKu|3#L+*)o>zTJTc!fMQMg5l-J?M(VZk@BtfL(v=mfDGQm9Se`)3*HivJ9eOp;cxo zp+wlRbC!NtC#j(kxL!T@+J^5Mn_dixFTp55wdg8gw@!N1o#$D9LD`(SE~64kEShr8 z;?ZNGdO1C=SGM9Ed6jZ!m1^mi8VIUIR|!}de)Z-{W{*>j#BE|!LJ6OcGnQs6qSQ1` zGC~;zx3uS{4umQ>Z$35cI(HFfjl;*no_jEPevt_u+BMUnbaUk^$NiCYSoOU zypO%2ax-l%P6?_-R|&iIbVYAIXXX9);eLfVl~Cf*@8g!7_DI#^;WrqG+`R;MPdFc+ zabJA{LAB^A0Xxo&BD`6i^6@90dUGnFgx^J2uQo)g>vH3IHTT7N=AJWKeBzWo27+qQ zId8YN*?F9m{1Iq-7uJ_k2_@(Zwp-WV?aLo*KCJwFHpEOv1|5l49-X(`={`{{I1NW) zp~@rqKPjS=mr;FeR6+^#p4Ik>Qb&c<0pd{M5FXbzP^p=7o{17v>wClnONZDfweW5% z!&YDnzmaK^`DXTgW-6gX)SL5`&3Pl$_2FfKXzdfum!w;5PSN0i5uATLPHG%)pB`r+HxQ4 z_77z;195tUiC6lRi)WY~!>EK3ElM4;WPLnd-LVph%G)gba-V!W*Uu;eLACxFbkef7 zb%g3SGc6E@4wUCrniS(JS{-LpLWyY+$1I`WC#aL2xd74cYh4~({3Of$I}4`-)he;! zxMl8}2({GrA21U8v@5`)>z-!oT&i#?p~Q&3hb#jZMW`oZUIFp&azVcRd}lVhQ+)$L zwdkm{Tk{<|%U&1i&3-@Z%Bh4B#<5$n(NET{um|6??=7RPr7Jb9q221)?gz`7!GrI6 z{fg|5aEIQ#qf(lEE_M+r*9qHcR5h$!fOuDPdfdPUykvp7a*Cd*(6_REt__V3#Z( z$^L5HSahC{&0vvHqV;CQk~3zqI`%ED?PDkIX45k@5$$%n7znCGEl#k=#>cbKRa=M^ zzh5#cp+pIuXo-%StX4gn9?Hm){U%#C&{z28I%^=P7PW)z*0T*BurXuXh>P!c8fv6TBfS>68% z{U50oKVX}DyNaA?@*4=MMc=QWcf(GxwNZVE;X27+qQ z5d)TGxtr!1o}-29v=)p?D3NQK&GG|0SeG;p*8KtZ%zf&P7Lz(RHxN{dju@~LuVi6I zc!*G+7iCmJiTqs^%S7;CsTa_LrDROOUi1$UvyYZB5LAnf7`wHdS2lJjHbk_klao;i zCFt|FTf0Q%W)F9Uiiw+Uo2eE(4=@th_h)969)yZ-^`4ligc9`m+pRk~Wo8Q(hKbxM zx0|Vi62?&y|DrelbS+Uy|F|Nf_9wM!sPzG5OdG+wJZhzM*jbHH3AH%dHac%vIX_A* zkp^vs)*Zt5i{j;MSr3$FR6+@AOW3VxR}bOo9#%Sdu-RGzLA72kJ7dZ9SEL$O7T@Ss zAMei>6$oUzr!8evLJ4Y1*sUdAcj7-bbY|Dgw+#fPdc%{{Jl?3POW=do{>n~+MBE0bFiEp3mOQj zW$fJ=-%IeF$Mdo7Z@7V=TGWbyH~NT3*7DN`As+aEhgY@e-q(|suCeGjMqjFaif6Z$ zii~6?AWkF^@_Y~9adkpJlY_NAO--KdL=Ex5EeDjLODKWw3AyV`)5?RlyVNy#1t5Mn z5mbx5S=g=5y+-m1?IM+wz5ymGp#+WIvs+&RQ5cBNEsO-!qHh*>E-Jm$cq+crqWkW4 zTBQF}|2@fHD^S<*PZAFAG$o|}^M94$Afy(SA-%H62`ND>N=Q#^azaX+3F%i&PDqI} zVer=)T22Y6g|zg_CND$xtL?PteoonkN#0jO8T5HjLi$ycmq7`sg|(8tTLUo;CDKm7 zwC=mxX_2)x5b)S_i8CR6h5t=REu^JC(m-gnl9o4W$rC6{%i0j-ekXb-cogZ1qo04{?{byEGK_?j&=Ye^%ikTu`i;T7Xv}G?3@M>nn3nTKBV5!i z-TB3;kAaA@&{?ae|BH}$Vcm5?pUsXk^jhh8Awg+bTg}Q4(#mjgX|KxjPfYi(Jw>y3 zR=f&SrAI)sWQ4S2sKl8tSW7}$OO(L0)N*kNP<3A_SY$%C$aIM_A?-Q4wQgjjQWvbg zW17{c6PT~mGR9f1iilKN01>Yddeo#dAuUe3_0jOU@x8l@67?4kWi;ZG#*6k$*Gm1i zd9u3R9p6~4X8`q zl9iv{Qh9k}xAHBa52q5EFQ)Z9YFX|B_pI(HLo^mt;Lb*qyAV%jucG! zY29beJRyWr3C$PN`p)^X*D$4Ci=k{r#=*%5sZ}d?8+GrL2sOUt3n*j#T8k2#_Y0f8 zE{IbJ%{OvGYjxG43F^?IAAl%zDV>-Q`3K6p+v7d0qPc?2=$u_p0@|&=p?#6SDQg> zFVf9v#>P%h#i@i6GxtKA-%TjvFrE%>Jup;Uy2IGGzM~i=s8;yTK-Cr;rJk;u4~Xd_ zg2g{$%a{+0I?bqr65~Gxs`F<@s(y2juyhF*UcH}~3YxPR2&z@PN03@R)kM{6mpc-B zhKfejZpOcQKZj8XC9cm4QvYI6>h6a~O#U7&N;muxKjCDGcuG($x{lecGa8N&2mLqO zhGl#nPbHMNJTgd)1<%hr&GYlwJV3O{GgzrNcqXF+)uQXM-MW8F38i&#YF?#!0Gyud z^8nM*Vx?mYR-YYhm3a}Zc^ z)}ZWn<;h6KYd3nzsDu*J=lZLq!B=!;6^^Uf-AjnhnM&{sJ+B!Eszt{boGsO9AReX6 z%l-RAFe;%09WihwbGg3an#Z5Vc%nC4?;lJ{tDn{oYIWQ!?wrZSOCH+8XuiwNwo}u5 znxGyAUz)LuV%>TRmU0*C+`d1f5=zi9X18_>3>L9VcCz3F%^B6A&)i7Z9*-6er{rRv zTbE!|LJ2y??AEaNHN>fQHN;GF1e|5)`{1F_wouUrbaV?Zx@Q3Jet$?=Dl`EuLr~s1}_!u=-R97BQU{Dlh+;W|)JN zp!45u9p5cd>Cj}PxVB^yL?`IG^PZ!AYBe~Uo>I9KL~rTsvs;(czoASI>?uwkI%jA( zB~Drb)B(Yh)y}6%Ks$O~tRm*g3h3i$DoxR1Am_v$fa5)1(wJOB~svA5fszs_Hv9wZ+vZDf@;zA*ls;OAxOM>`@@#EL>j}|P6@h8*sZCLeUG0o zHe7_$|*EUOnn8 zh7b5|AgI>6;sNTf8k5yk#n881!tHM*)n}`i{%k0t5=z|J&{myhpQIjLhWBxvUu-O* z3uhJCQ;#taRO``zc4~+D6V)hp+|>>)uPPcn%Or&QictwA8g~p(U8+x1HxPQ{8T$4{5xR6>a~*ZtKVHzL)QV=<;^ z&yvRC>B;ge|M@%yf@)Fg!*2bZJ(I{(sW$t&O)G8WYjKFk`7#Hi1l39j zc4ETe$*R?cqy7AhjLODIA)@c5LX1i%LGMbzeqJuE(r5o@G0(lGfuLGfnzdFx@1CrV zD~8dAwoWJFE%`@_$m#x!N+?0Cb9f#XcPWL2`Uv-asW>I57PZb{4kq4>U;S~EIJvtu zqxsS|3rgFqiw5KrfwTItw5fdzwkUmq)N+Q%%o&-*E#GDFQ+oLsEM!W&-|DZPdJv^H zEbtk|RnCIB1#9%fcCn7HfuLIS4FLR{F?J;)=$3M-Qv-vgPl+0X{nTsoCaKr*VYK>@ zE9peH_otMz7ny;eTE@Q0)N7?u(zB_Ux;>5IjfE1l*TGZ$$t>J1Za0spT+T2*=$tUF zaIrNTi!Tdz#gG51AgBF9=OAqp>`^m{iDjSc%EF=rIF(Q$(;0u&mN-dOrel;|il`dG zr}2GdOi86It%R9WBHyb(?h*nREi|#&o z47&j(=-zI(hOfJ*xc}%b#x}2RAgC7I?d;YX6}-i>j=z+X_YX7r)aWRodkMr81^iHQ z1+)tmP2~ONQDg)Sk0jFZUTGJg3!Drp_+TsDu*6Q3B_1F8W;nJ7i;I4zLC*^bO3RZF$En)?BBU0+S;(}5&~IAk5-dY%CBOOdzX*9=qP@M) z`yb=<8zcJJ3(XhP@+8DjtN%qvEi6N(HDa88S4Nl6d@(KGKOJTKFG6Zz88YoCL%;K* zOK84Y%gOyHmvNMkZ*)dNzxf2whB-q;pCjII?u!59Sux&Gl<7fgt>fD*rt#it#FF-K ztMN&Lk)rK{NR}91#6%^OFyD#=AFEH2Pq=VKKe4V~7QXT2or9F1S}j|~ST^QsqQ0(X zg)*-Et|8z*o?-Y<6O~ZH#bt}7aHpn8WgPU*EcT7|=c{U_v{8a;jV`juvgArr_5N$T zA>D0!q*AQ@NZ!74V-uB7f__;5q9%`cE6`u?-t6LHB-TJ{n`t$XgyX*R$D`f~YR77n zL(6gBdCi~O{WK@LHUH#DWvWuzqd54usRZ+tH?OgV`b}@Iv~FVJi#u`SfBHEQx)$vb zI2X-OQ^byF@A3Ip4NfIAU+ii9{&};_exhsiwKz+pn}MKO^vOaruFpu(Z(CC92mwY-#Q>T~;4 zhb-G}jhZmnRIqj*UNg-lm?wIDoeAmlgq?G23mfY;hF47gPdpM*Vk9nFK6e|V2D>kX zTGa@dYC5%OEbsCz2;R?)gw(>{i7$0jFPm%Cp*&h$3G1RR!7_B>qUC9paP?c=wNS>V zeX~tPmv-Rk&ZOYZgw(>{WlVtGT7P6O+ru{={L_hw8X+ZEhE80x401*lssC!tU0>n@G9@%g~97mMAtty`G4-uv0}1Hl_F3 zWM&1%CL^R4<|MtnU?-YNno7MKZXP(%K}ZRf@rQ`HV5xU;sJc3143wdqn|5%^qdH2} zlem)VdASg+u2JVL2geRp*Hyz>#kohAmYzJOblBRLQ%Ui@XDtEY1JxSCw`k)^mTk8V zWhjxRYLn(Opnvom2pw*U>Q0=ziR+<(4@~nBOzxhwnNSpZ4TP> zIjBpp44r7I$}tUl)V9jDlI6#n#b}&^MnY=sz8<8mxIa`Kks0S;`ySCAm7Z2ss#gu; zRDxwlqD1o`b;z>8>gNVH2Mbzz+Lr82RBZ41aVnvNi*KOnvSy%KYsD5IdVic?>p1?1 zvY-^qK_W2_P@X<^Kb|yud>)lmlx^E486maIj{?-7%mdW%BXJHs`~Lpm=F=vT{(c2c zC0K?emK5|;R~PK3HY>Rfi1eQ;#=kn)RODHmpHm4Xx?XOjw%*WJ?Xq+Y5Iw*DZJU(J zM-*REgi{G6&S1n50o_y-WuAdk!sAR;UHfoD3 z!__85&?2MXnOK-dv3;ED$u@OB`%0HM6Edp9(YxOlBzWBUg*Kf21qvhKYxpvSi_7xC zEqT5bIk|D&jkB~oZ&l|8AJO&?{Ry6Qsq3-5V@p2o01|YqH4-v93GT{Vu61zt9#6hA zvW!MZ36`gq5ohro(NYaIKZd^g?7Gh*#}H30&L=0N7M3kzn845ZdiTLJxhnHIhw5o% zNC}pq6LFStGd$H>uJ{F-3a4C6O%_$+#cFvZBcv9Vp~pr&@J?&{dawXLT)wGBNC}pq z6LFUNo|RSJ6u*lzH*0lMgJ1c1Xk2naYGD~NN)zG$%2u^?zm=B%nuoWYbP1NB6LFSz z`wOa*kL8Cl8ujXE8gw-c?^qqbOkpIX7XB_Hx$M^08QR;9_}*tRH+yJ=lwcV;5ohr( znO?ot3BT!-wr_+fa@!rYJhW#rLTYJc{P_yhi1*`d2X^jczitn75J?g&Lnq=aH3vLP z%=Du?lyPG5LQ~J-v24fCLCFZIg=NSHF}wBY+xfOi{u9`tsF4~WC0K?|#98Jv5Q%A{ z@molz+ix|c`xM5CrW}=wkXl%V9(k6p>t@^HF2&d-B}^lv1k2EgILrDP^AgW}sR3og zPg6`!M&)JWbKs42Juf7r7XB`ynC;dz{cX0)d4`y?hB@p+DKQdpmagqvB_64d-;GlJ zFPQvqH#WarlAMrQScZ&Awp-slK5L7Lb&rqR>mZ~A%g~89%hW+16E=6lFHM!0^U$=g zXv_H2bCMHM3(JtPcy?>Z=XO9`okWylymyLEoslm`d##)_K4VIfNimLZ8gwm6H+gB7CbEPUoq&bfKm&b3um zG!N09ha{-hwp!aQ_ut=83f!y$#EebNOM?8%QjV z`dz1Fi4bKG8)YD<*3TAeE%kmZ<-aXR3@EYVz_LeS%9CuPIF(Q$urb_l3y9+jQX+v? z_=CXlirdbS27+q2xGXUc^ow%(O=x__k&%Fyj_w$t&I;=YYrF9~Ub@7Y&@JTuBBU15 zruyU6Wsk@GOBqsvT9nW&edjXt7}1NCzg&+b-l$@Rb3eUJ$=g9&ONpL;y-Up5u(sB_ z#=fG2)WR}`4tG;`lyW=|BSG_}HT=?lVdCf8p8ryYlwiJ;knym|+d&Dbg|xg+@!y2h zLgLN()`@xR*Z-GVNeRst(}wt6n62_lo_bzX3)2&~y-bJ;wCH7w!!b-H&P2@ltD-0Z~qe!O?%-5Mb!l&D$xkY!3(n0jY? zGw7>#nFHCX);;)`w8squ)xt7lq%_zi!?Lqmv0eC9Uq{Tglu&}6s=|IA_u1UTr5j%s z`HxnHB&ZgapJ^lFaYMU6XJN-5QEe~Q1a=7ssUA=ksW%C)8P-5hlla@Mn z#;6TivXqP(?M9P*K%j=Gs zYp%34uYsUinAZ2GW0Pz0ER#y{YCcm9-+-WB*r2@t5p>X3-byXPhYLA7Wv zz$mF7&a0Knz?x?6Zg$RBzk5K-$l5H1@h9#0+<6xaBazN1It%R9X+Eu4pi48(hh~GF z$M|L{-+qz!UA?oq>FQw^R~Lu+vHMq=^1!fcoJx?E1U;FAn7e{*+zzMOi?e;!W|Yi} zYTmc6v3#367)3MZgsCcl9$gF z#AemXYapl=J>`ZnvXA9w#>_Am{E2sX$%#3n|Li#ATpYgjk}j0z-%yqvS$@?_^Fmq@ zw6=EZZWxK}E9GHXKBhF(%9;2+rmgx{);G}dT|jgLB7YJgC6vIl+;<(sfF4l9S{am(T3E)ez6%mZH8&-dkq(G7BOHX3(0nm1 z-vAtC%suRBdb-|QD}xeJ3khk@!>#xnp*-Bz)0A#%azbihts*>IC+^r{hFS$=4dq{A zzaNbG>>#9s=8I|F((jc$l<%1JoU!tP#LJ0g-K zG+#{X?*@B-II`-t%_moKLTX_dmAbqaeb&{5GTtTl@iB*&#~(|PnbXp#7Ow4gTE9>D z@((`qu1Ed&)>F&l2Y=1Psl=Jsc{g>!=nHrzV|R1o;W=N%KYZ5OKp-u(a3|XS{X;_W z=6F(cFTWd4bblGY=zeQ$kCGB+qRF;Q3DySHfmrVC%}#q{RJv~)WgswLsf9b7JkhaR zXGVK7PalY{-GZlTy2P1~=QDQepi|zg$-<)Xx$ondj80%$o<%feQPArTC~?8T0NB;@08m${_SNyL+?5hUH)m6 z$d2MOzjn%xM?~(nRj%P?ATVF4MaP2Oy8WOZzjbeyZE7=!7QuOtG!l~$f96MYCLi`S ztiSopDo0<*{=t^Z^F&%hyEWyohHUTYL1y<;j=qwubtZ=WnwR+XI*zNhFiL*qYGw|c z;pi(#V7^idYnU)=e&W3WICc*Kk$Ju=dsN3U5~akM7&A68vC={rQ%>5=i zM!O_1U#W#XBG)na0u2z>9NF2>`RTR3k`iY^uC6c#=Qm-obqlkoGk7Ab_YbD!X)UcG zcp64GV2Lh8*}UA2(Jou-Otc72NW9t(cY}q{@(=S|S?aou86^qKS8CB3I*6$eL2Ltj zo0CeMi8>QrCjL_i&wZLg%R52K$3V*|foZ9QeWka&84%5~`LHpK(rA4pCC-H0?ZCr3 zzbUIXek@}vhiH8z`v+StPtR!$Ax5T58c6!o3L~?ysHCa&_?5S}t4bOgzt(Q4Q%>8p`MfEjK~S+e6D~UYM3z z*jIYXaot^-BaF@V`mOB-QsPWV>jT;`yBVuiIF{M6^ws)G_7ApPdNXJZ;oV@Yg_YjC zogHo8S8KU!tus+Ma|U(bH}tWrO=@{5XgSRb(^8Ap5TcNPuuieD_ph1Oa@ksEqDA^5 z>WPR#P(~26d_A;$6SSP>g=wjUeWkY?iDsu3uoofkw7!xOXF}SKcI(@z&Dl-mZ&tNh z7p<>k|6t3dcZt>z;=(6-vOcTsup>jeXf2nmbtc@86jJlB0?>{{(DKgE^6$`cnir;} z7OkOU4lbT^pY>T@L+dNqT4y5mX;t-fTsA199kjeTwEQi!oaTjTsfB%|w>$s{=C+M3 zYjR)fD=Bd%q;(GQaFH$8?>wpb<|6)DU&;Q#mP>CRts$Hm%;aox^)!5A3xBQUvbD}c zlYUjyT8pwkJLW@QErFKzg_hI2FfFxc4IM<|$|?EQ@ny8WlC5qE=eL(6Gin3h`DS9;5l*tYNxQ}3MB`btWi3Hi1JK9PNV9TZV zmDUh$S}bPl&e424Q%1*(lC5nqt>XCh~88@2wnXYdBu7Fxa)T5f}u)4VV(wXm=Bmiq&7x5_n^w`ZKzS5o3k z=OmH)S@p17bw06k4I}`G(25$XA%hy0V4nR9- zUYM3zw1#$Tb9jP@VEYVrvVE}b(yGCjghv{C+y~ue3>aVv;?G`BKYLCkjCs zbz{?+cja*qQbGw#OS=mqovOLzlA&OU70VoLt21F0$e5I^k@-d^o~67!l)kE z(=b0=>K@diMRW;9r|1Oz8$1~=*YeP#MT~?VIpV9zacsBVaNT!Mj~3A-ScXo}zYMhO z^==P6TEs}`kt4pUoHurBo>Q(iJz7MUU>Q0=|H9E3@3ba8TEs}`kt4pUT*u(-HEVU7 z9xb9vune8h|DqDuaAm8S^k@+yA!ADLdB}YQ?)>!XXw#!bbP1NB6Z&6_4EM|@Se&w~{n9AVR=MRW<4p%eOFqJsOJ@5h_;Xb~skPvnTND(x;f#aX=2rbmnD z60M9s1Vjb?`AcRO-p)7a(IQ4dYGGeVI~cy1*?y}{j~3A-ScXo}zcTi#%Vv`vEn+0} z$Pr&vzPH(}E2k+oJz7MUU>Q2mRFyFy5R=;9X40cYjD*y}cF6Zc_!5Hu1)Cl%qD!z0 zozVaKnB98e@mZ4|En+0}$Pr&vKLc=?^U$V8i|7(8LnoT5GQtDSeLmka>CqxaLTX_< z^izZJT|e3MXc1k4W#~jxh=G)U`>a?0lpY@;TEwPBix>&1Rm1A5cK8!5vSORt!OIXW zvK*pCs07Q9MB4&QR6Sb6zOH$_?xF3KM-VMS394lq)>4h}nWpU1qDB4+uN8M6qD6W` zva-11-aq>=}&&)hcXjsh0W^Et2Nk&1#P!S|l?>i%b%~{VP2$ zBq%MtvKm3Y%B9CyVojuv7U};@NQsf~bt3dy>3JbRX<0+8)t@hUj>A}I-80r+mEJe} zU3&Ws1a!16!89dwk2@(N86mZhmj3$WWzc-3Hxvm;Cnux?wJ4!`MoF!-mdnzS&?6P} z_9ZVv_K7ng{YL*yNG+tLPbWD+Ya-($kdU;2(ApvMLM`dX!L+Qcfk^f|D53jtNM9u* zq!yMT{Vj$vv|33CYDtgD|Gid}kiHN@8OdrTwXh87+4yflY9S$`o{|$%Li5G6^lbb$ zA+?Z@aZFweWX2yEKoYSP#U9 zBtl9kfoXZh;UM~g_caH2Uuj-c3xAjM(Lsa)kw1x$5=vlNo;f*)mf(He3f@x1`|=0&yece$=OS{?^Pr6fX1 zD1mADcJCm5@A_r>1^!x^7uCYw<+|b^awhp}se}@kmT&qFLi%f+38{s@%Q>(4YlZaJ zQVGo$)6y#oc6-)PA^o+^gw(>{* zYmt!a63rLWy1zC>qMzsn{@PgZ*HQ^3Okn}4?yntu)KAO?e{B%>YbimsFfBc?5DDn! zCMJWw_7(VRse}?s7Pe8PR~Eigl;2I90e|gU@Yhm;YGGP>V(r#_-rfrOYrBEJmP#mr zHlzNowmI5cL4WNA@Yhm;YGGP`^D4e~q?pjhkCoy%7+sy|Z8z)@eWjjIzL!u(>|}Ws zjbl_o33~GlqIVAXiAq18v!I`=3Kh3D}H!H76U=G@OjAdGPpP4(^_cpdTZ?Qk zD;MA_{4<<|Q;9Pn&&VNW0{SXFw7eIzoD!IpTC|4ny*?nkz|*i1JPlOhOi14gtfJ8J zBGB?t&~i#(T54gB=q>LJL{0Eu9Rm**l{gdneqN<-OC=oq1|>DWf!;sZa(Na?YY5*@ zT+Ec);A6=MJ{Br*CZz8L&aa^5e$evm&~i#(T58c6I*1K(?z5rb!J-mpLi+UJYb4O} zs?hSo&~i#(T54gB=q(QhA__dCq2L*%5@$lUOX`gFReFFwYM&@VS<)-gqBkR(^3n2L~l97Wr&5~CG!U_8I?E_(vk(w&+KMORfx-o)8aDp{=t?@ zUjeNle0wLfzET8YSaw1T3zaw%GPcDr2W`;uZP0Q`U|MR?8ajy55F3>VB7~^Knb19P zIIi|U%R55LDS>IJg*~FTyb%yb-lj9x0dF6bI1|z$hcDyJZ>rRRcptMC@1yq*wp{u= zXbs`rAf$nk0I^YXAvTIioCz5L1@BQXN}fP$)H{d@qXed<7Of$CZwZKJBbu3CPlqTT z(pqOi`X=G8T3zrH)mNr7XLNNl5J*cc>=C`?2?zZ|JjC1$gP1!iNk;s6|H!nUiLwpi z$Rf2kGQEGW<Hz;uG^gd?F<y%U8N@Iu@ z&8fwU>NUYK30;XWUQcUs@;u0 zTye`lP%WG*(r*NjXKsPY3b@r6uH9%;XQ2_I%bpI*7IV+yvST)H z5?BX(5zj4_`P=!c_}XgApof;km)rROH;nTBnlX%(H}@6YuP$d)LWxTEA6T9j-Oc}+ zjWOHb>&#)x9`zJC|6Xq(sMeVGcPw|G&*#@iU>WbujAQXVyNTAyVMZmCsMX@OWzO#1 z{P8Y~r+yd>f5&}Z8!z0qP zlXxi)ywgyzeLCLfg-I+dec3=zt%G+iTUrMf<^}E{@!jhIYrn6m7%?atrxHq(&VR|W zrIaVHJQdrKu7)dr@VbB)JR*;Qpjv}%7c4jKT`&hN!QSncT0+l5u%Bl~AH< zxic0e*Cpl0cPyi`Z$*Ca^BHBzu|fudYUNFF*22UjQNbOb$E>{7c>9val!{C9b1I?4 z_PM7l9Wzf7u?Mi_3)9r&0o$f4>Aw{<5L9c*z%!P!u~)>1`&h<=E{qR47^yT%EX1jV z5?NlKv}`YOOKcy6Ee|Ma;hXmsR)U+j8wjd}(QW!^?aq^Vc!qM`if;xVEk037C^3BX z5zEm%cSVtr*jFJRGVy(F<|s!`7zwI{(RBK0ZTR%PtmmH0N{8rvTI`^dP@=_1VOjX$ zwuowoK z?4j%^IEqsVC01@ru-w|vUSy5Jud1Z#`Oq8|KT2u5YlMNITJ&2c@OP?%GJ z5|L+)T2{Vqz|Vidn-*=tcA4YjmMIxxh8PH{MZbOm=Wqjlo4Z;UDho#p;Z#D2keBBy zi>4jmxA$Qg(T^k8%|R)|p%bk+l~AJRtaFwORVMR~OR?pLi|%4;y8Tv`{cd6)s8-K5 z*DT+rE#ntn;PV)|c^mr?QAk{TRg+T*CFr^W?@_Dov#xn6i+xve8VIUIS37tg+^MkM zGdMpPor%-+ywsZ;mYE&*areKfs&oy8-YvHtZj6{k-+{R~l~BT1#+;T1+0lC@ak@@6 zP9>C}?Sm7qiBs9=mhPfk*E)uFP=fY4cxA4&9Jy?n zQT428)J(jox9D_nes_6U@oecy13|THQ?FSH?EADxt)Z zC)X`8p0C-c_t;lOG8E&dhBpui(YXu+)uOh9-8yFOPd02$fT*}T$Y3*2g4$j17xHR; zWR3E55N{vWGZ0jZ+C+A%|HRF#=h*?`MOZe2?L!G_soAaFM~>p=ziTRWqf2Rb0pxh4 zw^!+iv0EEgAIe|8i&6roS7KB`3H!-Qmcg^ri20fDwrsA_gZZRfot2MX6AT2^q9X=8 zaU=S1*S5QqPT7hugM{QupFfl#0=e&17qO{mL1vH;f<8^?-Te)CtgV1pQz?iUB!r;P z25g2sY53Ii^@VGWGT}78foU%kdzsrs`$8|Sr z)=-wM)IDYYppKkMC_&eGu;Hw;*pMzql&Q};8wjfPci3@D{x9Q|)alRyXnk)E`@G_? zV)?5xrxHrg9S-*Mc+6{YNT>}ZZ88twWw8Nx8CisgY6kRUfIEWaVnt%wK(9MS}nmZS92G&Z(cX7 z40O&LpJ08<2R1p^J7q&t#;N^D?Opnu;O2|#RaUD=W|8tn9mDgW1RV=@Ypnlw*68<3 z#pQ#^PzKGHJ|{Tq3w7lS#vfARzF0W5SZNK7gx98w+^b}~@^hZ2fuLISIl1P8ul~5wAcw04WM+rXB4{e|P?LNdG z$iGp!pJkANpjyTl;S7gA#&?;rR0;n&*bwVXiA??d)RbFq#^=n5vv%R2j7siF^OeAM zLktAfqH)%+`m|1`#0E`KE)*DMh`^@AE1x#%;52>2u*+CRvs?L;TP4OT*Y_C-szu|) z;f~4h97+}U0ZOcCgdvig602;j)m+u?iZj!3)=u_tS6(#oSB|6~X&|T;o>Is+0K0YK zeJ`b1!|BTYANZ9`T|x;w{gCe^@O4V@Sh+dFRVm}rRXeSf5=y*F-B#T<{*L%uS9`BD zWfD(juTh?q^fC}s3(sn#-36A+X?IaNw^^C_)#0_25=yv^3{bNdm2Y=1wlon{BeN?D zGUwG!wk1KeK86OW!DG&gs+rM}i8$>g%7J}VZCzGQC6qXy5U9@FI#KlVLAxYAwwFko zqnDC?*?vX|s->oAuclf)S}Zl8)mM8~knkRVQRy*rEu#`j%-PajU6SghVhKXKquiBW=c@4kVoxRWlkEgP}`mNdbSt&SG$Nyq3_L9LW#989n^MTcbeQou;q1q z8i{K!^NTm*n=wjIt&>BoYIgpbg=p5&${U`d)Ta_+<@U6UN+>ZTtyPTiKi=j!+HlP`x{1Utjl_cU%NdnW!skl|b=r{hy!;0o zS6|0w6Y1J{iXJ<*8VIV@;z*?np$F%H7%zSN-P-PUM-Z#%xlcV z88sl=Tjki|Y9euK1_MF0f|hnv_t#v?`@F$Zgd^yx%cg6R)0~s8nc{LA+hoj8h3E=z46o=Do5_ z`Q|p4RnFhTKv1nuYprUJ>HE0fc&ydtJxi3~Gb@UyY2^(B)uQc#8`4kqD;eMUP&u)hq&5LUJz3!}D@3NjZw&4j&iaaxw74LhC zllPV}DxpM*#a+}k?z8yzmN>40#@tsH-u4%PL7NN&)uLkoPHXuswQ?(L@DZn=g3c!;M_ow%Qp|MVcyU}H3+5=zwi(o=o6 zd^<0_7iZKa*Q(09RU<^(i>(X<)wSO3UdZ#N6?17?n`M#if@j zPlw@~%O`&;JLd(6%-?+t^PIMp<^;A+3%fFXK?m{CuZW=xO3)s$TSeG5gS zXc$nMeX=b9EmkgR}do`l^3HMuVhq03A)aM)feF{ew0fiTyO3)5L9blfA~Aq^}j05 z!*C8>_3;v>L77CV>Z=)*P=fAP@Ew-bL8AFARoVG?kAa|CbQgsi3eB^LkNFFVVaqdv zZLP22v=X>rDxrk2uVxKuDBf3{pv>Eu+dxn)Y6n5B`ae-3H@k_8Evj+4 z%g~P-SDJSln+q*qerliUyUL{oKR6+^b>tOZuNF!pZyjSYnt!W^rR!rjn zwQ*F8GUp7Ik?m_*@uiMkssF1QrxHrgUWe238#zReCJD-xnRN{W)r#ubRxNZcLKK;V zPtYwB{4LY2N0h4rYH=!|1nqUZHE>j6p*)_Xgw-`02&zRbSr}Ihi-~Aunxek1%c+DC z#^*7<;40-=FT3(0pp~Jo=sOO5PIl{qb1RjguOF0ky;>WdASLKq7`)@09;$3UoJk!2 z(9A$kEowi2)%Re(Qt`(nCBsvHPV=SDpS~eMWaf_pN^|RVCBC}PZpwzr<_r~ z9@wV5g};bE393ckknGkRN6#svQtnprd{lAS4MB~`9f+=Eg5QYP@4$8dYS>^G8+0Q2}A4I z@GJQ84pyrQ+bvCRv=>G1b^~wkPV!}L&wx;oVV*^4;x%6*ZKI#&?uhfMYZsEd5;a^8G43_Tt90lupViIlu!cGyFSiWE^g@$WkkOY5w{xE zQRWugoQ#lKScbfh2VTpxq2kP@YD&co`!qsIXuehM#af0HpTmw$83bjd@%0lGYd=$t z>{zc*2_;5+*5;q6^En-`ugVnlQug(1CVGF&Ca8oG z_yzv-*&g#BwthfV0^-YxA|n2|#XwLkq}8<9J%^3Qc69nUSh-U%o0$Hyu|`MG@DxvwdT(iOw z92}TLyuMOj8E@^OC_9D;Dxn0XGd>-aM9BM$c%#*skXkK*ms!Go2LB5|B{biPEtgta zWE}c01eH*t*{&rP-wPv>2+`P2Ebjv`?rYn}0_Sl_~l`}pdBrM7LW#1uo2YW-vs;g@^XF&ad7Qno)I&8dJ^B4xtgGwl| zWMKo<@H`kkkB{&?C_%N1Up%>W#GB2B=dl8w2bDMz`tz9eI)rxxYpH~0Ex})XbGa&f z!~4PioBsKh0rrAi!Qo6MZ79D0)>7EIeeqO6iM($ctGc!1>g&f_gS9jftR+fNE$juk zy28o!5IEm4Uxp|2(0T{81_VEbGI+lLaEmRi^g`dYGNMrNMtb$SuHySShd zO4!PJt8%r2H^}pDd}dl#5uUz;fuLHLlfEXxD$3<5N+pz7+ogf3TQb+{)?#S;v;o_P z5>yMHth9sRY-w$KRugQWVPN}E2_?$3vZ%W4)9`H@cG0b^(%>&6LA6TP^i*|AW_g2F z+zZy-DGN?3^cm20(0+rc$+g~W%akCcLH6N-=9POBSEao}YiqZj^Gm@h9PXtAdyX`; z!vpS8Q7>i(d)Ef` zE|oYF`nakO#NH&E8VMy;rDnG>Af|u~Hytc8niti=-(?@do$4fFS`r~8l)$vU`j~+5 zgSF%{tR*xrs)fJHCkv;}jr}-U;SIs2MlIP|=lw%(2iVjct#JP&LP{usX=$BnRyap1 zJQ!?hT6d~NYp7Y_ygCpak_g#CN?=-F+e>B$TrIB_9pzp}Iw#&DBB=o)3Dij)o`^;rc*^R^y5xXpdnMx=@uNam$Y%Ebbf<{)^tv0Z)&V#+1G3{dyN>D9~-jdcC+=DC+fBEEcBjsDx+h8FR35ks|#CusI zz{>FRs-vVVj%P9#|D5k&TAsFG+4>V)4_3xWurls!+!s$JlsH%9GC7mU4pzoLwVo-D zz{;Qm)xutvvp_qO;qpv|N}LI4KR}c>tPH-eG8~1KffAUOS~wQ;m0=TD8J}LI7tvs4 zPzfa_|8?WfJC)JOpaj*z-~Zjppb|{<*w~0L!M<&3C$PNay_z5IT%P+-362c8@6w#KlOm14vn48_1g7O4teq5bJSoC+A7?^p z;qS5!bpp?psD$Q=X?^u+2JL7DYsqt1OPmR*g}=)u3u6~-hKXP^6a|}s)}5}}v^>}i zl87ovgseLyFs<*-NE88^p)uGDG%u=UY{z*Z3IXAfM98{R0@M21o(HUqli+Fa7>1q( zegD9;v@(#;t&F;8Wq_w420RT^;!No6r~y_+hjd=bI?dCd=Zl22GH4CqeiT?4)4ER3@_0IJQl~CeH zgq2v~xxr&H6wUyi!x;c2s1~N>z6*De;XDy%R3gkMDxpM=-d)MNL2n?;KwNers1~O6 zIp_xGyZhnot`B%jsDu(2^&;1KyEP{eU*Qc>fj3A>P%Zpj-_JeawDvB%rOtr2R4Sna zruE%F69nV#OeK^E+R&4n0Z@+#jy}1{;3$#% z2mY?lLFzG~5=vlNuC7Lpi8CR!@OOO!PqSWZ`+GtSEDt-=P!3l zO2b{tBw|GpA!|YjOzZo(6^N0r4~E08M)RUt##$jU0*En5gsd+mFs<*LUy67sKjEB# z!8rp;WZm%zN(+F}5LFEGV*{LJ9EP(DDxn0XrHulA7XUma7vQ`k94r}ULTcgfdaa_M zjMi`_V}>&sDxvveTA%0CV?t+C!>iUmXNZ`SKF{-k$0Q$kOe%xNgi0uZy{oTqxL(x- zkI547m{5Xh;qUr-)fqe{>EYz=5O_>zzRoMEUdFBRq2kGn0Ub(eJc0227+o~@5&Jh(Vx7jat=-neBji8 zN+^M&M2~^o03MS?a6-QdPUtB?wJUaeb`l{lU#l?=;k|)924u%#Cp}^=`ZF z$_d2k_ikn?p#+VZg|9l=R_#P$I}lVt2^u>Jw=**@u8zcMAgF{AG!hiPgpg{yR;xom zPzfbyFF+*6juthrjLSe!2_>G??yLT&w4d*Pi;>HP7pq#WunbC2tr!3FgRjd?-~}P_ z*KQp>cuq|$kmpB=gl;V$y%(^?q|pbRRZ#Dk^5>ioS2c;h*E zBeziQ?t8EdS9pSypjsa@_Eit2I>6gj!*<|4h{Q!Gqvi2_e?|ix8OC-DzVny%1djtj zC6u5&0yi!4kKci1AVK|g_iE>|d>gc!=fCR%Rweb_Wgc=#BaS5za*R>})2~5SbNrqb%!OfkIq z6KqG>r=2xozY{^V-giHmaM-$@#~if);dzMBF=ZQMofeXZMzeGO{;r zv;%uL5(p}xMCQKv)$FGe_yCWxK$Lgo+Kz+mpaj**Whtx9ouKkGyYR0&b{OgyS3iKD z5=uO-Rz%(Q_aWXayc7`6r!CgT)n85o)oNa~l3Kxjn2#M-5{Oj$XKTbJAgF{AY?Hfs zbo?>ixSl%@dkU=6M*9^ff@+lxE2BoZp5kqD;NQZQYhox6Ia5_q-`qaUI}RwUb~#r4 zPx^loR6>asE$aSD8Rwx4N>HtGi>s5Cce!0a+c|FnK_!%^SDdLQpygg#%Zsi(q4gEc zK}t}qLUZb?W9}W|4@TqjsBo{eR>l-3f@*b*u0x*rkdq!7F%JkTp~TTZZ*|PM1a7T^ z<0`BBSFKiYP6XBJSlUF!?zooKHDVnQR6>ca6`QHoF2?iq|KMn^`XQS}pann)s)e&l z?p^S=wz^-}+To$?YPy6H^zY`_tpksG?Zz49umE)5Z(x1%pMA+##+Z`kT}WJjT2YCC zxMcpbCxV6Cu=q|St~n7dM2of$?$KBHr4flh&|U3j)T)H&H(U5$r%XlZh~Hb zS_Svhp7~lQf@)RtO>HT7bQ6CWhkNbI68>5lxRy}K(ma_g-EwW<+}+|-tL$6RW< z)~O6iY+Ihq((~sU{^LmlD5KVj0a~r_ZGu{sR4XJdr{(jymAvO;FCZE|IHnP+fS?j; zS<;+fSG)C1+i{KpK`qD!19Mn9CPwqmVL@6uq>T!`JM&v@|JavQD=DGGVb@HSiRq*G z)jd|I)wy@B+8%{vQ0tXy)#>%yGbQYU*-PR+DA!%IeW;{s`bVC!Jem`HIdaK#ZIs}9 z6txp>R;u;KLZZ7Uw8J%`8a@w)6|T=(O7xvkk63*(uAS9-7wr<77uBLOSZ@ce?R4Fx z`xRaD9fbSZK1vrp8X{}-Xl^V|p7r7HGOZEgmMD*HzaNd&2q~dN?iu~nV_8By#Z-*C z$KL%nf@*nAvRe$qxY^&MZM#2@6;whA4#dXV;huielFIl)Pzfb4Z6r25*nQCD_gLXf zNG<$*QKzwo(cMugM z=H#~i8oU0RKr8-B`rWh<`W-|CiK_Fy{2IIdn?Ni6OZwfk5&Atx1&O_B$-l;~|0d9i z|C0Tle~5f?bkL6&!fTn&ONPdWi|0bwYS+(er)j0t3lD0kX*FzrXR%m;K;_?vYLof9 zTJ=;VuG(8$8c68Z+-h{*`f8cg!?m=H1SJ568bf_YP!LsZcZHXGmW!u#TDt&7?O6g%~4d4 z@Ox%b3r7zYzfI|w@P~;j>WM|{FBS@fCt?MRL_R-TQ@a2xOq<=7JmowxDDoE5z zFsUtW5B`~}yVa`Eq(k*c@U$a`Q9+{qQ8;5B`yV-ng3DZCVt@sxRe$QimO9K@oW;7qH5%>Qt zWlJMgFZt1zL{oSz>b1bHF>NhZzX(*2(64{hE+hEASc-R0?}I#zeig)DcUCXCjX(tn zy?5a~|D8Z9y{{OE*o?WtwuI^Zcdqbvu?~#{Do9}8{BHuSux}a(RIoo{+C~BuB(QJ( zH-T3AJ=bg3*8lh&(R&eZ4g7jrnJ}@$?5f%|Z@audTFvkNIG{AUSw-1Ub|ArfjyXKK z$X7l7W~4Y}eQ`$I4vbTBth{FFHfs<;1&N|*CRLp$iEF=>V8rBJ4z$SBK)(tjx*G_z z$}`7LonWab29@B1Bh5^&r+Hicn$d}%g2a`cL~T?zi@3v$_o%~%veOEq3&(A(+`&Mg z6|P1yUruXY+NXa$%aAFp2r5Y6+9F@yy{jDRHeY#Ht}8(WiN+2M)DhE?Nn{27WkBxE1QjIYkVfjK2KmGhb$J?# zt`}5hKgdg)RA_D>(CYNFChDFgmBp@``O5aYp!Jq1-rtm6_qr2Qkf_w7fqHpG9WgzD z*Y4)=DV8lA7b$(BBk;pw!QcvbFizA-!k=pC^ zO$+TdS?L%OZXnPK+Za0ov{eViefdMn{>zaB6(q**A*x@cHe$qLo<_GJXOxC+4$5Dj z`Wpze!ZyZ;7iW~FO&yh4C;AgqkjU>ZsZDMa7lU{6x^lX5LCJCEg=J|kBY{@fV%SPi z<0K{P^_I%8xb6fMB=G*T$dT^LEQhM(rR_pm8Scl!WzE!2-ExUSjj}4X9ya&+R8kqb zyB;0gyP~0$AW`4fU;T3NBANdepOLLvzfsBFARoP&>SrL(3fIM1w4Mu_6o0uoJ@#iQ zf(jB#j{B=W?jI+g+f-m_WKLh8So1fbmLLxUfmXOK&RR*iQpzre0o3uRBA|lA>CUax zhs*Ah{k?e_H;T9@7wZI5I`p!EK&!Ybt<_;mPLLPlD>0(U9&cqwbUoVVWkrJZg9Mg| zombQ|uM%FkEsekEK~O;gbI8uFF{zgODWhonoYe(P9asLbd@QP?=Q(AYDK~XXsBNe# z9Eptg{8GcY%JY${l-f@H3HCee=h(*B>~;JM%?$0^gF9H?(T|OJ+IkcrwsBNg0 zqxYHO1zwIGn?7shz%q4rj8GTGeU?1p_SJ9>FrTF3vM zU)u|w1_G@fei){P?EWn6>dNbC;0{mPwf?KPr90XZRFJ^(u~rhCl@|3L|)8=d+I{X$|@oQd(w%Q%t zF_ccscGh>(BPw8BePA{HNck+~XDtS6U2j)Bl~{tmoAD0X)8MAuUMF+~iE($|O8Vc8 zX`q6{A9rs^Kjy#sSq|Ip+tM%+cB^8iZ?l%4XeVNAR4hSd+}%6O>ZxXhzx3a^%1B(9 zH1p>>XU1IVijlY@U72*@e;{-#p4%&vlz$;m;q}w;(jLu>_3$2o&6e@8{C`KNxDhOX+Xb_kDD z?ETyDB+%+*y$JQ;3Mcul7bjj<@uAOV)grD1OIeUWtF}Xis{<>!%E#{YVZ>jJ zz3Kc;O^JV%1twIG=$3Ps`sJysJTrxR>3zNaUU`z(lMJ?c`XYf=gSrn@4>Wd@ORnT; z)VkPHNv$76-iM4Zp@IbWlgpdaUAB1w&OF~lsh>8AIIe%>hXh*j_0m0+++`lc#cCcJ z*_Y-$kRY6HNK9Bi%@QKij$KowGt4Ut%fx(&81ZO-f-r*-s37rU>In7In@qBBf_nni z2==B?2b+>38=D#kw8Ap6I4q2qz=%7HKn01oo?&Xo+Aea=^E{1dk9sQAM@Es!?FC+pRknF%CLiuYJtjU9Ha_^rgr!|*iBJoQsnY3ysw(Et zYCahpM6XwWA>4o|HD)>cb+O5+Mq3L+hK%mw43M14p2@dkU z_MDhotQPHf2b|+j98PGwf3*ygvzIl1X>LnKUDR*;vfqv zIN_cAP8ph*B8<4~M^HhcSyHI_V@$eKWhH-)`kTI0KIBdlrjIrfXce?0RIPH#L9Sk& zzpEu>%Bwt2wF+l1bR(!B!JkB5)_<4Aw&YLFq#Tbd)fZ(U)k8WM2(;qYJGMB=-_G(h zUghpizb$?)tjynExV|Vt&35Xmw54Sg^}+OTwU~dJl>cf)74Hp;zLzb8mMFVk*qSy` zKn01^>fvggnD5f|4}4y7tV3^F^T=hP)!hyT0mOgF2e)`1?6@G5_Ra2RdRO0K zAkYfuU2IL?A(ZC59$@-%$T%ZI0%vC|w)*6@bl$Oorij0dvsav#Vs2SvyrOMs&4!Ik z<4flzs339R=`b}XE60T%yj@*c*_s9{%_L;5>uDg+3TvIkjdE{I7q7`G6pHdBs35WE z#4z=JdWzI6f~Vp0syP*d%tF1eoCX4|ur09llFH3#y-mS_Wo}M_3KH_XVQML#G-=jq zp2oMU39I`uUmG43KG~?tmX+VveI1(ikhm-FwXRG zMvk?>MuyK>s852gsp8I#1QjG)h74BMo%$lp8^cGq8ZR@`@+};NPc>OY1h`XZg|)!E zyvJsy{lB{l{c3k0s35Vl`(U->=M?Gd3ZBN3PHyzoShH}}qn&|3E35^!cj>MxU9+u^ zu>5mdf(jBz(qOf5nKWt7EuO}-NltY9wiQC19??Q9Ez3KBT3 zuv0LqHBgTKQPwmo@9%F#`a1{K0-ITSRa2ZBI0;EvMiEr_7^M?fCad}5tvpJ}Hj=Pu zb)@!Iq+8*rW+YCIEUpyxG7DK&M-Wtyz%p6Q=4xJ+wzJ!k)HqKqje^ZwsE$8k_By*=y8lfvlJj)-dF5T`Z*Pq7w$KmREl~%!p$&_+U z3dO^pOv;ar04 zH@H!pt{vn}svdkRpkg4DVQTVeNBQ$pKJLCOSCS5_S%jPmG!nzW3g<*@^w}iRHYbXb z!&N&8s33teHLLk~=WC|&`6J1|LVX2Z@0Z)U%6vD+gA)VP$2r*Cuu^61e(3j!?ZnKHJbh-|?3A%2=GG5wf0TX)`EDog_O3GD zABFdZon`9Y!ZJE+;4OP8LxXMS{ z@h@0jO%GX=+0o=i>)s|*kTAaEoZrw#+2$WfR!5$+Ac0m`)9fs|Nwt*Z)D=QWVFcIO0T4ZfZbW z+)f$@w8A!RHLp(IsXVVJlaDkzK?MmM?by>GWQWpoyG&+JF%oEneUt6r=`l}9V5b|U zz8Yl0TEy0lwa&f*j2xgiG#f$4vxWjHNML_t{%~J|mF>YJ$bdf^83?q(_Qu|}>l9LM z9UD&iT%RnUf&`8$EK2jF0!qS-;VgEPkw7c#H{45aG@Wv-gmR$u9ut0X~jj8vIMM?=j4}uC3l{yYny}bj)653bGrgNQX zzV7psSl?C#0X7ES4>5xRoJl<}cz`ac!LO*1%AYj%F6+Jh3*az-)`XvKTi zm%;f&+f3%>^vg=NjU{R8tz`%*NEGxLs&??MC|-KW*D~HOxU5vXSArfJRMtSC74P%M zkK`3?GnqcF-ZXiADXKao3aB7)OC7Eb@~$8b8^fQq2S$6-{3A-z$ihhm0AVsF0GPZB;E{ViCG9z6pKX;+Y8vwBlpT%zy3^+Zx&5 zyL!=w5AQ2)7FQIo7a@V|m_41}_oX!&UR6A67ZOlGV!)CSYQ$nuj4IDd{{FOy293U` zq-HqPG(e-~kI+r4gDX2tiQpYMOvW|q2w1RojBCp{+Xvhtbbz8>W) zt*$kuxn33{_*-aY97{SjK4ej6N7DmsdK>niwv|{PZw0h}Q0xC%0D8XiA z3$|GX?HB3%GGz^8JC54e7FfJ+^G;>gTA7}0p54$&kihZSYQ9=>r;=Jorpxkr7zng7 z_K)SVGd;4T0j+oSgrT(~fupO{oG{&)F1R4mwG~bo2(&Wx^L2$w)96VuZMbQp_Qs<3 zb0l!YV6nVMY>9I{HH_BIzE*o5)O!y0D7>?5txqYaoW44orbJ9O+;b$b&$D$=v7i!l zbT}>JKgB?xm9e$Y>K&qpeMZptB^qk;M7^~mfnyiT)tV5c8yP{T?`v!z(8}0rOU0%s zM;#H;bD>uXQ0||U~ zu`~4^CMwk{xY4sq>KM|%-!(pQ_%~tZ-%gy5l@hpz`l%)DME-4)`?t3l&_Rr6J8JkB zO#ScdZM#(0y4#+zD6uWHD8 z#rp3!F=vM7;Sy^DN%(nJf(jDc%YVgcv$!X`A0s+fimCUocpb7Xp@xA#s}D0GRi_sH z#g`vBkv2Z{(54VC^6X)2f(jCRw?cvIgT(9wf*G;1OpSWk(`N~EYq)_xE1!9hYIo0Q z(K(P4XX?JF{d8T3(2+zDRFL4iE?V9nD<*a3M80;9_C8$v)Nl0j7z2S;d}l`%bF^4e zOCzRG^4=Y#{`8yvC5G_5ZxFMlU=D=Z&7w{O>n8aKMu^}CZ6L-2Pq=CEMm#CB zFa7BrU)OXSp({w}d;8jI1aG^A0_*xJ|3dKneB6qstzZB017KXNR#&<*jdoMd?WF$? zfxm^sG#aGdkWXo}F%2VOw<@>2H%sr~zYx5H#k;3SJn!X_o=GLT-_ovsFF7xL#&RIR zug~pF|Bp2ElA~4M6Hgccxr)`2V0FdIq34R1yjb_dU%Ar%ZY(*L1BtRp*Cn0)Zvw5# zCf%3Jb)ReL840Z2skD!(*A?dWcS6rE68wG?@BZjN($ERC;`jXDbH($kw+3Dgy0} zgL>^Ef$i8xU>n7n{=IhDzHLH3dRTPtdhSC%=8&ISV$?u!!<#z4R&i`QEyC&-;yb;` z21e*>G8u{G{p+baGlhr?19?1vc{^6}-Q=X&CnJGYH)i^%IVJ~-zUe$3!0|oGE>5r* z5Qa3+iu<-i_YM$k9zxd&zR_}ZixH?Gu`Fv_10Za7zeeZ^63;&Dix2ee zBQ|>0kP#7!Uunc1MxcU3>izQS>0bTClyDOxo(#yQ5p1u%fj}##$!p?Yn)-YzCT#8NZ)3ElIvU(oKylMDn}4P81RzQ)2}vBXn;2Wyl` z(9$@|2vm?L$o4X92oDw8_2egdp4>Y|yB`lT5NOr7Y!UTZlQ5C{Y;ttG$2PPHVf#j6em60-j~n z9Avoo&V|1TZ;Z^PrBR!;b|lcMUNvtuXy`C8X9Qp6Omhv>+7)4Gpn}AO@7}5yIb58( zioc&1i0jQ`Cy?AM4OEbDA6Zllnma;Vw~>DztkR&z9!{_*Hx^WoI2v71{Ud+4IPU;o zxy!kK4o%ixw^{;RFKejKJlHJtepS?Y<`?aj>}F9_NC#F|842Agu0|Qy^TVIz zoan{~RPc9kFOY5A<+VG9vFMsz63%7JO%?;3U`8FnJ+L=4N7A1k5P zmMF2{pWf=S_7#8q?(b>nxk3dA%q_cv%^x1{VCC@sZmg?%&PCN%XCuTR+e)fg zMy2a;V*fYeJx8M5ydr9Y(GlW$U+y{ZHP@-y?u;nrmcxPy68YB^Qtz3()5dld z>&1c!636F$5wF+pC*EYIDOt@wHeas5%fVu|Sx`aZj@4OeRJ)I8e#@UYt@`3t3L@{L88JdXKBaGPGaQzu8f%9vznHxr;I=aiMNBkh`aynAXcfuBg*wL zchZO?MxcTOzUf=d=aN_ax*tfORhO~1#g;V##F-1ZA96$)St~h<{AED}iCn!8ipLJO z7Yl|#v>sBNwJTJRsQj{F{J#^ZAc5--EY97bOgwrLDZEkoT;&RujRLCL`9Y>B+zPb(f#pb z7jzPvPvQ4``i0fn9X!s`Km`e$sj;)kkQUzWtK&%)n7o}DYMrNQDM zTTnrQw~`gTQYG8-qif%4{GQX7ELTXN)%(#2($?H*Qc8IqQEqAdk+pd3@|g@ONIctg zR|-lE)|Z_KT^~wDxrvkr4HV)~*JzG*Cf;_X6FY zUTY<>yc|DR$&o;-f_uBF_B8aC$O%-CKwoaFIX&yZTD%-j-x&$C;(bNm5y3p-2REzD zi2^VC z$+nR}C(w$IO8ewgiH}O``$x_XeB9;H5Ves(?+5pG_g3|`WGqKoIa|AW%3293NDQ9R zOSQL>&Sx%Zk%!;2JBS2Yg{#77gdkP#cOMKpcoys_uC>HT z8Acx@vV`|m?R{|hKo_mGUu0?EZ=uzV!F^PFAN1PWQX3gwv${eBOOC(9#@!83weqrZ zY-FtjONea@YlQWWziZHT__c1egzaJBY3E4c;}sI9WF$CkBf>6?(9#&Ndx3xizt*kh zJ+!4Ue+G~7iv%he2~OLHpeI@B(YKxA=Je=jh&h0fRWaTHn~`;Nrk6rz`c2K>)ezSJ z34EtwJJ!h+rA^f?rU@<~hG+{&;JXj=pvyj2IqzKEFHc}NK?MnnFUvfHl5;4pZuB)> z&o>Rrkxy%7F?J z#%PFL$rZt;S{KuJR#!-%mGOPBQ)g$Auggq7bH1(w6(nBPEv-gus3>mHVp&{#l9lw` z+&Rv~?l~$*2%9mEusS193AjGlQf+<|#gzh#>WFXmw%Q%nX~NNwEVdykNML+OcFOUd zCc+JMlqGQSCmlHeF};z-Ps5O!j-Eus`xkifXStbbJYAR8ijTC4*D z3@VNKrw;7=^ao*#Ppc3zC@<-+b~E|yY(-E(0^^yoHOnT+!sB8Md>`)*G7xBmE70tW+$#Y>1#^^X^Xn*r z3KG0c+atcytaD8r98dcub&4?%Xoai8ESAOP0L82MSkpg=Q3MqvFv2`L$K>`NB`mFl zZ}W#k3M(mh56MfPP3Ui$yuKAd1qqC;&%BD?`OpqQhmT&)U&}zC6|N4m?*_}d z)1?A2eXo@+pn?RRD!|^hl_9jl@g;HBo9;CbXoai8R`ci4(bSwjvnk@>RTC;mU?g}p zr>@JQ4j0I3nYwG11qrmm)nTjode`AJb^9v6>kC&Zs33un;H~E7bA#x%PmL{|r+hXL zXoV}c%wwypK&wr8<9n@FMT!a%7(1S=i*_hL2PcMGE(~m8AkYfOW2<>qnM=y|(3wYe zu`v-9BybG2jnrB1HWFMbkEULii)j1Ic`OS)kLG*M`SlS?5w&*aN#eL0+}rTZU!xB% zSUXObv3Vp#1qpt=c*c0~#WzkYI99G+CI4*XV#$ub5xSKyr--`p+F0?QfqYHB&ceSA z*S}t!%q&xvqJqE6ucJ>#h}pk#B2UZ8_4?&#N4~W4{Eg79QUZ&p^Yf1oyENxt8m`X# zrhvhHlTlBBO!?kDsdl zlGVH}zHR+T7Lnu`i$=optG6G1tw)N$_Gatn*>aw@Y&sBaXo*N*GzqKuQLhoTYKGoW zPLAwvh=0Ys7Rty6gR{|!r$fBy7wNt=jB{{O9ceb*N!=UBXlc_i^M$7mY+G& zqwP?d_-w0y3jQv}NV1yM?lt0WyF}89y~i4&Cn3SF?RSvh^ZR4R(rZ6Fej{`%Jhh8O zji~c!-(5y{q9uOhzl;JAi)o;h{&zzxBtx#af<(+#TN*1i@-L&1 z#;;s)0*Qt<)vhNR0%))~))N%_Q5SCn14KMq;~prf7?|^k{EeEe)p|o&*Vgty?{> z<1E{wKp}xjM&e8LnW8Oj6km(sb+wm`yGZbB-D>VY7y0q&&yp?f2NI}cBu;*tA=(JG z+C?&-3EFpO>RGGCB{*~cO56{{Y*x4LNpw+G?F7l7+C&kDh{(bPr%^33cr~-!u6wF}?V7Xeh zCsu67b9KyBeqHpsxVc0p6?4mGGAxZfZ@=wj-#Lxt03v7=+XMUNnCQ`?JxhZV{YUuJ z3d}&D6_&|X4t_souyXKRg%(bcc&>2O2y^>8p_c;*er;b{;Qp;e*J#@ zDhCk!-fTSoLbBgM_3gKs`aRbPw8Apk(qK0**6U}k^j6(|vx}VQaz%=WtE07cdynF6 z_s92k`>TC6mII09J6&Y20e2+t8T?BFud7BUZtwk=q2y>4a@hF zcP)ND@ZMr;$F^W2ia4yN4r{j$#nv)crA3AlufHQTN--pqJnkxd#>_3tf|Gzfpx;mG=I!prj2wX;%`qeC(fsAME~$!)}fpU>LN zdplAj__b~o_@|Rr@=L*?EDa=3$w+Y8M!f#{to?Z1lOn;db*uM3T(mSMya-`wAc0Co zg3~sl#m{H$tH6E=68u`XGTuQXP{~Me+IG+Rv%~f;mhzJ}wBKd-pwsja&2yRG5B_)k zKI!u-&e#ZDL4sd%@84gi-5An9Lbpns+h0wKxn(C}ZAh%vO7vWDkKdzTK1h15^uPa} zD_uci!iJve1E=>I{oe#yEj-s(tv531UkKf^m**sY{5#Dfo?m0DG^T+H5>IEpk@A** z{2yuPG&(**t z2mggYg_lFW&-hFKohu}Gz3DCHzX`O$nl=(xi@Y3q%fS0&Bv3(u*PGrd|C>N7Y?T`E ztF>c`<9$MJ8Q3?CX`q4x_QziYODC3MU*qZNcMV(5FM{27V?RfN_mzKdCHPxt#Y?WY z%3o<{xk3e7BK{JKg|uz}Wm$6gM9(R>djS3aYfp&K#;Y>92C;D$2~;u?yrdv20NT8CD;Ixfc*mj`8%aN;06h(qx>sH2+BY{drg44Ef z_tWM&+`okMVlx@;|3@?OJfA9T~v^mwuYT9ztl~>NBJ9M(Z=sI4^w_x zGb%{TVrewK?<$vF&fjaJUj=Gu@Dn{zK?38~Fdt#BtJ*zx%|M{l(6@cnT!+}3(J=lt z;g#P_OT&+q92F#PkLsi@^Dk@0uTKHDw5V5T%o_XDj z=Zf+*86?n(w=sRSo}Dy4Y%VW3y~{=hRFL2;F}Cs%!sDN@o!(LBv|KG@X`q4xZ`1a8 z8T<3~;rE=nvARM93ErlUIvpmq2xh$3a)O@-jc2v-r>K5z8`gsD$;k<}m&}CUqei{H zC@r3TnA|^T^T4*3-1pNs?iWtaGXhJFM45NDrCHq%l9GS%ofapWzSD@)83?qhlJHnc zDz=aOHHVMX*Tgm2J?E$DqJsAZ)3%kPBYPW`etzxK$EA$pl^!ebcS2W?;Me-!ZNz)_ zR{#3vcTQbFE1oMoKIHF&t{}m$^}pMQ5o~or|6Z#rXvNd8M``Bw90^@Pf?w-@x24gy zcLU+|&#xJ}f>t~Y{VT`sgsvdLul2vPr&_{LI(_R+Q~y&dl{YMYL6n##t!MEI9@mak z_dfhCJ)Rn@@}2jmCZ$NWm;+(chf>c2H%#Kg)e0&|q)Zv9uAA^fS{cdLOS&u=K>f4k zGBvAt&Oo45T{a`{eLF=eos-Y>OPuOXV{SSN_dkA7P(k9s$OzRX^@n6`KaddEQmNX_I! z3tYM&WIOL=Akaz_MyU4!9OZFZIqG~VO5as2NcML9p`e09O27!URC{N+=~P}<-{c~6 zU1A}Ub*KYH0<9VrAFj3>=`5GJ!E;s3(S<&n%;JPSIIEz7gd>ZY>-F44-W%GV5qTps z(Pp(8kj8T^7znhI9t~ChaB`LRjOMwjck-grs&jWTdE+7l6(sTn4OJ7ryUJbK@Hi72 zuAfvYZ8Vdl%}WggTAf}Hrn-2#$u|n|T=iQ#U+Hva2zkA!se%d;Q8$OEcXzwVTkG)% z8(CIPS3;JA5sPaZ1A$gz%OUFXI5#=`7$>@`HI+xoC}MhW#)1kGomvl8r{#8+_f_Dl zoClheR<3)GCPNq8HxOvmDDz-;I+we=bTB8n93O3&K0bzgGEF#&3KIDC!lKZ=j-)#l zH4+vqaW(Wo9+~7>{qGWwS%SUGYEDTAqo>wy5E}cRv!H?mo+`n-sb+=Io%1#c3F27; zfmUz&j#L-+&Lmf;!tdara|3DV(kBIZbl75d^k}m(TA3fsz&-ZD5)TUR`mnJ z)mJ~9~ZmtJki#7yfg zs31}P;xKjMR9AWPcHR=Vm-D1GqS}z!ldl^Hw89)(%~^*z(~3(vu`{j;DX1V3=RHjQ ze$iEa7Q^qy((>Px2|YTKD?3{o2(&Vm{PxpCrEzRG@?vkWf(jDY=UM;A{81?r-jl?1 z`{IYC#gjcShgS3WX4jR1rTVk8u_stiL8AYoFtu-lo1CjGud5T}rt;=pFj-Q`-$0-h z=8#1(caBqfP94M|lHRePfbAlyzyfavhVyi~`*Y;t#ig?^bxfLoBk0V71 zDo7Z|E7RIsehp>@l4Xgml%Iv|_}N+h7B@)kl*D4TzjBrTS`?!4^Q(6cbd&v#@jlqQ zl442gJ(%Piu}?eMT33+xRDH0TX}g=;v)}z%%9QS5WNP9<1A$if zd}OCCbV;{d>mDNHtvyovy5w2utMt#bFtzjGq3V}6KO{@HAu84giz=T(Qq~sxTe!S0 z*ictUG)WCp3wSunds!rYtNBuk1k1eAp5&~58v}t>SZ`MI%6*AS@S8lO#g0l86(n#@ zWHr0J-=W-JD3h|$*$o6*;S7g){5lU*ybtX&Juew)DEUgZzPmZkSE&LkIhM(4uIlGb zYpic4Y!}*5RFJ?KCp$ZHW13Q|=|y2f??wg!t#CHTA_zPxNp~(%Rc|TN;z*!A@a<-hP zyr?jej1{-~;uwV^5vI-d503AuIE;%TZ@!JUAc0nxHuFR75llbN-7W+iov7gZ0M3JO z_F*;G&fSh~I_^dmX6>S&g7b#~8zR)|_cO_rpYic(TsMC@`F2h+!!%Yw1qqx>Sk1ZG z`_W?#xyhT)2Mq*T;jEuU3Rzr>4(Xns%D4|Rj)*`y<%%O zwvwbsM>@Fj2|-P6Xn31I0$V7HozQ85;!(~_7BstUm{a3eV(cHjamSVO#E;y4;XzSB z0{bRA7vRih;nAv4GUU%{3brMDX5e^iH3v32Z<$(nG^w<`f`X$nj_ty@G6#Inn>0G2{ zFNJiCBK19*83?q(USKsZU)zoz%pETjSae6h)UoAb3uXIpw)LXNDjya4eVA(~2NKu| z*d8pW#4Do%w@^?bF;zaV$6p2R^w3-D*T>EVC^;x=6`#z{E+$v~Hio_!aV%qF} zuv|?^OZDxr==U^q0#__pH1=i7l^=n_NU4$+E%;k#g(E5(OPpQkp7$axp8JBKpR zXZTmkw{IO4wNW#YFQNcN1quG8vCxYYiT)YJh^)!J%Aj?V{rayMZ6MH!Ul(1QA_XvS z2&-9YJx~dp_sH*AwkX3Bhg<2h0i@Xp#6|s-edl-kE?hTSdvfZ(#jW&jo0wbncK58L z@_kPo>N2_VZ@JP5{7TC1;E)T-z)6)z&N1Ew01OSyiC9fj}$w z7n$TK4;c(WcASzNft&X4-BD#AdZm4BJ9lKnid zgj;!pQa{hALInwaZC?u)7RiEnz)n+4&?u6T(5=wpUpu49q@Pj6e@pLo{96AafGwY` zmt09Uon&WJWoKtpp@PJ{8(z6`jvQ zR!llVil;fq_LKhFmT@D>x;{eY6KxFy zT466>(ZxL6$liWtVH;^@XzfT~-(U8NgcD$_(4v?$bbZnW9;nArjg|8 zcGa}~cwfV=6!grrqOhu}Nk9b&9FJMVtRusTpXUG}f2lSG0@^$wn zfoB_%%*`tro*(#R_%PsyWIxaApVisP^l|}Y=CQv_s37sy^_$d!of&3(e(a5YCJapK zNh-e2B_M%TDHBp9`zd2PU1tdMbB7a`QhQCPAh9g+i)23stMBR%w!3x&nYFjEfCO4q zS@T)4pUyR@#4^(ib~@M9bGuEbAb}np><#j63)9Tp(Ijr~Qv-okI45F0ch#E-k>*h( zanDo>=AC~(*L^=QJ(fn3LneNn*G+Z`1}aFP7YTc#|FG0lut_voHhr&wKr76l)qM0* zOH)U7_Su*nPYmV2yyLu!?En=E3V$9QPF6OZB4AyiRoE`8WIu~;lck`bTpdnAM@|+{ zK?3JpR&#{{u|lUUJ;+6NjtLTIg|jHOinI8b@FqTptYT-Spn`1-e~Fz2_3fB&C@_fh zWaqJXT@7<^N> z*P{sWK2^c+{J?P@pFS)u=YwRyW#?nTdP^dxAc3!Cf&{M5G2(6% zS$C|fZ$heB;k#1wy-WO>-vhoALhODDm8LpoGT&@{h}IrEuxa3Mxq8o))%h zaI+C9++@F?Tyv#JpjB74H>c9C6_zf{*N5I+=sTV5;6Vim+?&H9Aq>h&o?m?AtL*M* zAkYeT46)thJsSwcX6^QM`MKLkZ*kZXjfD48U%_QuQDs0>q_%g76MR<_5}qs4rRTp^ zamp2NC+tXCVPL%g1A$gpKCAhDc6ZW!l$Y{sSqDQokO*aarN$KcDwRFLSBhj-a_{z= z{raslmK?2mu-dKiAw^o)kMF3;mh3B3oif>PAX_QIykkGd^w_FF2|uCB!N-1&rj4ek zAc3P2`%>Lj67ms0;moH91A$hUL*~EB?)kubz5HgK^`w~JFKkCu`@JdBh36rvv996{ zHzIY`{-r!WpV?4XNML(oQPN5eAinwb2{j9}P|ylnzL7W+(?m#lIEsAET+W1Z5uDYa z2PJzSWJD?>9J7=&c-*bBJ;2)RYW*+BnL$TtpY?R+3tB(`bBGU z!dgHm9*~owf&{i{tC`L$LO#_iDYz|dWFXLL&D2bC&1&gV;ja8!>V%S6$>%fiCif{F zC@M%8d(^lQiNc^+B?bR}K?VY?{%(>k>0f)T<^i8)2{BCz2xGSnqo^RUoJDTk67fR{ zO5>x?ENg@?KGR_#dVW6xfmVOtOO=Xk%_Iw+obaI!Omf?U!r%QuDJn?dQ=3Kkf9PiV zdOZtikkrvYpjF;Vsgf&ol1E$k2v<66fu&ev9+LY&Yl;dI_|#_K=zE+n4YK%i8=vakGg4dAJ46DoCstnDJ_wfj}#4`OHtI zMkYa7F_VWy3KGV)``}F#(s_6taNhLj})a;2-&msfY85S z2L%-*aQ4Ast1oLn&Yg}IBJ#UZB+%;2a7Wqht?nGuknEduMtIvI6Ga6HoUbqsx{sb@ zWtPiA{r$BJ1X^8w;vhTtJIZIe@Mmp>OS#CQr5A+rt?N)!kihv0Tdl2mN7xg0K`3r& zZ6MHUZI2(4-H)twz!kw<^`y`^Z+nUg5;$LBK9HlQ3Y)K-5CWg}G!STovk$g@mGC64 zy7 zS{5SR$`_@mAc3uiy-j#f!Kq;(a_UG;1A$h4MZQbAmnPe3aciH@qGeukDWX0_1qp0D z?0#eq7s|}_B2OnaHV|lq^GBbtCRYZPkr}m=cVd9 zz46(O&tSF&@XBB4*?1HgxPO5KTLX@qIHIyBo6oNZ-JBbes&Bs;W@I?m!uw=3ulC4A z?rac=)3t4edyWLQ9u_0z=0)NCA2OMi$&unb5q}r&EIX(AO;%x2htXuG?51FA$1)kq zvBt$wC{tlHc|63+K%f;qudL?sf3a`pi)7+B%9G*@8FOgN)$+=7g>P3)gbprbAkYe1 z4?87h_EVE8k0!KNQ3d-smdTi_ar>8=S}q?&qASV<08W68KDHX*?c9vL*Qo zZExH(5NL(#4_0%@D*=SXaU=d8E61UN1U}oX=Dw=}$h?^zq-M@s1_G^c9fj>!uj@g! z-3lPv+I#w;f&}(?tGRks57OmJ0NH)Nlz~7iTn}RB3IE+h2>mvSOc;6J4;3WvS;FS+ zY<0yeeH7Vz^pSx;E93eVC)m0Sz58>;OW&)DyI1+j)b7dGiS0Y*3`V3e;sGO2L4xOY z*x^;gw&Hc3tt)k089+<0wIw9bimyzS4$33iymxLgqBSFOF#;7Nc&!U(KN8!DS6jAz zbuEj>Zvxz0+C1X}U6EIk(5 zuQf8|0wYjCg7*SFt|E*0-sq6&@7dAxVB6j%+;fb3k@*+XnXTf<(RNkYv-Wm1?dvOb z+&9&N3KCfBY=mRqohRlFr%y`TzNPBFg;xB_U;H1}$;Y8Qu5)enZF^EuPdbx*+eQTm z{uNL^5uSY$UZ4sm1_jX}*%lcHwBp|iA1_NI8`3JUG-@1iB0DxUpq1QCYTr3^1qtrk za{NeMvDLQnj5wUUQ@C1Drq1!%HD5KIKr8O4@?~&7vHrBOjOf?K^X#mRP-f8AcpnUN5HL!gRq;uNR#_EAGRhM{j0+895)BDlW=GeL^~DafEdx zBcaC^W_x%u&l!EH>U~jnq5#rHZXrOP>?uM)`7(bY$QIeS&k9$m%a%h=gunT*G2-Z_*c?S zo}I*{4|(mbq9$@H&m|@MKkft-B!+x&l)HauC{8b2i4h5h1Twk9IpxDOBY{@@du>vy zj^g$Y{M699YkH9-$(NNZ%Yy_|kifplyw#bPUVXYwsm8qYkU%T$EwVN}Sj>Nwr?HRu zmkjhApcG~PC8!|5JyjCpqQtOxPBePeoE$Klm8M}iH7`B=x6q3F=#=*#B{qxTb+ymE zHQB!=t5P`1Q}e~q6(q!hnPiW96U7TXI8o|lW+Jt4RMKj8Fc4@}*#E0^BGV*s-WVQ# zckkycC*(0dnOWrmsG0f6 z;AnuOHuhjPPh`G0;@O6DEc3-d1qtps&~}TL`1vVsCBbiEIvAH@1R@1X^KVv6>e$|Epe-s4QXrS7?RLD{Pg_lbo&KJo=hl zk=)vA{#SZGK%zoq+pp&B|v9pU>s?X?XAkYfiG4mEF5=EN#YhkI{s-J*)$9Tw?9$Sr?+?JHz zQ_wQ%Z%={>5||!~%H>r}Xe&D@Z?cRs^eF5_+&}TlhEd|z6};CzW`3`}Z6sym>PXGo zP*;%P*Y@X!3-hgg<7HO9G2dGJEwtkPi6irdh1+$lqfsZ&3dej_yUbJe%6*ACGEZ523iCAdXCn89ZR7l%Y!>+Q{BBh* zQ^(nD>8ChP%~Muakl@$)DF*Co#sF&ai0wgzEXe}?7Fu!7s!}U&5xD|yiQgajnR<5{ zPHQl)dsL9%-dpYqRC1_NWk%GPSU|Ae7*5>}Pc{%}#eJiSZ9hg1yYbnQsZ%S{i#*Y^ z+z*@QnXVv#ac0=Lea=fwb(%-hU61!@zG^ywRyZ4ECscI4W+|ILl5Q;2*Kq0rFNYpO z2Ge7+jIZp3v6QiN`JEpoRFJ@UIc&$edka%U-e`I*_frFbR+vMp`O~~*ruqKSG_$v{ z9GG{Uqq10GV>6TNY3@pBZR1l7pI6wXnLoqVU}0162>S5PMw*wNURU_L+=uN+&zpoq z@=xS7Ywn}5Jin_-L{>eRPqodahX&`|ul*P-aTS&NeY&bPtw|N`txk4*rOS~GgLkQX~ z(`8d^zUO+6!n|YOWP4@Gl_b$Mi_p`7Z#7R@{TYSN5`4ljPx8DzB;VI>O8e7}n$Mm7 zOhp1`fb45V@;l+-ixg$jWj_OfR>mji-v##!ITPHrT9tXVnc(aw+tS{YmWACsI&=WQ#L`afD2%EA4#_4JHmd*8dRB+HII z%H+>&4I?!Y#x%Uy3QMshe?cvX$fTcQJ>2wPoS5x5W0nb|72DnKsjd zM&!vAhYAw-cF+6(*ecFnw*u(omY&)dUj4Vwim$fJJhF_~zVLdpRh-~20o3n7DL+(@ zz*P#izROl|27DVuSF=?dB+!bl&**W(*e-0_Dh~ZqdE|!*61dvJ_GWZRH@)v3qU2$_ z`}tSa@RwCZ9@l_>ea)H}De|5E{9DNDTg^ni)1SRTc9ezAuAa)~9g&(Rhpr&Ozx*B_ z6eZd`&pvI*OuB9;qb&WWy@5b0{uOA{nx>*HLQ{y4g*bLAsa&7gUh{g<6(qPnOEo%5 zwE3#JHj{|j-&;9fq@;mBtNz=a<><&}qAhNeB)26CpKP}bxSNZjf&}-=ao;gU2Dq@+7+%iWc(H5;|XvZNWH0Ks&b_o{+6(q11uqaS9yAt;} zCtCG&T?-Oub*h`QtTxOd+M@Mb_U}NBZp=nUw;g9f1qtjoY}MdKUDCT#ReHYhDGL&4 zRq4E=ykpvZVvFx{VL|~CbEpOF7W2^$6(sgJXOg!C?IpG-Hyg`&5>r$gdT!!%3leC> zzkgK>xkPO7eQphPCe4?0q7PV<8&r_s-=p`;*-C6tZaS3zF0AR%nKoomZjeB$=>;;$ zi!PibwisK{PZNc{vEAq>7Uc#NB*cp8QoyzK#1=8D_Q{LFz|P(2;|+@p1X}U$Egy;< zC$^|uwQiggs&6z?PZnbf6(sn#`;BeZ5?hR|mYpUD1VoizkB$68x(}$qzG$EuPHNC+FjO z`$W;jpZXgJwBlbjTHPNZ1%k)vyP%H?Ojz$(DwVmB*z^`l5ma z_DANQ7@mXl8Q+rLUfxE)UWCsQZ29bD(q`9%!ln9CCt-pG6(k;4{2}c)zJS=GC#@wn zg^%xoscTh#1A$i9^4S+fmpDP3I*3+!e8++c68sD1kEU~oEqc<$dEQ zgf9uB2UrX`RFL4`BNu+2PHZvgO5U#}%;+9Q!&vMcB+v@mG4rSX(od*1Jd`$Ju`EzQ z0$U~Xp--P7L=*_8pI8(qtWms!`HH4WC3;ODwkS|jA9oQ}go-qPMS(&E31iz$s-069 zSKN>OxK`fK&#?#duZs;^rxP9*iM^$MIAkgj=|x+y=t-y`fwK>`Qq&^Bw4t;oJ;ove zA%Rx>TY9eG;-W2vP?a2#u&CJI$~6{s2o)rZGnp@uj-*%R6N-h!NI?RvxZlCU)WV`I zs^hMWX+pWC7nL==8);rIx`KppCUZWM4=H!)g5t*`N5XHRmCsoxd6Iuo(H3j6__A6g zU-ffJD2q;s3KBT`U~87ATe04FO8M(mf`SBEaUYF^;iW`dl$%v++mY?L;}tI!TLcv( zaQ4AG8n^W#2Pz*`y0X|JNT3zYC0JbNZGW3~1x3@x6Nj0wU13||{tWKf#uHoAp}BcC znqqUu(1vx+Yu<*sg2b`RU#0Y-e-K-Y#?<)Hrdi`-=&aroj-rADj=@&*|M7Jea8Y#M z{}($^u>-pUQ5U3k?hJMpwyfQWi70k=JjP?UK6Ze`?%Z`OEbMMEP#-&1vHs`oG7q2O z>+kRD#mjl^Iq$jmp4)XMA?CPrkp=Nj{!&qb1eOKz9lgwlO$g1;8<>1@NdlC|;g`+{bJ&>yf8+$whw~~h@lptX&SCda~Ro&MP;6CI- z2=f_71K4ZRiLE;4&9e)S=3zT3s8|}X<-``%Vd)?4#yos#@?i3lieoq|F_=%ZkMnMq zbZAL1uS?#=P=W-O9=g@&mX5ujrtl5qy%obi8uN+vSn8CP?i3l#m1XyASlTg7#&j&w zs!Mm(2p&&fPmw?^?61hbXsf&|$V=uG$)6>TcQJ;>SgmPRlx6)lfbS!pnMj}(mIYdk zswGLcR!4BZf;*h&ko9_wF*L^Nebuf~qYk5Zsay>V1ZrX5PI>;k9QzgK&&QGPPn;WI z42`j>oM2+bMtSoR*$%ZW)wra*$eP}#Ix>;c)uQ_R3 zAQGsBy|%-0GHYMfKHFaDcFDGe??;JIpZMla*Q9%Qp*hFOu6uXlrry%C9b&{yJ#j}# zmmq;-MjDZo>B~$xqSWIB8~qQVufyPs)nU1Gq&922Vuv(7E|c@7o*o8ji91-Gvq#D< zUr6HC*4v9+t@G*D7D|x7nKz99=)T(D4YpeQB;8lj--TMZ9zZ<~-PH5w@z^@9+Gyw9 zSAG3L+&(*%eY7n69~p`5`GcgyC9-P$HNtsXU0<_6Lfm6p)n$zA^0$=BJtHePB#%^d zWh(=LT9`iCmC2ux)jwWUO-Fb8P=bWGKPYn3_3blpM^U@;Fh;+lsHYsY#C=6UxV~hT zk8bLDO`m2JH}x>?;?~}l8j-T_1hs?DAkHe1-YHONDR7M{jj{>VE0w8c~-e`NSB)Dq8*Lt|x^2Q%UG?AGr=F;B_o8A`-+ovhFytOjLSsm2TpV{sKS{!grQE#aq1JiES$R7gt4 z&y}vl^M0`#2-FfDv)F&N_Lt`hb;gn|Y|VL>$1Gifgz%mv!f<^PDPUNfDov=wQ;#p= z^kAkFs3kmq4g0S~?Mif0Z)T~@YE>xa^y8&VkPvsn^>R$JiBC=sW>(#UnNFaVc-HGY z?IJhpr*_Y>C#H01KtCua#>A_4VP|H{n2Zs0Hr4Bq&$?1vt{ep09Y_|}(vD`&_;Xgt< z(l?`gCr=lx!J`q{%K?MrGq;8RtI_(1DE>%(}?FE?!` z%C9vLsD&p)9vgEYYPx`Wh-qvEdGRCUL#3tO5se`&9Q#OtgB!u5ueXXBH$en8O zqf^hQsT;c)2-Ff@PxV)67Zl(O*^izG`xDYQ( z_YIIht;?}tnq`24xo#-r%Ffk%wF>b)N2+s_AR)Y-Ca-?jD=$>PT`}_`bdnqi)Dk{Z zlhA@e>%Mcfi#hqg<#Fm=x>tnn zLM_Z28t+!Wtq!-wslIft2qj1eKe@?kOV4gbsr4J@K6UfQA0}Fy1#RIwAOpFS|bN(A&Z*G;;uGY+F_~tYN2|x!(-dpWka35KlR=V3E@Xr z-vxA7BEp`lmt(7`4c>M#5U7QgrrCDLWwm9MQ>sF@worlu+Rb5k*Yrq=wsdC{ z`&Z$)Mc={17?Ni^e&1HR`9W3OCPxVpH~lE}o6E|s`{(N&Bh-;@ht+X(V;u?9!WcR% zQ%28FS6@D%wxzpdC_%!Qjy4Z6*uGxN%xlq&b=1OGVQ$i?mqClo1;cam{B&a-B}f?a zyy=mGOpdI}@6$a<;nPLmE&j`AfEKlKA``bIjkR{-lb+_ei6i-q-6NeI`1SgX#Eta> zG`Bhnnd`P}bfGOakBt5J=cOkN1ZrW6;jm0EKg|~Rt1tgrCssuX62eP!^6paYH)YgJ zTif%+bjKYD)WVjJZd!cqpmsgoo?GaSJ4%q45Ib12PCvn1ciczpSf%J>Hl(bINyG2H;gccB*c!Q@Xr_LB@dmB=^77YhC_zGevm<$jcTb+{YWH!y z`5gN)=Ql?5l%p1=iEgaF+Ne5K_2)zB_A*M45T3`AcYZd!s;_ph6T$6tQx6H$65h>| zcNEn(S=1@5M)R6V2B+V1U4p~|ZGbj@`UK{>Gy0=-UK=|yj#t0^#ES1iEu(cqZpH_d z4jacK=_V`IZPXIp*!A5^YTLaZ$8MP^Ji)J_RT5P5ba}D!fc*;*+r|x&FDbF+5oxgo+a(=Z(mmq;9-+A|yulw!6 zSJB;9d>3kA?V@i%+{?++Y!2XNx?hX2LR$F1Pu`=S=bn@Q-X!y-SGGI9gQZK5Fot1$ zc3B;nwibW$`iFr)Eo@iF?|I@=wXAzvZY5t9So$!A;>#Y%=KuyK#H$x)b>w%+Uj|B$ zFs36q!v^(dtxi0?vT7hu>#R0NTb6eNbNT&Hwysgr(^-R(tp zO}<5tKrL*w=}uf^Ew#z`Q9K~{UmKPyEK69^Xw9nc-w zsms%b@uI25JHI5L*JmX9+6QX?mYc&|-WC?5ORW~GFq$tLoX0?*ma%@6n*GFP3m(lM zcQ2}<1PNmutTwKbTDQ+&elC8Ridq;ew4uWi-nXf`vOqTejqW1jm;uKkIQk&#Zm*^m zUOkv!mX{d9!1s#pDI}k=Sn?{D>b-IxuUv4OiV`G@IoPYJo4R+^KtB4$P6L5jI2xdD z*OWP8JGLN#r>1+U*j}N1Fl_o#?7`)>HY+2zZ-rn(7)YQE$@k~e)z%#3JJJ1OZ$lXP zUSq6SLSLTP{iyKF&)>YEPv+(6Do=Xk;p!6CuSB^*&r@WCsNlN1T zKc5sAv2#Ec=hx*E_qFCoh-Y1E-_*}apS_=yhu_3qfd7j?E%Ch5GFNsHSNAt}hLQWa z2S*7K8`e6MC00sPgt*W7e-Wr9p1)Kji#Un)gGV{T_}#XriV`GN4*jZ#d#Nvj#g}4{ zKuJpC@##;Bix6L;EuSi#&$$ooHY6s_O;k3ox+cHt*;MO#;k&Y9&Um>&JK-Nr5Va!1 zqhGyux1j_HkDG~#d;fc~X|niYI(<2tXWP8Z=hjCffm*}dzbn$)Px6hqt&_qaXP)D; z5Fuiv$F~vPs7Xk7S!u5XY8YErtc3qhozQK9gm`Wi`Mf)PX`hrZ*snQsJL=acfv7^Sn! zjuNp#3BK1@5`}fk_V5kpOV&jR5?BjdvAU9NhO>TPPKmNK@gt0vENVHzA^wN%mC}Ugl-jZDyzq54V5Pvan$C+L66WwhFUj^il7_kJfrr|E9^F{XBn^i_i!jdYHE^zjZ7 zv+93PO6~cglqw@^wa+W3>eX_*TBO`?juIrqvu*{4<-DJ)HVMzj$5n0lKZLGz>*9MQ z$Gopfnf)S+Z{HW&(sZcG-*2hGQG)Lk&w6fBtor3t-P^R_Z<}ZPA41m(@uV;=eN*<# z66I>+h_OMnYYgW(t}Ikhg6|d2dKsf{b9DExW!^Q4&nwgEe+XSm+=+||roPZQBKsVF z(bnYEDDG{msiH*OmMqyIQ5pTDiiTm+nY$a8ZMzbd(HV~AW#c!NULhI|5nrAY|fY8`KF=-i8k#&DQTB~RbEXJwwihHnHqE} zBX6G3m>;NxWr0rbs0r$U2O0P+&l-k2N8*70XXWq1UzDx+MHubAW#E@01JxR*jHLv% za70etdR}Mb^Q!o$_6aQwWfut?U(-zZc_Z#;k<_72b2>-i`iLHh?#!XwKlMeKG*wvl zYrZBt|7(-F!I8s2pcamn9hPF3hViU#WcB^y?#@xTKB7m$*q^)m)2-rO;d4uLucKQG&#*f?t&R+rBFGxJXB-ZPmH>8=p7Ph6HM< zn?EbL*VFf4onh3EOUEny6T+7V*HTe}MAI&xls7MFj9p0V(Kp*TS#9Yxl4ma#YefRJ zgg2U1T@#aL6Gcx1slRSS@Mb})Y$!oO+!=1(Dp8p+S%e{b7gfL2j^N93tcza)~A>kzi=fJ9~J$}K%f?u ze3}V=d9GGk)`Itn->qWYF+3x2De9@}DB6-QZ?eZgpcbad)f*IQ=NF^?9>>IKBOI6L z&*FFeyN%@Qg%yhW{bXNE`XoY^q#V@*44|)oInOP{wR>N!X=^|0?eDHIkkGY682VQq z$xE~8^ZvR;XIW=|aS^&igrO7S)LToslT*?eMz&Wo_YZuvz`Fdikw7gGhW>3xIv4JF zbl=VbH>|y0xCmW>1b!Qmc4fvt-0#@%#2Wr=9772b;!b2=`gZ2awqgu7t@Lx>i5vQ; z9mrD}5~w9^D-79{sAMZ3hy!)2`!B0BU-j5H+(4k#YdXm>N~T$h^CZXA5#JAO>63>) zdC-)h1PO8L!fp5uW#4cy>YF@ytbc5^8oc?%Y6b$e#L1DT0Y4SjiIgfcJr37g-;T@Y z(=(JHAx>kTS@Bb`PZQ(aof-EZ?DD7w&)W2ngam4dwX^&)ek$V344teg*uii6lhJ(D zE?)^HNQkwwyYv-4*Q%NrCzjtfhTlF~N%%2SjMO~ zh@GIa6_c!wm%9kP^dXTzKAW#cS4Egb*Se>7D*P3_! zNQM$5u*6V%b*U>gL{o*le*5O2;1PL6^)4C6h zrd9s#DAsP^^$ZEpZEbqxGjEPS(-6jMkIYTtrMI0wqXbZ%5xB95qb6 zvtp3Cqjng>x{W1c{+6#wd$;e(kY}Qv*Y7n}jho+B-TH1YLkSXCddRvpGV*qvm#e2{ zHZTyVRrK;VWlh2FN>HQ-!@(=_?OsDwuY{@$B}f?ad|*&Lek}VE)&FQ#1A$ssb|xzE zZxfaF|B9Aj(5S(D^T8Hs&+yq2N|3-ZMms-m2lI8IZPc?vrWpv-DpKgXGM`r2)-@Ah zJlofd$8XHZJ_uU7TS>RjD9Y_%Ww1Ig>PJyP=Z8#`U1+=Yd@4H4@DRk4{BB}aAFrwt^7Cq4Y8uKe64;kGEajH^1P%XS;f)r3mr#O4gKu9H&;37@$POaq z(R9-A_uKZ|wD-M%KrQSUCEPakr=^0UaPB~t{)$S5+tz2 zpqpV8NAhWPrl>=k-wH$t64-aqou9A}-ZjRZFG#m92np1}@<#qFZ=1N6hY!zo`i{S041`IWK$?sC_zG4 zK|fnhJJm##BVt+#0=2{lz*c=w(oS4aS~V#5MwY%Nts3aNdT0eP|Gb%Ys_a^s$VRIM z-+GRh=F+MGN{~Q{I4l!s)!;(SEG%2AFav>FV*cs*X^iYzH7G$V2K2`|=S#Gq1PQbV zt&7sCf%H!Z3#nPlITP03g<4|1TkZW2*|lo0f5T+8m)A)4rBtjHB}f=;)%AFgn(k%< zi=$NoBv4DN4HRBINOr9n_#7^x`YI7@T7D1bs(~&M^ZuERL9$qf!#B|`*_0w`y5wuxMYaQ;q?{l@@xEAbEtGxySwa|vNtAFvCn&{Dz9n8PmU@IiV z?0$53r0iOUEBe)o-wDdd@?HLIAW#d-0TKMZ+}gjl8c*F05rt-}p& z*qGm$W0LX|^WgX{)WY3mx}k8mF%NGdNg34~93@ELo;RHlE|Zb(b(o|K=|T*<;Yf(} z#N*wj%C1%COvf_vs(k{bR&`n$2-L#8d-B~zE8A@%eI+?*Wm`WXfP`4z)lU@AD1%nE z+q4`n<)@Wxl%yn<&6y;-b^$ii%C;#yBU?x-+k(&~NQf2I!WScD*UI+q#KpFs?W?jx zTG>VdwZ!jZPmhpYyBR*TvYn?*3-*Rqwo!tFSVJypA1b?6wu_A$8&s>ta3)r^kw7i+ z`_;OGWwH0-u*~h^VavE{6uV0++bBUotY81GHduD8Y)96*Y?EJ(Vx5M$R?=7bKQz)T_dsN@G|vgY;(48UZQioT_;cr(?mNB zbn3h?!hd_K6YKgJL^=_SHmzT69G|Fi1;lqj~jWToz64;B9UjrJ+42yAR8Pe|y!gryT z7~vGTIzV>Kypl#sQo$Ck(ULAf!nhmmPb0E3*Xl~m8^k+DOFDsCVx*S5`zl6#CYCX< zAC3A@f&}j4(rt2@K}LkOk#Y{5CSiP$7W2W`r~AsTS!x)~QlB1dAq6GPQgsOuV#ey| zGgfx3$t<9m@T2TYq~G?e^d0o%ccGS;^{pS;M|RD&-_UG(rq@s@AZfO(OOOyV?;hzW z4A(BQYep|Up&32C3$?_2@S?e|>{>M#O{)gq=J%D>C#@Rj5+uY5LgRapvTK#IB&|%a zm4l>zXk`N5g<4`hSm0WJ*|o}f;nP{$%uD&$l9`R1^Fdv*fYvEjt+mKvof6+fz9ySA zQ!jrg$C{M!H-v$Nn3rU3*im-PQU?t^r8Z?1nVO@7fj}*^2(={{udBV7H|u;jpTSm0 zi22o%WgTSKZ2L)casD)4Wwx=L=A57F`GH!PvknVy?8)7VmuGHg?mE{1^iqO^m?y5; z+fjC{8r-zi<2wg?GUeMpW_%ZFVF{%xEjy$&k?>upg>4Mosiyg0g|p#o&q3FGP;al0 zz?P48$?A=?#^r3!f-|RQn9pLa-mGscS*$c;-q5MZ2SwDeV|uUxbFMmPsd{NZLd*vb z?hcV%s|KGZbyhRH>cQq#I%XhH3-gB7^xY<@HMjLU^CNBz6IiKrOM>pV=~2 zcI{v#?M(!Vy@{0X6>-;33nho~l=ck@Ot~ABKWX1Ue;2m97&iG_o-|o{S!W~@J0~-F zNA28h?tHKQe2DkcX7bM3_2Aefp94lBS@I`B(Bw5ctq*%if37f)a6JpHayz?G*bkDz zKmsLtOptJeA=2=M(jvk@LVp%oGkA9j<9AXRNTB3Tgewg3ZaOaNOh?(5*A(4W`m@l| zt>E&{fCNhZMEsWy{$Dy?KBX{R@hzA1EVO!@h^OCmTTwdxBT(`uA}NftK3rH>#10Al zS!k7gc~42sbIQH{2$cMZaD_poMAgd`68f_%jAR=+OCk`-l0OlyFeop$$Pn=-Qd=VQ zrt<`y{w%a~E9m**BnY5VlES)zM#2?FQaYUBh+Hccn&1pWe->IIh8DkP&fot_M-q`N z`4iy^;~`l$Lpq;75H4D12}>6beV7ym5-8DQf`ls!QA$KwgsqU!pM{ogH^{ygT)vQyKuJnM&@Q4(pI&TI`fzo~kSG;P2HNeRqr0{u>Yn0C`Tc>z z*w)(x)t^5nswhDMEkfTncv_uxdmC?~|2Yzy5vbxtYVK0kv>!@p?2y#oTCJZCFgo*{v%%|h0%F@HL1$@YHFtf z;RXV=M%?YH{qTN~6h=<(64K=(L)1_T10_gI-qc0ApXOas7=NuwFt4c9U5%r3Ac0yn zzjV@?m;N^?jQPhx&7mD*g2E(uZ#%FSPIC&HhB(BmyN!)a}u+N=0sUi#{Pz!4TeSL@sD-kbeGvtrnUqnNMO(4u;f_%Skk&!c#gPkDF|0jCR%N@0-YqER*}&k zZ?bHIiV}P;wqp*<10uE%@nWfwKrOTa?Fo0Wuz{-|tFO*?Q&ED1(N<%rEg5(`)GXQ( zQMbR3yXkCSMO&h`wZiH@zCBH9+eLe2p*o_sSGoiVY_)0CncBpcRO0D>XAbHFYGGeO z-mHj-cpGmP5#&0i+58fvb1kMAn^5`Tm=%iv(&3tM|-uBPmvAC9O!rNnuo>7#*XSjip$j1PM{5i@mlb5gVvws719(v?WNOmS~mS=j}<#b2nOZQsIR?AeY)stF(#s~?N|4pGaX2ie`@N_i_l+Z>d#SvglNITV&jt1 zF^^)@jsC7ttdKx0W30R>)$x>i(MO>K39M=KjYCR9e3cSXXG#ag1lum8X+@awV#w+Q zvl#oJ1PN?o=yWv2>R*c0Es7NqsAY^54X4M`NSuptyFT+0!ShZxo`ua zOOO!H`tL3x7tL$0(6}Ang<9hG3rDPBwOhc)DmIn zb^d<|U4n#o)_->quj-6s&&gi+F4Pjg>uuNn61oHl@vQ&u9G9s2xCB=t#C!E}wO+ZS zB##qm?4#;qACw>=o|DVfhIjF{a?~>?P-#y|=vsnEE+x5Wep8i*`+p#Gt(9%=D#@d8 zF~8Br)F{FCis$4~q85YI=t6A?N|2D#CMd~soWeA}5r5sNO+*5<+|*}E@;vGYz5h6c)0M(N2@+4{ zzgCjxY9b9HEg~IApjPXBFO=jNq_C5)m#`H|kg!jB>s--u&2dCt=yOgaQ0voymrlYp zOBM5*43zI;j)Rik)t@`H#0(qXM0a0_ctB~xcwM06S$L%!URrT>MN{|rG$^8e7sa1VU zos!VCgx!+oA6>}0F*KVnk#&tkvX-!V^8ABS?p>x?OAO^8O7OiR|C8rY8W9(X*q?$x zEm3-s=TYY4i)joeY7`QvC0ZqYE=qfl)Ls>#d5-AS zP=bVL`SkTmhefoa`b-!J)DkVKK943ZX;cT-&^%`k)j^EAsDnaFueHhPct-VnB+YX~ zJ;#_JA?m-NU8|g;FW*D+9MPX6fm#?t`ldJaA7Y*(<~SH%(SPXc0hm5oXP`dnC(Uz2 zAB7SmMC+P7HwdKsuu*ZAzJX{xtiz=22!jbWTD@OiFYn5`tPo}fli?wM|DVtaY2`Ue6fNC;cCzPRrX1WJs=WeQ{0ABkiM z5_v9pYI+Qv>7X=-f36(V--TKu?+QW>gXWw31W zAdy^yg{4KUO$q}Dln7htt%3f#D-5v{E-Wm<&?Vws`m@jyRuC3(g@FW0{zSOK@G3Bh zUwf3sx+Z;p>1e&D%D2lulvQ3Kns}bmJ8iJrx0YI&R`JU8!atQq4ck)L6~rkbRuO@c zltimJX@l$J6-06J9rSYLN$dN=RT&cES=VYm?4I(f#ZP5&>kdTJBEo0cN$YtcP?D0E zx;1U^%VL7Cb(^Nf-p*v(V;x~21g&dH4X-H)J%1`khjk>vn}|&JGubpEP?D0Eyf1BV zX(otbbe=l@%rya>PP*I9#KkMA+kID_WoDXqUbsC?aHDII({8#AUBt^dYXW)^f!0k) z=$3X^%5IpTR%n#je0u_Yr~1+rCEJBWWoFA7ns{E?GfnUt&l=j(Eq9d8j}n!y?ffWK z6^JO5M4%)kadc3c;EtsPv5x#X)!TMHXlN!sj)ZvDwcd?>q-@LeUHMu*Fp01bF^mY5 zq$HkBr!YPR5aG#&^V>g520c<2sz``uT?=hUeprY&@vUUg0U}V6lF%*f>T!0Hzcb;H zt>FF+nr?Aor96rV zl%yndD>(Cmg(l?(65?6c>a)6&mYnC5gRFj1exM{Jq30&0e8U8(2$hltRIZQ^&$<@c zkoG2ssFXyYBqfn-E25n{lWjNE+Ps51YI=PZ&w5SWIJvWy+?G&1m#$FDaGVH~q$KoK!r5Li3$;EUsP#cY zJnLGShj-JG+eB)wn4Map;1W@{Ra}Lg?=s_7SVV35OI_Ulps-mewtw6Gc$ao@XMK&`VLV?B8G_TC01_6*W~ni<&CxzwYmsysA*kP>Tpr&ryPesPlqwwI#!- z^>L>WY`P<^)<=IAYN5Yh@?}9STs0ydB(-q5zhERp+a-Q?wTYtdpdNvX{sZ5IT4)iv zC6q*n{sSdQpw%4~8e7>!{Sf^Jws6?0iQjb_{x6|RkU+bU2b$%5d9jn;)=^i_ss7$Y zw9a8ee{Xma>adEuJ!nl+|~bG9AXy#loik1luTr-sb2&g%J8MF|osOhvUp zZgXY1VR<5km+8T;ZJuiVRp^Oc&H0V2pH^=-qyq`#s==guL--cClC^K=%?1LsaLs|d++smLr3s)WlCB* zWuK*@1PN(@r?&cPqnUYdcTvul&R0_6@y=*w#0k^Cqv& z^K!RSQBtR@r>5V$#;|F$L~Y2M%=K;GLdUC^YnbO(7ZlYRxlfSSEi6l6w0kj<=SX|T zwsuxu6(vYy99dNByl|MjVY48Pb{x+8+{mF0+7&4wfm**EMYQ?bhRYTAmL{Uil;ONV z_!C>p+EWY!YW+woqGh#4%C{#A;zqq{e15Y?HQlgE3?)dkSmdeI96dtb7+6ZA7$`8O2OZl4_?_uMX4qoUmV zsI%vux0U-e(m;QMsxD2C_%#5?zVLg z=gX%}wKkhO#z3GJTH0ZWROKSdUi)yc^o)2=?!8>PD zOT%o#)l(ftFq9xsZeLL?cxE&CXC+atlxqQ!W5NX0GjOPZK&`{MifRwe)|B^65Jc^w zL!^Ga+o*$Y3}GliB45tp+K?&Ua?!eiV2-I$$ehV)^y2{r0<|VgET*0LP+XqAM-aZh zZ%P9rbF0du?hGYJZ0=J++txm_d_BD&hIz(IX-@g5*Wx=H2-IrRqqx>T%M~{8lOP(- zF3e{7hT3Z8X~0l|gtWD!c5=cgRzE=0+WGbKvU!edQkYjG1A$u4suk6C-95${MT#2r zz&%b{)AMgzrUiW%4ga*`uSd$$Hx}1o<4S4)qZBz+VhIg%)?rzaV3h)jPqZ!UGQg1M zNHot^Lc5!%nS67Zh*iFIZKO_ZU)qY#3^x#{h51k4;Vm^>I(6Pp9qLc_a-b|Bk@4^1 z+MowaUhzVNaVuAE>E?ziYW^@<`2qs9F#qXR{Mhl*{<>Y%@h!p_N|3r_?6a1Y^o^#Q=){yZqzbdOV5rhjkea9*^Z%okg#+rsSWV)k_*%o>8REG zn6$`lwUrpr&p@CST7hnitUM`I+ke8AZfjqL5+pE9TR{ma@*oG%dt$FjcWhg-c%NTu&Zb}~3{&G6ox3x_T1ZrV9rZW>C-${9z zEK^T!31Qj#71TV=+1bFr@>=4lBHHK5pV^X1Wi(^i^*w!AirBtLo!caop#+IJ9jG_> zm|kwaQS>;k2BcxE@HF*I=H>L@rwH%hTf;!0R@=h`G|Pq;Y{rmsMD%VhONS2!@b^8+F_a+jSLJ-# z#}+x|gleMaY#pCn`uege|2o-ZAW&;-`-0k+gJ0R0JA%lN{k(ZVU~%r{U7Mis;L!N|5NC-BT;twz%A1 z6?tB+-YV%+N3NdB(%C?u7Um|c?}kp57W%GM_oeO2P=dtT{zbH5(KTe#BhgaVsj^6l zdAnAvysDRhKrLe_xjHyf`nYhcS}tagp*KJR`!2fAndi9q^OFcZpjkDkoqJBryUh`{ zBy|<7Yhq4q`q2~Y>exyemN%NKrAsUQuHK73+;vGp2@?5+VM{7M4mHgJ>bv1x4FqZ#W93MkD6Je@ zke_L#80tCJV617hma%@BbRsT4x9^q=1ZrWuA@5@UoR#L?d2Q?Rqqm_qz;@o)e+=k; zL7G0%Vaw*$o1p{=W6v4)^s02VQ+72+mY#;*0DAx<(f)QMuYGn=OnA+-YVLj+l^GA* z($C_%{h0yiV`H!M5k4jcStL%^9Au@zJ+_%{l_})*bf7NTASYemLsO5 zlUI)xUjVZ%2;t+mgxcOGX5$zJY8_wrMZOl$Q@+t$A>#B>e_pu0oAqonZ;lcq#)iC= zf7{Z_9U93*`1Ek+Pp0>?{Sz2sAW*B$Keyy7fAx}=JrgV2P0M8F&CS8KWnOJKN{|Sw z^gzx$GJ~AcO?;Q^@TtD)%T|T0#Vd|75U91G*+Kb!k&N=8t7al%+SFH5mCb6Kek+2b zL_9yu-dk>wS<*0UvGbFB%0lF=d)7~EU-mZ6eAe?{{GQ#>PHtRV>}I4SbP1LiV<{=o zw4U0}JFD6LEQ00ic2GWgxTRcha92${k1hU^`382?+DG1!8&?mJ=PnWc!rd-5Q=bkf zZ4T)j!BB$4&G)zE`pXm8xWb9V>jP9TBgr z5&XgaN7mJ=8W{-GGUnj-?~#0a;Jm;^6;nwlNlEBs!MQ&;{_02PjytRTqLy9HLGhfW zgewOzXXylXy?NF9BoQb{N$B}c#FDWr!^J^?HJcClTz!zMIyI*7_1kkQi7r+8(*Mjofg$u&#aE5LUL)si0oV z*GnitqQ#7T_Ge?>Fe#Hb`*Hh52;0}^{gEw_J3|7sg0*$_PV-vHOUjB;qAhL8j%VH; z)FV0%LkSY*f7aQ%_`hPFpDjfE{+ykS{rWs8_579w0<~Ueo@)Q~cLIxbmiB#9-P!qm zTF~qTAqE1qVlGd%-!O&97Z!>7F|S`UDd(2r=JbOj7)p@9ym43xn(IqdDr7a^y=^2= zOFZjk!Pzo6&yb0|1CbwZFL#kAnd&=pE#Z-yoban&iX5c2#6akID`+J2vOwPj7@bx+ zW6Ne+y*H9~&RpBBw|(W_47MM9l|ioWEotI+y|tsgiFx&;#s5sPRUH%IByS;^XOT6F@YmqfWI7*Q4$uQMEZg~cI_EAAB2~ErHoyul=_`bb?K&?7M zmfNeV>E%?;{^S1rZ0z8#J~nx2h=D+@G}G4EUzmH!A&o>Im9M14;u>a;`MYmLjuIqt z?AmF!%jx8mUqnB6z9^NBwViDD*0~!9)Oz|p%HA%pyIlLJ=xYz%>&`L;UcDku^AAoPj{C&@3_b<;POX@B7vz!nfr(=KZyF%+P6n z*;3}SUSf>I^MetrL1-DCs2}-(90W* zMIUXp+Ajt0JRiN7`-X$^pdI7cecnUcv;Lr5?R7MJ|FxT;hokQ(mYQeXbvb~yb$B`Z zLA~umqTu0!^2dLp*(0LKGhX4f*3m>frZBMYL#<&?56WRg*qp@QL=+*S_9rif5+pFT zv~N&;yEXO20G>c$Ac0zEa~_hPy^3Z_oMH5NdD5B~8^Ci@7$`xa^sz&-=5aw z`rxE>-qiqp__>ilEleNXT}t)Qn)X2eUlC_aITAyM9hPf9i)QJaVRSfF$W|gTfcIKr zBv32i`VqOu{b+XSlZe$V&%(CClLEM3o+=C_NMM?1eqN!o?Q*<7Up>r7pqAGPn_MO~ znvHoQ!nnC(yRFv88a$Qi%}|2G`rW7Gmp{j`a?WoFt-P_?R%lQS{%u561A$s~LhbUM ze<(kmiZHh1e`tGG(4Pma@M0)IqQ{jJ^0s!-%;%glL55*S0;Y49ne<~`@fQ{OcbsD*Z;IZlar)=;V+b3Pl} z60Eh@O3=u%%y#P;s^{ZLjKU#f%BDe62VoL{f z)vzqkcYdmERe80lyyT=(hEjq=+iNf6@KI5$SfQ?z=YbQW)ngw`JZDs41A$s+CcTlz z-H&32>|(T(eYvLIJ6V=@$XAx31PQ-hzva}`CoqrFB8<=Huc*H^RpG0v7BCQ~<<-d{ zFVv#h>Q9}Ch_CZOt)I)Ae}9#gp#+Iavwq6~rw_12nFR5Z2wx&H{%a&q3+EzqhGn%I zS2xz+88Up9P=bUdERE9c%|TW>jTpT)Sn0;6%&WmaHZ&5bg>w<|`|-nrx6N0Trwx24 zp#+IMo6{>}DjjAEpNUz~8M7y!xv45I*wteQRO_~VS_c;8nW4FqaE9+XQ7JvxJZ8PlE!54J3yvFSepn-ql3~jnRw-2*&3edP$rog2 ziGQ`x(CV}ne#FG<4L9*oQ)in|f<)V$?n=f?cD7v;^V$`@Ccb=+iA(P54FqbL7q}}+ zHgGo7Q{1#DIJ7$7H`Iqmon2=}2@+zapFE>~;8~S-{_V?en=cv&)Vi;@E35CQtj9$W zM$f@jc!2;v{!@KoMhOyVY1(PH=gkiu_Tk$aWR;LWEi7ZS6L-R!{~A}FUwP^yp#%vm zF?3GmwTXL1o4DH$#f&l8b-P>rGPY%ode@%SLeiLu4)HLKE63Z{RD_c(6 zS);rnKk5^)dzXptZBfrapjMhVcjbW9&K?vOMCunN{&la3A0YxINMLLomb&p22Icve zxlIfNYPCG)uAJFzXM-w>Fc#l6@hBn=wg@q!1c_N^+?7Y`?d+GIAhx_Q@fE90+}6@a zpq9~A5!7q;ook|#dZC7tBeD0SyHaq5on>z(!l?Y)#4imoadYdw1_HH)XzohqL3Wm> zmops)O?)xck!kh&no)uTrioUarzPEnRtx{RrxU=cSDbZ1lDG%Q5Q^n=ROnn(LxQi7V{j-7>$;w4rbqC z;#KDv>j##6W7!=?*^6$%Y zEr9n+Q-w8{Roi}a=XiF7)&OvJ7Zgz29^WgPP5mimESJbvq2FT0{Hz`UWRn6>rvajw`VjPNvTDP&^lcHjzJ%91n?+Y{Xhv4@e69(rxM-Q zX{#xRLW3R?u{i~ST76#DwpS#gxsy0;4GsGDN&tWO-HV|F38Ss#;=_WL(#)&zHzR>s z?}F>tPxgprzRoa?_n8wk`g#E0Nb4miK_c;E9sAwx(d^3)k>^AD&k0&YbF~YU4kSs|~cNMM@irrxQH=4)<&Jo{=Rfm+qhHnaz~r!|>G5yn8RsX4k& zAa9&dnV|%Ud@Y;X+t-d}MVxCgu??D=6QBF@B@?R{2-Gs#Dt+F+%`qMQc<;Zw4dn`n z!#7&n&y|g4lV6EgRZYBOj`jE9yP~TZ2-GS)Da>A%jbo)c_8_ABwnygCb9}gOt!fM< zNW47R#lH4N6zh6fgc0FWSh{|*25)k)vVlOYM+^GfuMdx6mv#waij-TbuwLPwO-eG9 zAc3p(l!N2iOS?Y$^5?W4g#>C1x;@^mY5UpOdLoPiKJz7Wgg3X{slZTz#P~zg?7KGX zXGi}P^V(@M7D(oGUi{d|N(KV8&>}QK-n~egcds%Z5nIWSawJZdoo_Gq-Z_pKd8yA1qhcuF&kxvt!T;Y8lef>IX`Yz*fRxd6O=O zLIp=^N?p3#vfj})R z#}uoe_RX>pa#?x|f<~bI|MCv{LlKi(!j{ zsl`@;ZZ8)d78FWtV(%0!HMYUn@{w2IA10nTqYob&U)9-1>HU%yjoW)~yU4CSboEim zJx=5o6ZgyE!&|)0;OwJx2@<7g+Q&HJw1MZ8WAn zec>YO$_23|l@BjKvFaYNDG(({V4vu)?9J)J3w|~6xu>)vNT8MnjgXhRU1FCOiZB{= z^x=~>(3i$$53-^JiB|jEmE1ipu~>gW>~3n}CHMI7x}*CT2-L##(HC#aROhqz`tp56 zep^w3#O=lIO83}H?8QT|E3@KnZ@%D^A3x~c!-fQEO$v5bLg!v)_9}un`L-(06H$Z5 zH|lLe2@(-Uaw}gpu3m; zW>LatU1K>XiCwbKj`Do(CO*c|*5rvRCHH1z-NEVt|SgB+$}y zr(sGCexrbicS(Owt=u%NQuyRn_U{o%TRJ9(wmzO14I ziI8&Xl=H7{vZay2R_dHQJljw|zPbT75UABRI=#}M{!NxHyV$Rdn4gDV9OTCrHQ_2s zkiZj3)Z;WSz<<2;=a=^FFc7HKp=3rSeC-WZV6zB=c@^Zp7X{>a|JT812IwO2v3k;ApPq+GXbKoI6Je5@5_o>XVHxxOsV$;b zFpu^xWgt*Xd3i>zw)j4q+h2rHt9VYeEvw59FDcAXf&}J2eUIf@5jE`#Ki*_|B?Ez4 zMq35c$YovPAIRPQ@-m#7y!iT{{OHbo*0^$zhE{i2j^9$OS51LDc!`%GKaf~e=a9UE z=rKf7%DaxS$`u3oofSp`wfw#wl1mWr)k*A^$5__{2lDe1y*NscKr2uSH!9j%zHK0n z=wu{Nt9yqd@}gV!S;s0OR!_Qn*uu95^7{`ebCe)~C5G-BG|6SVxj2BwXRKl%P|Ikm zIZyMc!S;ImJu7IiE|zx88~PS@TtjvKB!%;TigJ`7f%TErMbCP3zpXX+!BH_b94F#< z4#%kE2_diw-$rfX$@qzeu_zKa4krIsKTUi_CLccNY6ioM1?L7h7oi#zYvNq?;qEOD z8RiB!>Nke*zF;{%w_6RKd3>0P<2D?<;HZX9E7+nGWqTi~z82$MFiCXK)nf zyZZa^%(vGV#wAD?`}5bi-`QsS1o9kdDjC`mtn*kmX_nf$gYD{+AbxpMC5|Nn%N4c~ zbUraQ+RC#8^7ea;^#e;jmQdO;xujS}2L*EXxn3OW9fpB*g**rpSteyKRfX@LT){A- z_f9|GUZHRlTRX6;hU*UwONewpiixbq@18GXSeZcL!QX$|edy#sqVwdy*m0V)?NC|X zx^h_qfm-vYY_kuclLLE7i4~S1>J_Q<<|_PxZvlo9B-F9%?WK-Iv%=1k0}H>ummYa| z^D9}i83@!$7ro6s`OE>}B&+^h(^mI|Sn{I8DK6=1FpjMCHHhb2o zM_9<-jugh>;8N^&KsDYscB6z6Bz82i+vnGaVG$mJDB)X*dDO4Q588|bYSkNg+OE!> z%BHsy=~z9c0^5<-n+IQ6B%uU}=%$)|{=YG7!eFs~?$+FkdETkaL)y$X5U4fa%O!iN z(=%A{5n@;0nz=GNNox(Uv-?XZLE`?z6ZRinZ7i&~AP&y=W?ha{CvS2-1_HHeMxV6T zDW$UTVd8xIp%dQh7@bZ~Huy*=K?2Wj)B4r)YD~LYojXS4G!UqDZ2c*Fi5Dtsd|d2p zKge5+mAdD{%Z$8jMhOxp>&MzV@8;~8hagU*_G1msR^b)e-Zv1a#pYkLU*0{3HU26* zP0cFp%TE1MjrShB#f%apYD|i?-|?`shlj<^sAp>*R_a4_{xQ#F1A$uM+hgr>M%dZb z&Vs1j%*4`vGjZj`Br{5o5T|C7&r{zyWn%YEnE2)|Ee!-}c^!_mM{K3D4b?>$zh9VG z1v`aNB*2UkBnGRo_7O+zY^|ptivKdPG&@XuWMLzLT4)iv6Zf6IUvD+>G}$W~QjWwn zd#wG_c{>a95Mk^~G_m=|O?+4DQU(IGc4@KpxZ8I2A-y1;elxL9O8G4!P=W-eiRwAU z>g6dD?|-tWfj})|IzG7Vk=(M-TE?{E4EqdRPsVnh*7|mGspe0A9yl=^s5H{goRd{kefeU3SwaaC*gldM zs7Ym5)BqFT`gOj9Ee;acO3+$(L>ZRF$B#D{I7&hZ5?CMU#^Lq~?9^%>zW7%k1A$uD zO3>}I(N)>e6J)EKv1Zi59K`xa`BAYtQ~&Ydp&d4xQGx{4E?OP@<;Q;Z^x|nIy)~3X zY#*_Wp*hYB6DxJRD&IBLLqZ7>*z(a@pRFi6_q8g|5q-eWe_%V0eHVFqdsdiLDqDrS zbvt9|qmaNJm3I4DWMWf42Dt0|7+|#psOg_ zKAu1d1PBlTk=~002#|!9?B07(ItWTt486C6mtN%30)~ztND~l4k=})Hw@8-~dJi1| z0euk(Aj0>|F0=X1&EA(U=j5C{_y7F%nYJ^}%+Bs2fe{YH?N1}+CVHe2n5S|qUfWo@ zcs-`aQOwGS zW{+0I{(Ln?aerM&K?R9E#k#8zZPv>xeyl^pn6ZyztDK5a7T5n!Akb>z7yZ=TbJFB( z1DKC~r;AA2eyF3U2R>9#L85V?VXD+CP2M$^5jTevkw)gMtF&t`5@>}_KGBNs^v|RL zXX+^bIa^La1&N{liE6~NtMZ|j%twdyU8O|}W0X=OOA7>A;j>cI@2;LC-Q8VBnUhvh zK?RBM{8QD^8?MT(y0PS=Rr3W>-uZQuY*&j41X>k*ZrL0HjjqJHg2n1SPnzT&)`j55pI$H6j_p0@*9ox7$ zJ;4)ERk&)gKCq3Y$9?{Luh>sJ)>RgtuB@Pf1h$y;xH{prr2}8pRPOf(SI`Pmg>^&G zYunGH34V1I=jw6_Do9{S)9C#4o>a3;l+v|Vh;m{3R`tt+tL0-qOM3F~73vIH(?9lF z(#4z)J$71pPV3Z3({d`PATeg)cj}+tU6K16E8Dkv?U7bCsiRCClTRSfs_4VHYUwvu z3fmj4unf#Ew;oDw&Q7@C zdD88Gx-afWdHn&W?#i}B-H>!qZvTfv#}Y}8tF<^tUQhQX&i{1Bg9;Meep;(u*>Fj| zai87IxOe%#(jHoGZ!wa-g$1RHR#dNa&lRarts@f!Kg&ex*BYju2s(#$yoc!ccJsnGg-W^?~oLswN zl(P8z456%$n00-xdg;YExl~e673T5i>OIdmDjgO%`4 zQF%7qkJ_KG*n~sQT(xfj}#XOffN?|@EB*uxI^lSp(o|6A2!snMCkfB9VPEBL_0vw=_#lnv984- zdMNIs{QLylolxacq?}AUq<`vMStwn!S{iytO^P`s-y6<|t=ntJiT=?_be2kcQ9%Op zL|4>;8ghp%QA+g(;{^h(e%N_XUAFj?{IC@B@!wyo%X4o>DV_Ik+=~hlZJHcZOT0QI z4?V_eaC;G&8_bMUrk&U<5NL%ZLi6*Hk#gIfHIz>Rt_e9u0$U8-AEX(*yF`@o$K>&~ zG5*Y#a!9S>NtMG+G}N)4=m{Po!icE*e*N93AW>-hAvOA9s(f>AYWjtq7& zed>vVS8BS zRQOPyb}>>Zo^^x=6(q#o=TQ4fa<;qs1_wUoYND+vTzVTsThatnXC#adYzeC)DNx;Uy~A570jwe*+U zZk3g6KV9~qf&`ADw4ONkacsF?VwBW2VuXybFUIrKU;Vu!c67L`B=4*s#O+9k^N;sR zPK$|;uB$|P&F*j>h4VJr z5de59(Scqq7 zSTt|WM5%C0f|8!t+JlNf#0R(zr`>eE*~Fry?yDo^=q%Nhl$aa>(HpFGEDCfLi@xK` zx0n$viD*DXV5~@>)u~Z|uIjUHIe!gdsk+^EnEZR(1kcYUPo|)P#NBK`u9Lm)IbVFu ze7qo{EfF^gi3D10x)tb}JNmA3cqg{A=4r*@a`&4ZJn7+o?nNJH<=;8b)w;tq=f5Fr zc6W-14YxXYN>%%FFDgj%-WTZVG4FvdyBe|Wfj{%V-#isOnQ*?2> zg1N=7AYck<6{px?sYyzLXYrJ-3Mxq8_Y~-hQ)OF8ntsCX01he`YsIZW<1aH8j?d?Y4lc#tb^gZs{^&ztMmU!4mHa>eDl>uenI z36&KRs33v;V|rXb$tXFER-G&V`?4kyX!Z5A09W?Cx13SMnGYmTK?3{v^tg`MCrLd@ z3{%oh9Zo?4t;Fw5Ab|=JIQq~|a=Jd8DG3t0K3IF@->AVh#;%)EN8UKhzJy(aou0)= z#poJD1qp0DW)C-LU=E4(a7dsPwjQ&G8%6}{;gCQp*7Hqj@XBHK?aQg(O*`H!b_Vsk zs33u@$L!l@o@^F7^KIYG&xKa3*M2i9-C>RfLumY{o)#u;d^>({07C5Ep#>tOMYn2%mWR3qXN5vU-+`oup6U3Qr9Rc{(U z-dmMlUi)_Z;Q2r+u|6gc@iaNVyz1>3WtA?Rm-XQ7qaHZSQLQ44gMaxQl#09^2RVUO z*xqP=A`x|n`0MRh%UcN&*rv@m@q?HIx$I<$6QO+AmCCFVh_u7-pJS_NrAu0sB|oU2Q*{R}@4apG`S&lg0Xf<&)IL9WwV zuRBYGupKE&&kvTDy)5XdGt?~*X!ZU1AeU$5W#`c~Y%k6-B9e%xK?EvD9PAL}THTGl zfE&s7$*dePSYFzt?cUd;=LrN_eRD0y_y*J5>7NtfAtIq;+r2%BKn02Kx|&4p=gdcV zYB=?xc|9Xr)|OF0VpMq=okw1D##drxb^k=Ty!Aw0&jv37t%g?)G*Wft93%XLyGY4{ zKla?#2Fs`*A%5X#;q>*=;PIn8$H(-NQ9%N~^OPPJdLplM|7xf*r+!Nr6(mL!2y`U` zTyysSs5PZ3F!z3`ebov|j=#$a1X|&Do@kfey~5J6J*||07ujS~kSOcna^wRQBt#$U$wzzg(TjXwJ)=K7lNDddEWTo;%fGgWy(lZgN)e|V zW(@Z>zA^|@kiZ_?iuz<0CnAAXtaLA&I^-~8(L5Acp1Kz)H=O#)h%C8+1dgcmwjPRi zI}MyD1v!qy;JMI>^{&~or8rm|Y{k10kC3^7ggBlLp|*R!V^6u~+qTQUEs5pE>Z9qh za}Kk$ccQj?A!@K3O>GwyB(Oy2T`$xU6WT<|4r;qdpcUqit|%g!5V4EeE)r_WkIPfjUPy$6>IsMXQw;N z@q>*x3y6py0u?0KNYr8W6NfoQt)TH^UZ=LPAB>qN5NO3l3HE(XbNoml;)l*{V|&nu zg9;LCBw~a)Mm?hOBNz47Ti%Wz{9J5gV8?9Cz|>Nm(-<{|hyg^Pf&{z%|E}|o!yKd5 zP|vWu#0ja@+unzl30h$prpNUpVkHrai9iJj)|bo(yW=p&j{xeg21FH--EaFuUbkq4 zZGqmTLqt0wN)v$!64<7#kyGL$Codm1CbDDp|m>zc`bidT6Y6UrjMov_aV51%HF=(GYjhxf>w33U^$cY46 zi8+s@6`YMUQ=LJxRQzH#exdvKl9!wd`~zJtCAO;8jaG@q(o8i!%~DZ8f*lum72x`7 zc{CB<(~8;;w6c~bJv zD}!u>a5~LWQNi=F<87mZTq}>)AmZw=W_vdhu_ZJ!!L0^IU2(pe5aeq5eIyYNuY`H# z(!8_e6j|_rR@=(oaCV6ba#bqIRyhw4F`tNFB2Yo%K&M;I!wZ63H=eM3w5PS*$29M} zNpnsl&}z;XcbwH*1i4-mVJncmXl?f@5$$PSiwY7?8{Bi|-9^#h*q50ywgML z)JUM!SN^{_3&aPxTpQS`Gh5YWghm7^NK}h_;H-Z&$W?wZBZ6q+j^Rhn}mQE}~U z=aG*BU6p^4bo5QTkce;-v5W{*kl0m|%Bn)3tL1W*^M|x1%I2LOnsXw7R#=8~KZ=O2 z-V&%FQEc)xr<9jgx8JZDoI@+MF*NTiN3&EU&4d9JGN*|v_H*Mv;P{ZAc0nx zLVEs#)?NQ;a87zkvs6@&z#bz#?m4aP&MDJM%1*OXB+yFCd4F1itIF2mP9ILu8s2g8 z?}KALN|d?l-0vUcx_Ot)QrW5BNYuWBNJR)a^~bB0w8 zc0E7Id?0}e64<6`Eu7Xw*-B@2iW8AQs|p)_cRCjayRInA2NI|tAzo2zjhe04vh`i| z&3oQQVXwx1=l!F(M;HmNAc6g(Nrcf_bsViz~~?d?j_Gm>Lx%u=S+JxoBorjiTg66jLLCR@fHO<609@n24!f1X}%7 z^EctB1X_81z2eL|HrO@xRR<#W6S0Ry;zXc=#OWMq&Py+XT_Y0MlX}NHx818! zl-!siWF*i^YI4?jW>T;#MPW~$Q9Qku#nmjPM#Y;r;h)XrYR#VQ`-;|M9#CApks@Ry z*zwj+f?QuO?VzJ?TI(aikK*d@h(HC2em5>VchIb*=wGa?j?+wg1VzasDMCg9t+3ST z-G)R+MC>5~6(kb--f(WOMQd?6Sq;vm`Tx}wRpnU}AtQlS*cRwLUPP3nxH^OgRFJ@{ zAU%$)M6neq7E@zx+400J0j{!g2OU#L&&tqB)Ch{J&rwW`3KE|WzUoX|9pHLUf|b={ zT8WCJxOxG_)JUKerjXW4XeElp)&3Myqk;tX7_^^(R-#fVt}aS3H4AR?J!QB;snn{?DO;@uZl!lc<0S+=3b5(%`r zII^pr5n0|Pg2kfuC(9mGkZ2LtMbC&{XVJZnhZI>3p;#0Nv`To~UC)Rt(}}o2#4i+! zqJo4xyqlg8z3!!Z9}g(9%uSIc5@lx8&DBb%= zq{y-X?c_iOiBEe_Sy_?gMgQvZej?gYEQ$nLB^B?c^GKH7*-v*FI_F4~3euehRFJr` zxvS3Ox%9YPtGmhdD27X<7!DOA22AOq-1X}f8+ELdAl8-Vh-n|o%UCv1{TrrB_P(h;K@2Yb{hl#8GapEB1qpV{e>b9ViN);= zDQ-_%-c#rCIrb|N*?Q<1a|4RoEdmuJu*aZxdEbka*$#zEtN*Qu1X?9t>85AQamEnQ zortTO{;7!y64=Mkb44YF$+u`$G@E8cNTAiZ0o`;yzoKur5%E*DNzx@+p+^M??3Iks zS>mJf%88wHJ_@rs;BBn(o{oA(BtsE^#3KMykYL9d?TYSqN$kECyXWOia4SY+w32~D zye49a4Z*G2M0CZe6B9@5ZM4*BMUTO5K4BcgTO(XO| zniU~|?HGMiL`KAYA_fqF3KHX+chfUwce7|U_$kG^Eh&0M0O?VIi9vs10eaT4M3KI|omcP(fnpqel97I~dL8oK4rXlDm9;ez$XCsEh1U zD}g|(l-%|8g=d@SHy$&h(3FYNR8RT3rRoopQ9;7bub#dhZ=>b+oetsLN z%tRu?iV^rZK=iBd_|F!_s4jbczif~Bxn$0k&|@sz4P z4d`ovBU;PLqOzojM1~cXAw3)ZCQ@eqAw&KXg9@IPmGszzhHrfo%h5_+*)KQkLQ30% z1X^Lu(%X9K4U^l9pD1a2i^rgXL`HjK`C#Q_wn9HYB+x43n60p|x-kFPmn2s>dAZ+E z#yVS#9%|G9`#qxuxxM-A$qWSvc09G+@V7PizX)#i$?(o1;m$}^Mr-Idb-9)^uCJ9U zo?74eK;rA0m9=Mq{d}Z~p9`%{walt)`?rq`feI2uM^#W36*5yOrV14#Vm6e~iY~KD z6%uHb{QeGg&B*~asX_&bm_GN^=&S?ZMSxX>qWjdMCF}@P@VwiaA6HwwvLjGI!Zr1b zTA^uzO{!2q;@IYMYK`ZEYzS14NLq7FeOl)~HUuh2?4NZ`{cffmfeI4rn73oG&bOp-B}d~D<7yJk+8*IfBMp{FF^vW*zamZ=-~t(TtR{zZ~xb8 ztR>1VtiNuU4uqhA%RxAu2fWq=YXEU&-`=C zs35VhPkm+E7&{+Gpw+rfPPNY&yFL*WB*q1QuCxvI@<9o6%SfQruMr)UqpIE90F~PJ zJ1JptFx_Jsn;KQ`7lZs6(o`uw$JRtNEN1p)nIC0Gq*^KrHcv@I3u$NBUMPCmH&iQ z>W#`?ZP!Q@o)_naNE<%L+Rq^Jv`q2v+34b)*JU0v;OtdQ6)H%Kdm}kGZTVnsWF*iE zR}(}Zs35W6Qj+L{&d>hDl?k*;aBT5GV9pB;a(j3UVxGiQp@PKR`0Acat=&i!5@@yM zegO}^9>uakg%P|rz%%(y6%y@R9+T{QQ9Kt~vE#BD%vg-FWu=SfWjW{lAkt#0P(gx~ zdZwP*C@Un;3P%awKF|vLe32;BB}rbi&>V%=EqX?8%rlSK?>x54OmGDWcFceO-vqbn zINDE5)JNLPKTyH*?hAdPtU544B;2e%P(h;i5C14PDti$|>7s(f>Se0JQ)uPG@PPzc zZ9d?yzDb5?iOz5KC8!|Ladb9SsR#s}-y~2$V&|2->hetxUonFI+%hUilo*>seca8C zKm`eQ%EU=Kwh~ml2_aQ1=k({68Nn4K`furD{Vw`I1&LoPeDwby(2AWYQ(t1F3Kb;S z@&AwDR)Y@bRNG7*CH9Gi4^;5HzWa70&cBpBeF-W^T)H=h<{$4O(5nB|erjr8uinRO?VupR z{5`%6y(n3;KevqMLaUuu+N(RW*%7E9QR`+~mA6WZDoE^T?@`-Mw)24mTH&20v2;;E!aZicI%@#D9y@}SC||S46<^0Wey3@LB`u~36(pYcOU~M% z;KQm9B+v@W&G2CntOj|i&V5tUIkJEmy&0A=CO<6kU%TUlbCZ%6+3R& z!W@y&pGctMP4I|3Gr<)kKAlk3nS8*jzcT8a`QQXvt$SR`8GOiYwv9?yVlii~IJ0lZ zGx<&x60a&3bP6MHmq_4wG3O&Y-*pJ3OZCnEC?W#|iK!3rJL8k=#&aals^x_D zoKHvE5va5Z&Ff6;Vp`#u#C)KFMC0VY9YPG}HnKtaKm`dl+6jaScoArof3}~K$H8JN zK?MnRe0r$e73EEEt5=l+oWlIW$_FZV-sO4`=fjJ3aXS)d#YWWE&g}R4AHzC> zRl2AkG4Jeawdo$awG1TC>bG{;wOqyQ2vm@GI@4cU9sz`vDkRYA%Pm>8n-?Hvu!x5P z-m`MPc)$p?S0i&J4NF9<4^)s~rNGP3st?=J>l zGxb+2AN1#zQ9%NGJ~36^(JPNw+3&m*G80_E825>PKQZ2Q8;PP+;knR?9rHQ0=mQnz zgInR5EQ0)qK9Il}vPBqW#jN-m346MNAG7G3Ke-?hs35_Pc?$nG!L1mtuHqz?}n7RwEAPwRIR%QO4ss%3KF4bCu-74Ak2(YD?tLSj=xVtnRgLrwc(qI z+S-;7y;?p{LE>SH30lL{cM)h+Zuod@>5pCnuN|g_4;dX(~AT<=COo9P#)NyTgG#tmG4xc;!W85z`lLgmCov*zs=bl<}Y(Tc+QciSujeo zUx&kUp;i3Ynp&oHI5*2Vu355UKHJ9CPcc=fcoX*Xb4G9liS+qRoc8l`B+%;e8mH5K zel93*-eZFrIqm1?NT5~s77d)j{M=|GtgNE*f9&KD^0x)*IeCQan?MB#^ewhTyqB`- zLUSjdLHLd=ueD#Gb*^Eqp1SU?q!HOX#&KS(K~#{awL4j>G2Cvo774V9+_>7ulP~k@ zE~0f2Gd5t?{N^X-F{V~b6)H%asr-X>y|P`ZkU%TUljs9e)i`(w%}mX;Q1mAfs37qq zd5P9xiCqMM1X{7*g&o*dyFvwtqdAvo1(RTOwk6PNamz(o!4McZ8R2Ga7nQzK7ij$1 zVDz0i=RCbg;7BAAtBd^V;7_a;IJ?c-f5m?1cla|CTtR{z^Pca26Wpp+`;!j)y#}b@ zd7pfI!6EEtuu2ydB=+>a=CI#ofeI1_iC0ZW$FMvM+t^ zgTQ>;%zDAWpC-l>iuphViJMu|9DEp2QybtzGpcU@R5s9CstkX)peWr3|q21Oj-uLK?3KFkR?e($FfCO6MbFgBn zP(h;a)U!T(Ac0o+9IWUA6(q{6KPN`WRt+M7R(~$~!>z3s2yw!t2kCZkU*;e-){G@ zih~Lgo0e{-wPm~e&PbqD!&lpUtm2@8M6tG8XkP0Tkx?zWWhBsQ)6(tYS_WCOKevnu z65936TBi3*xV;Iqx;=2GkF^X`kmxsclP0{G!blSHfdpE`wc71tEdv!KN_N?xEiDVH zAIt~+xn(5K>h{2&GOuO08F6O)8tvc%b6q4UAX!W8YaZJYh7VMbV8=Y-v|792!<*n% zb0a)HQiTehxBT$qKJG^$fmXK%9u`*(C=cw9)klVc1Ut501HiJH7qOapZLeP=kGI-4m3?DcLV0|#ZAA#kTIaRz4kQlt~H_iTiOL#7{ zY8H0d$2*-+LE^&+cQyV@te7e!&}zdscc@i*J@0Jf9Cwo9NX_<7@O`$T4^)uwJv!rj z0H3tM7+&;&3KIB4j7Z?vhhuH0j;A!f|IQ%Xlx_NR%cvkxbGK%#CWt&kU%ST)$+X!Vp*YrMC0It zKGpz`Kr8mU{ayo9kSNptfVc)=s z3dMXdf-6X{W4^mFvkxS=73;z6_a~x)=l#HWT8u@hF4&)2Mg@t{$4*m(Y`3ou6(qLy zzNp#nXhZ_7y7sxC+3#pXW!C5CHNK+}&m@)=DoA|bJg3>OGa!LhFAtv4>~}P>(&a6Y z<(wa5sf(#X1&L)Hu3NNk0hP zzN01YwDYn;TFf~rY`o$-!7v)M>VqXr#@J_SxRai*HCIn|T?AUqZC06f{{q3(o(CN87D4pn}A@O{LWj zhrNqHtMNI?s(0!E;WiRQsX`xUmG83}s#L~~Km~~jIm)Yp@&jSIARkDeRjH)PYOm}- zSgAqg>NSj%t)5b2LB# zt&##>Ynk5sW#j`DBuaL9AdZ8~2mQHaB+#nw)CZdVThdUe`rQL-?87sO^??c!%%3n0 z8cDKC6}L*>@;FaiL!RZ zS8lKr#5zX>3D)v6trQtPkU%SZQ>o|!6(n$F$|4LONT3z2msx~S=NMVC^()>RU{os- zs33v8l5Ya7u#XW5d(@K?_`Di`6jy3Q5tzA`X)@Vx@sX_&b5{@c9W~oS^7297X z%!DaL>`zS9_Bpkzc_#X^@?j9DAd%}o(boLaH-T0q9FaceoT%JtR?V7cqHoa$%ORg< zvQps3nR0IAo8=r8B(MxcANc;=-m|mQ`&Z3^7ay9bR}JG7|sZ3el_Fw7W}& z1X_(aokKtM45C*nAE>mbl2c#2(2U#gOkzGzL84stoYe1n#ctC z3VomzzT;U;6)H$nT^piTXlmyJ3AAeWNp}6-afrxRS-Dw0P#I7@n?7rRX@zI8NBpIb%+iKOiz`bWFH z#zBKX1&M1P2J7DjK&sr#1M`6dT6O&=yIyD>_;4ElOBEpj2rBFK+h#y5!QMT45|9`oL%j;~n<<^sZ2YR?bmDg1u9E(ZY8TXtgUfKrgxsTDw&r zBR&h%A9pjaPJH{bZvqu0mUVccV4o`XmzcRpZ@88fv{4A3KBVz-e_G;+YzWBv9#rD zt>wV6cR(K}gsY2qmJ5Y}tZa3DVg2cS#+4X?fcM)h+_{$*u#(Fyf6(ma5 z2-YvyzVi$fBv`pEm}%z&3AEbxDp;>{-i|;8iAP#Cy}^Dvg6(wTcV%krex}`PZpJ&f z14^t9RFD|D^MytgVzciR3ADm}S)va-FQ)LT3r{uPVnhNJB-k8>=g%Ols}>2gniug@ z>vb3+8H+##3EO!TQEu6r;H&4ZyHB-59r`PFMHvJtc;4~1o@u3{y?O?NKm`e0-4V+Q z@4m2OUOsH)UYLKdRMDSXMgd;M0own385&y3(D6|PR^m-?EBua)m=9F& zysJYi>6hnwwRXz~--U!$|Frv1f3?VKHHz}$mQk5jq9Vo7rWN}3ohl?2wJq;stq;$I zR`@+0v2^k4JcYKD(f_P!rV792Bc=)!B-po$W)JYnxlvX~pcQ`YNc8dR-ZFZHhi18# z{HubV+SjaS-vla1G|W{|f0@TFPDBE&Mw~7$Mz53y_UD#SL4q9%@vaFFfhoZ}g@0c` zk9cI)u24bZ;N-G;mM!lh&}vSba{Be@b_6OXDwNmHjWey#w^$#jAdwhSLGQ2xe7Mc5 zi)FPdwXELcvRMaM>Y@)+kiaioi3EP{3cne~+8h7+m_b;n!tZurkBZ-X5`EzJYVd0} ztH-?5vK_LEEKxxsM`3@xbhKUUg9KW+hWXK4?Og;~&5L-Y{odY=Kn00SOW$bc#=VO` ztCC$_YZs>35kyxU0_#SsK_t)$$1br3F;#JQB6Yss9Q}y| zDo7N+7p2?pBu4_R@H>H)4{D8W8NUH|u2H1UcSN%@@jb8>K^GPKj!A}sM2^A{*7w|e z6KI8_gh=3dccoUhMj50<0u^t9@5atda0Q7?e^k@?UT)t6TIH!$joKTGIM#KJ%IX;r zI^V6#Qp&Sl)sfX`RsjtkKT-ci7HV_Z)*2$m1}r&a>r>ccf4Yzy26 gYaxs>-|51>P0X## Value: Orbit (rviz_default_plugins) - Yaw: 3.1803972721099854 + Yaw: 5.420414447784424 Saved: ~ Window Geometry: Displays: @@ -235,7 +244,7 @@ Window Geometry: Height: 794 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000274000002bcfc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f0000013e000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000160063006f006c006f0072005f0069006d0061006700650000000256000000a20000000000000000fb0000001400720069006700680074005f00720065006300740100000183000000b50000001700fffffffb0000002c0072006500670069007300740065007200650064005f00640065007000740068005f0069006d006100670065000000038b000000d10000000000000000fb00000012006c006500660074005f0072006500630074010000023e000000bd0000001700ffffff000000010000010f000002bcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002bc000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002d3000002bc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000274000002cafc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000004e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003400000145000000a900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000160063006f006c006f0072005f0069006d0061006700650000000256000000a20000000000000000fb0000001400720069006700680074005f0072006500630074010000017e000000ba0000001600fffffffb0000002c0072006500670069007300740065007200650064005f00640065007000740068005f0069006d006100670065000000038b000000d10000000000000000fb00000012006c006500660074005f0072006500630074010000023d000000c10000001600ffffff000000010000010f000002cafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000034000002ca0000009100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002d5000002ca00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: diff --git a/urdf/base_camera.urdf.xacro b/urdf/base_camera.urdf.xacro new file mode 100644 index 0000000..77b67dc --- /dev/null +++ b/urdf/base_camera.urdf.xacro @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/base_descr.urdf.xacro b/urdf/base_descr.urdf.xacro new file mode 100644 index 0000000..8514494 --- /dev/null +++ b/urdf/base_descr.urdf.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From f4ef2ce628fb54e8f6b58d87b8438f2f53fb3884 Mon Sep 17 00:00:00 2001 From: Juancams Date: Tue, 14 Jan 2025 17:50:18 +0100 Subject: [PATCH 2/4] Changed fixed frame Signed-off-by: Juancams --- rviz/rgbd_stereo_pcl.rviz | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/rviz/rgbd_stereo_pcl.rviz b/rviz/rgbd_stereo_pcl.rviz index 4ebccd7..cc85df1 100644 --- a/rviz/rgbd_stereo_pcl.rviz +++ b/rviz/rgbd_stereo_pcl.rviz @@ -59,15 +59,6 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_oak: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true oak-d-base-frame: Alpha: 1 Show Axes: false @@ -177,7 +168,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: base_footprint + Fixed Frame: oak-d_frame Frame Rate: 30 Name: root Tools: @@ -233,7 +224,7 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.279799222946167 + Pitch: 0.2847992181777954 Target Frame: Value: Orbit (rviz_default_plugins) Yaw: 5.420414447784424 From 00892ca8d358dfc6c0bc0574efbad1a0def523b0 Mon Sep 17 00:00:00 2001 From: Juancams Date: Thu, 16 Jan 2025 22:59:48 +0100 Subject: [PATCH 3/4] Solved errors with inertia Signed-off-by: Juancams --- urdf/base_camera.urdf.xacro | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/urdf/base_camera.urdf.xacro b/urdf/base_camera.urdf.xacro index 77b67dc..99d6848 100644 --- a/urdf/base_camera.urdf.xacro +++ b/urdf/base_camera.urdf.xacro @@ -3,11 +3,7 @@ - - - - - + @@ -20,7 +16,7 @@ - + @@ -35,7 +31,9 @@ + + From bdc6bebe48888bdfa40f3ed825146ebbe3574fcc Mon Sep 17 00:00:00 2001 From: Juancams Date: Fri, 17 Jan 2025 14:52:53 +0100 Subject: [PATCH 4/4] Changes to make xyz rpy parameters work Signed-off-by: Juancams --- urdf/base_camera.urdf.xacro | 5 +- urdf/base_descr.urdf.xacro | 8 +- urdf/include/base_macro.urdf.xacro | 110 ++++++++++++++++ urdf/include/depthai_macro.urdf.xacro | 177 ++++++++++++++++++++++++++ 4 files changed, 294 insertions(+), 6 deletions(-) create mode 100644 urdf/include/base_macro.urdf.xacro create mode 100644 urdf/include/depthai_macro.urdf.xacro diff --git a/urdf/base_camera.urdf.xacro b/urdf/base_camera.urdf.xacro index 99d6848..b76668c 100644 --- a/urdf/base_camera.urdf.xacro +++ b/urdf/base_camera.urdf.xacro @@ -1,10 +1,9 @@ - + - @@ -40,7 +39,7 @@ - + diff --git a/urdf/base_descr.urdf.xacro b/urdf/base_descr.urdf.xacro index 8514494..dc26f06 100644 --- a/urdf/base_descr.urdf.xacro +++ b/urdf/base_descr.urdf.xacro @@ -14,15 +14,17 @@ - + - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/include/depthai_macro.urdf.xacro b/urdf/include/depthai_macro.urdf.xacro new file mode 100644 index 0000000..1327ee5 --- /dev/null +++ b/urdf/include/depthai_macro.urdf.xacro @@ -0,0 +1,177 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +