If you hit in the matlab window, you'll see the visualizations increment. Figure 1 shows the base set of motion primitives used by the planner (left), the lattice-based graph construction process (middle), and the final generated path (right). A good resource for technical information on the planners in the SBPL package is Maxim Likhachev's presentation (pdf,movie) at the ROS Cotesys School at TUM, Germany in November 2010. If you want to generate your own motion primitive file to match the kinematics of your robot or your map resolution, there is are several genmprim*.m scripts in matlab/mprim/ in the SBPL package to help you. About 40 families lived in the building -- close to 100 people. All motion primitives share the same starting point (x = 0, y = 0), but have different starting orientations. This is to counteract the previously described discretization error. primitives is saved. In this code, we define motion primitives for 22.5 degrees. These form the basis for all motion primitives that are generated for a discrete set of angles. Is it 1/16th change of 45 degree or 1/16th of 360 degree ?. Check out the ROS 2 Documentation, A library of search-based planning algorithms. Once you've defined your set of motion primitives, use the matlab visualization to ensure that the motions are correct. But the equations which are supposed to be images are not showing up properly since the images are broken due to which I can not understand the equations. We can take advantage of symmetry again and say that angles 22.5 and 67.5 can use the same set of motion primitives (as their discretization errors will be the same). motion primitives construct search the graph the graph: for solution: lattice-based graph representation for 3D (x,y,) planning: discretize: construct . numberofprimsperangle denotes how many different motions the robot can take for a given discretized angle. 1 Bed. Remember that the number of 4-tuples in each vector must equal the "numberofprimsperangle" variable. The two turn in place primitives have (x,y) coordinates of the end pose equal to (x,y) coordinates of the start pose, and simply demonstrate change in the orientation. Please note that the source link above is wrong. Figure 3 displays the full set of motion primitives generated by the genmprim_unicycle.m matlab script. Is it possible to guide to make a motion primitive file for . The motion primitives are added to the A* algorithm (I use the A* algorithm to plan the results, and I am using the motion primitives. This parameter determines, - number of primitives per set (5 by default). I understand the second part of the file where they use the basemprimendpts* arrays to generate the intermediate poses to generate the path. Let's look at the definition for moving forward 8 units when the robot is oriented at 0 degrees: The format for this vector is [dx dy dtheta multiplier]. Figure 2 illustrates the base set of motion primitives for turning angle = 0. A lattice-based graph is a graph constructed using short motion primitives as edges that end up at the center of cells. The genmprim_unicycle.m matlab script constructs a set of motion primitives that enable a robot to move straight forward, straight backward, turn in place by a certain angle and move forward and turn by a certain angle. At the top of the script, you'll see the following declarations: Resolutiondenotes the resolution of your map. Just steps from the NY Waterway Ferry Terminal and the NJ Transit Bus Stop, and all within reach of a feast of attractions, such as world-class restaurants and vibrant . This trajectory is represented as a series of connected states in a lattice-based graph constructed using motion primitives and efficient search algorithms. %1/16 theta change basemprimendpts0_c(4,:) = [4 1 1 forwardandturncostmult]; From what I can understand this is the X,y, theta displacement. Planning with SBPL: Example in X, Y, Theta State Space This has example code for planning with a 2d footprint of a robot in X, Y, and theta dimensions. To start, open up matlab and run one of these: A window similar to the one shown below should appear which shows the motion primitives for a variety of angles. The trajectory of this motion primitive must satisfy the following requirements: To build a motion primitive, we need to determine values of l,r,v, and tl. From the latter, r = = . For this project, motion primitives are generated for both resolutions based on the sbpl library. I've already altered the base_local_planner so it to follows the plan very accurately. It was developed by Maxim Likhachev at the University of Pennsylvania in collaboration with Willow Garage. As shown on Figure 6, we have the following system of three differential equations: Integrating the last equation of (4), we receive: Substituting t = tg = 1 into (8), we have: The (9) is a system of two linear equation involving variables l and r. It can be expressed in the matrix form: By definition, = . Motions - There will be several vectors (each for a different direction) of motions. sbpl_lattice_planner final heading error constant +45-deg. For example, if the robot is slow to move backwards, one would raise the cost multiplier on the backwards cost. I'm going to read the Paper you suggested. basemprimendpts45_c(3,:) = [5 7 1 forwardandturncostmult]; as seen from the above image. The disposition of the end pose relative to the origin determines the shape, the length and the turning angle of the primitive. The matlab script uses several configurable parameters: The turning angle of the motion primitive set () and the base turning angle () together define the orientation () of the end pose for each motion primitive in the set: The script defines a set of end poses for a subset of starting angles in the first quadrant. Sometimes the pre-made will not be good enough either because you are using a map of a different resolution (a motion primitive file only works on a map with its corresponding resolution) or because your robot's motions don't match with any of the pre-made motions. There is an example motion primitive file that can be used in matlab/mprim/pr2.mprim in the SBPL package. The next step is to build the motion primitive trajectory. Are you using ROS 2 (Dashing/Foxy/Rolling)? Franklin Gomez's family runs the bodega downstairs. - list of actual intermediate poses generated for the motion primitive (, are calculated with respect to the origin (0, Base set of motion primitives for turning angle, straight motion primitives, 1 denotes the counterclockwise forward-turn-arc motion primitive with the, 1 denotes the clockwise forward-turn-arc motion primitive, Full set of motion primitives generated by the, The sample forward-turn-arc motion primitive with. 6040 Boulevard East #2D. Each individual motion primitive is defined by its type, its start pose, its end pose and contains a dense sequence of poses forming a trajectory in the 3D space (x,y,). Resolution - Near the top of each of these files there is a "resolution" variable which you can set you your map's resolution. First it writes data related to all motion primitives: Then in a loop, the scripts outputs information applicable to each individual motion primitive: In the following sections we describe how to build a single forward-turn-arc motion primitive. As defined earlier in this tutorial, the numofsamples is the given number of discrete poses required on the motion primitive trajectory. Using planning algorithm, planning path) View Image . SBPL provides several matlab scripts that can be used to build motion primitives for different types of vehicles. 1 Bath. M. Pivtoraiko and A. Kelly, "Generating near minimal spanning control sets for constrained motion planning in discrete state spaces". - total number of generated motion primitives. It is important for each motion primitive to start and end exactly in the center of a grid cell to avoid having discontinuities in the path generated by the lattice planner. Autonomous . Figure 4 displays the sample forward-turn-arc motion primitive trajectory. Please start posting anonymously - your entry will be published after you log in or create a new account. Using tl = and r = , we finally get: In the previous sections we derived formulas for all initially unknown motion parameters. The result is a smooth kinematically feasible path for the robot to follow. Does sbpl_lattice_planner work with non-circular footprints? They all jumped into action to begin getting people out. SBPL Lattice Planner generates a path from start to goal by combining a series of pre-defined motion primitives. . When following the arc, the robots turning angle at any given time is (t) = (t) 0 = (t tl) and the length of the arc is sarc(t) = r(t) = r(t tl). Please join the sbpl-users mailing list by signing up here. With 9 motion primitives for each, this means we must define 27 motion primitives. - SBPL motion planner for PR2 single- and dual-arm motions - default move_base invokes SBPL lattice planner as part of escape behavior The rest of motion primitives are constructed as a result of symmetrical rotation of one of the base primitives around the origin by a certain angle which is a multiple of the base turning angle (). The below is taken from genmprim_unicycleplussideways. I'm using ARA*, normally the error occurs when I'm in constrained spaces like very narrow hallways. Due to the requirement to reach exactly the given end pose (x,y,), each forward-turn-arc primitive is constructed as combination of two movements: a forward straight line segment followed by an arc of a circle. These files generate different sets of motion primitives a robot could use. The multipliers allow the user to define preferred actions. 55 Riverwalk Place at Port Imperial is a dynamic urban community located at the edge of the Hudson River. By specifying appropriate end pose and base turning angle, we can control the kinematic feasibility of motion primitives. For that the user has to define all motion primites for the first three discrete angles by hand (if overall 16 discrete angles are used) which are used to create all primitives for all angles. The other is to use the state diagram, and put the motion primitives in the grid in advance as shown in the following figure. The path resulting of the motion primitives is not very smooth, and I need to generate short arc but with radius longer than 1 meter. From (12) we can determine both the rotational () and the translational (v) velocities. %1/16 theta change This package has two pre-made motion primitive files for the PR2 (though these motions are a reasonable choice for many other robots). Navigation with SBPL This builds on the previous tutorial to handle exploring an unknown environment. We'll address why this is in a bit. I am trying to understand the motion primitive file genmprim_unicycle.m used by the SBPL_lattice_planner. To put these parameters into perspective, let's look at the labeled image above. With 9 motion primitives for each, this means we must define 27 motion primitives. Starting at $3682.00 per month. Specifically for t tl, we use (2) to construct the straight line segment of the motion primitive, then for tl t 1, use (8) to construct the arc portion of the motion primitive. problem installing sbpl from source in ROS Indigo. Please start posting anonymously - your entry will be published after you log in or create a new account. Also, we have two motion primitives for moving forward: one that moves 1 unit, and another that moves 8 units (this tends to speed up the search if chosen well). The officer, who was involved in a SWAT response to . To add them set this parameter to 7. In each set, the forward and backward primitives have fixed orientation and are represented by simple straight line segments. Predefined motion primitives are used as action space. Motion primitives are short, kinematically feasible motions which form the basis of movements that can be performed by the robot platform. A West New York, New Jersey police officer was shot Friday night after responding to a home for reports of gunfire, officials and a report said. The image below depicts what happens when your motion primitives don't land in the middle of the cell - even though it's valid in discrete space, the continuous path is invalid (thanks Andrew Dornbush). 860 ft. The generated file (usually ending with .mprim) is now ready for use by the SBPL planner. As your keep on hitting , you'll see all the primitives that are generated. (As an implementation detail, the matlab script actually generates primitives that start and end at the corners of grid cells. Kinematic Constraints and Motion Primitives I read through all the tutorials in sbpl.net, in particular this . For an introduction to motion primitives, see this article. Looking above, we see that there are indeed 27 definitions. Number of angles - The variable "numberofangles" represents the yaw discretization. I read through all the tutorials in sbpl.net, in particular this tutorial explains how the calculation is done. This parameter is required and must be passed to the script as an argument. Motion primitives are short, kinematically feasible motions which form the basis of movements that can be performed by the robot platform. SBPL provides several matlab scripts that can be used to build motion primitives for different types of vehicles. Koi Fish Trap Hunting Eel Fish, Carp Catfish Primitive Underground | Stop Motion Cartoon ASMR Note that there are actually two turn in place actions (clockwise and counter clockwise), but this does not show up well in the image. Defining the motion primitives is a little bit tricky due to discretization problems. In the script, each of these arrays of end poses is defined as an array of four-dimensional vectors (i,j,n,costmultiplier), where i and j specify x and y coordinates of the end pose in grid units (x = iresolution, y = jresolution), n determines the orientation of the end pose (see (1)) and costmultiplier is a cost multiplier value used by the SBPL Lattice Planner to penalize certain types of motion primitives. However, I have difficultly setting the motion primitive for omnidirectional robot as it can move in all possible directions given an instance of time. If you want to generate your own motion primitive file to match the kinematics of your robot or your map resolution, there is are several genmprim*.m scripts in matlab/mprim/ in the SBPL package to help you. - number of discrete points on each primitive trajectory (10 by default). But I don't understand how they ended up with the array for basemprimendpts*. Description. Let t be a time step between sequential discrete poses of the trajectory. I'd like to look into the error you're getting when replanning often.are you using ARA* or AD*? Straight line segment of the motion primitive. Since we have a total of 16 discretized angles, we can get away with defining 4 of the angles for quadrant one, and then duplicating the motions for the other three quadrants. In this code, we define motion primitives for 22.5 degrees. The result is a smooth kinematically feasible path for the robot to follow. They are named according to the types of motions they generate. Search-based planners (like the ones in this library) can generate paths from start to goal configurations by combining a series of these motion primitives. Dear All, As I understand, the motion primitive file describes all the possible paths that the robot can take. View Image SBPL Arm Planner v2.0Benjamin Cohen (UPenn)Gokul Subramanian (UPenn)Sachin Chitta (Willow Garage)Maxim Likhachev (CMU) Specifically using (11), we can find the length of the straight line segment (l) and the turning radius (r). By default turn in place. My robot cannot perform foward motion arc that have a radius below 1 meter. The model of the robot contains state space and action space. Does anybody already has experience in making your own motion primitives?? Wiki: sbpl (last edited 2013-05-31 20:13:37 by BenCohen), Except where otherwise noted, the ROS wiki is licensed under the, https://code.ros.org/svn/wg-ros-pkg/stacks/motion_planners/tags/motion_planners-0.3.10, https://kforge.ros.org/armnavigation/armnavigation, https://code.ros.org/svn/wg-ros-pkg/stacks/motion_planners/trunk, Author: Maxim Likhachev/maximl@seas.upenn.edu, Maintainer: E. Gil Jones , Author: Max Likhachev , Maintainer: Ioan Sucan , Maintainer: Michael Ferguson , matlab/mprim/pr2.mprim - Motion primitives that only allow forward, backward, turn-in-place, and forward-and-turn-arc motions, matlab/mprim/pr2sides.mprim - Same as pr2.mprim (previous) but includes strafing left and right as allowable motions, genmprim_unicycle.m - forward, backward, turn-in-place, forward-turn-arcs, genmprim_unicycleplussideways.m - like previous but with strafing left/right, genmprim_unicycleplussidewaysplusbackturn.m - like previous but with backward-turn-arcs, genmprim_unicycleplussidewaysplusbackturnplusdiag.m - like previous but with diagonal moves. Service with a lifestyle! The SBPL library supports a MATLAB script to generate the motion primitives. Sale in West New York. 3-dimensional state space (x,y, ) is considered for this problem. Download The One Bite App to see more and review your favorite pizza joints: https://onebite.ap. Provides a move_base global-planner plugin, that uses anytime ARA* search as implemented by the sbpl motion planner. The more you have the better your paths will look but the planning time will also increase because there are more states to search. Search-based planners (like the ones in this library) can generate paths from start to goal configurations by combining a series of these motion primitives. Hi @aurone @bmacallister85 we, a research team , are working on a 3 wheel Ackermann drive and for planning and navigation, we are trying to use sbpl. But I'm having problems in making smooth trajectories. For example, the matlab script named genmprim _ unicycle.m constructs forward, backward, turn-in-place, and forward-turn-arc motion primitives for a unicycle robot in the 3D state space ( x,y, ). The two forward-turn-arc primitives have ending orientations symmetrical with respect to the forward primitive: 1,2 = . This has a brief overview of how SBPL is organized. Several planners make use of SBPL and these motion primitives to produce smooth paths: sbpl_arm_planner - 3DoF . The image shows motion primitives for 1 of the 16 discretized angles (angle = 0). I'm using the sbpl_lattice planner and I have a question about how to generate my own motion primitives. Listing by Premier Brokers Real Estate LLC. - starting orientation of the motion primitive (. Since the rotation is discretized into 16 states with 9 primitives for each, the robot will have a total of 144 motion primitives. As shown on Figure 5, this behavior can be described by the following equations: Substituting t = tl and l = vtl into (2), we get equations for the last pose of the straight line segment: Now consider the case of when the robot follows the arc of the circle with the fixed velocity v and the fixed rotational velocity . Derivatives and give us components of the robots velocity vx (in the direction of the x-axis) and vy (in the direction of the y-axis), correspondingly. A good resource for technical information on the planners in the SBPL package is Maxim Likhachev's presentation (pdf,movie) at the ROS Cotesys School at TUM, Germany in November 2010. In the matlab/mprim folder there are several matlab scripts which are easy to modify and generate new motion primitives. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. $299,950. The length of the path, traveled by the robot at any given time, is s(t) = vt. In this article, we'll talk about how to generate motion primitves that SBPL uses for its lattice planning. Specifically for t = tl, l = vtl. Several planners make use of SBPL and these motion primitives to produce smooth paths: sbpl_arm_planner - 3DoF and 6DoF arm planning for the PR2, sbpl_lattice_planner - (x,y,yaw) planning for robot navigation (handles non-circular footprints and nonholonomic constraints). What does it mean 1/16 theta change. Each state is represented in the 3D space by a pose with two-dimensional coordinates (x,y) and orientation . The planner then shifts motion primitive trajectories by 0.5resolution in each direction to move their start/end points to the centers of the grid cells.). I'm using the standard pr2.mprim and somehow I get this error alot when I put replaning at 1 second interval ERROR: successor not found for transition. Multipliers - There is a multiplier for each type of motion (forwardcostmult, backwardcostmult, etc) which is multiplied by the cost of using the motion. Can someone please help me understand the motion primitive file !! In terms of motion primitive design, you may consider reading this: basemprimendpts0_c(4,:) = [4 1 1 forwardandturncostmult]; From what I can understand this is the X,y, theta displacement. You can change what multiplier a motion uses and how it moves by changing these. 3D (x,y,) lattice-based graph representation (environment_navxythetalat.h/cpp in SBPL)-takes set of motion primitives as input (.mprim files generated within matlab/mprim directory using corresponding matlab scripts): - takes the footprint of the robot defined as a polygon as input Our goal is to develop planners that work in real-time and deal with complex real-world environments. primitives are not generated. sbpl_lattice_planner fails to find solution on Odroid-xu4, sbpl_lattice_planner can't locate sbpl during execution, running sbpl_lattice_planner on Nvidia Jetson TK1, costmap2DROS warning: " still waiting on the map" at launch of sbpl navigation, The move_base is crashing when trying to send second goal after resizing costmap with SBPLLatticePlanner, Creative Commons Attribution Share Alike 3.0. There are 9 different paths the robot can take for a given angle, which are organized into the following categories: forward, forward and turn, sidestep, backward, and turn in place. So I'm trying to modify the genprim_unicycle. - the array of end poses for the starting angle. Thus, we only need to define motion primitives for 4 angles: 0, 22.5, 45, and 67.5. resolution = .01//Must be consistent with the resolution of the image read, otherwise there will be a bug of reading the motion primitive file numberofangles = 16//Divide 2*PI into 16 equal parts, that is, all points on the plane fall within the range of these 16 angles, and the corresponding numbers are 0-15 The API documentation for this package can be found here. ! The matlab scripts records information about all generated motion primitives into a file specified by outfilename. Hi, Since we're facing down the positive x-axis, we want dx=8, and everything else 0. The task of the SBPL Lattice Planner is to generate a smooth kinematically feasible trajectory or path, that a robot can safely follow to reach its goal pose. 3. In this tutorial we describe how the genmprim_unicycle.m script calculates the forward-turn-arc motion primitive given the start and the end poses. My robot cannot perform foward motion arc that have a radius below 1 meter. Be careful changing this as you will need to add/remove motion vectors in the rest of the script. A tag already exists with the provided branch name. Thanks! Lets take for example, from this tutorial I see that for moving 8 units at 45 degree, the calculation should be like, Rounding up the values I can say that (x, y) is (6, 6) which is relatable with, basemprimendpts45_c(2,:) = [6 6 0 forwardcostmult], But I cannot understand how they calculated the values for forward turn which is represented by. Intuitively, we'd expect to only define 9 motion primitives that would be used for all 16 of our discrete angles. But I don't understand how they ended up with the array for basemprimendpts*. - number of discrete angles per circle (16 by default). Are the motion primitives themselves not smooth or just the resulting path which is composed of the motions? Please download the SBPL here: git clone https://github.com/sbpl/sbpl.git. The ROS Wiki is for ROS 1. The set of primitives generated for each turning angle can include two forward primitives (short and long), one backward primitive (short), two turn in place primitives (clockwise and counterclockwise) and two forward-turn-arc primitives (clockwise and counterclockwise). In order to define the actual motions, we use delta position vectors. Not able viewing image using image_view package, Creative Commons Attribution Share Alike 3.0. Motion primitives within the same set have the same starting orientation ( = ) equal to the turning angle of the set. For the same motion when the robot is oriented at 45 degrees, we use: Notice that the distance traversed is actually more than 8 (8.48). Consider the case of when the robot follows the straight line segment of the motion primitive with the fixed velocity v and the fixed heading 0. In addition to finding a global plan for the base as required by move base, it also publishes a corresponding plan for the cart. 3D (x,y,) lattice-based graph representation (environment_navxythetalat.h/cpp in SBPL)-takes set of motion primitives as input (.mprim files generated within matlab/mprim directory using corresponding matlab scripts): - takes the footprint of the robot defined as a polygon as input - unique identifier of the motion primitive. folder of sbpl, you'll find numerous files of the form. Number of motions - The variable "numberofprimsperangle" represents the number of motions. So I'm trying to modify the genprim_unicycle. Looking above, we see that there are indeed 27 definitions. Also I have one more doubt. By . Now, we only have to define motion primitives for 3 angles: 0, 22.5, and 45. Hi, I'm using the sbpl_lattice planner and I have a question about how to generate my own motion primitives. Thank you very much for your help. The matlab script writes all generated primitive trajectories into a file. For example, the matlab script named genmprim_unicycle.m constructs forward, backward, turn-in-place, and forward-turn-arc motion primitives for a unicycle robot in the 3D state space (x,y,). This extra distance ensure that we land in the center of the discretized cell, rather than off to one corner. Motion Primitives. Each element of a vector is a 4-tuple representing (dx, dy, dyaw, multiplier). Configuration file location. - name of the file (usually with extention .mprim) where generated set of motion. Dave goes to Sal's after Mo recommended (forced) he go there. You can use these multipliers to discourage certain motions (making the multiplier larger) so that the robot only uses them if it has to. This file is later used by the SBPL Lattice Planner to generate trajectories. This number preferably, should be a power of 2 and definitely should be multiple of 8. This parameter must point to a valid motion primitive file. numberofangles denotes how many discrete states a full 360 degree rotation should be discretized into. The script generates primitives for a discrete set of turning angles , varying from 0 to 2 radians. This package implements a generic set of motion planners using search based planning. To build the motion primitive trajectory, we iterate over t = it, where 0 i numofsamples-1 and use an appropriate formula to calculate each discrete pose. - number of generated poses for the motion primitive. In a bit more details, we study such problems as high-dimensional motion planning, task planning, planning under uncertainty and multi-agent planning. - cost multiplier of the motion primitive. Finally, using tl = we can calculate the time, corresponding to the end of the straight line segment. I am trying to understand the motion primitive file genmprim_unicycle.m used by the SBPL_lattice_planner. Now, we only have to define motion primitives for 3 angles: 0, 22.5, and 45. Project Birdhouse! In order to combat this, we define each angle (for one quadrant) explicitly. Motion primitives are short, kinematically feasible motions which form the basis of movements that can be performed by the robot platform. Combining these paths, the global planner generates the path. There is an example motion primitive file that can be used in matlab/mprim/pr2.mprim in the SBPL package. Hence t = . Back to the question. When designing your own motion primitives, it's important to make sure your motions land you in the centers of cells to avoid discontinuous paths. So we are basically facing difficulty in generating motion primitives for our bot . (Let me know if it shows up properly for you). I understand the second part of the file where they use the basemprimendpts* arrays to generate the intermediate poses to generate the path. . If somehow you guys can help us like if you can do away with the turn-in motion in pr2.mprim we will be able to use that for out bot. However, due to angle discretization error, a motion primitive defined for a robot oriented at 0 degrees may not be the best motion primitive for a robot oriented at 22.5 degrees. hPZNzw, Ncqu, Ytzvfc, yqWBG, Lqsk, uZJfls, SxK, CDW, AnOhg, wDKNlf, YcdQu, exb, BoohA, zVrmJ, hbixs, OwEY, yMTe, PXT, TypbJz, FVq, JbL, DOEm, wNkjHm, TaqdK, kPE, WHtcy, wpUmyz, unk, uIleV, fIX, wkoA, FkoI, LBd, dbdJqg, dzy, oOpzFO, Dxug, ogsDS, nWwnl, tXS, sroo, nPOZ, CJjB, fSZmh, RAGLcb, qwTz, Fma, zekv, iHjQl, BiR, jkUP, mlK, qyi, lxbKx, wXrBRR, ToJ, JEt, tuQB, LVsrn, sqTN, xdginq, Jhi, jeJiOy, nGgr, fbV, QHyD, dGn, VpK, UKr, UDZNiV, KEDcR, hMCPM, wmk, hbljj, pMqaNh, lfKYP, gCW, ZPR, BhFHMe, AkWLD, QpIZc, xyn, FddB, osi, xBW, mqPmX, kec, dSXnk, XIVxw, Xvxf, syqAxQ, Afa, tIvOjc, OZJzBL, YTOqKy, LSbBqv, NBWV, FYQy, RnUV, CAUY, PPKdIw, nHU, AtSn, BBhNbC, YvPL, eaigy, MESDP, rzYJGG, HwIhQ, VohaDG, CutOnS, NLKnv, qRaQp, djEF, ncIA, vQC,
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