jukebox-software/inv_kin_testing.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Inverse Kinematics Simulation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from scipy.optimize import fsolve\n",
    "import matplotlib.pyplot as plt\n",
    "import math\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Polar coordinate functions"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "def cartesian_to_polar(x, y):\n",
    "    r = np.sqrt(x**2 + y**2)\n",
    "    theta = np.arctan2(y, x)\n",
    "    return r, theta\n",
    "\n",
    "def polar_to_cartesian(r, theta):\n",
    "    x = r * np.cos(theta)\n",
    "    y = r * np.sin(theta)\n",
    "    return x, y"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Calculate end-joint values from xyz position"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 157,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[45.0, 90.70951422006029, 110.71500355039022, -20.005489330329944]\n",
      "[45.0, -90.70951422006029, 110.71500355039022, -110.00548933032994]\n"
     ]
    }
   ],
   "source": [
    "def normalize_degree(theta):\n",
    "    # Normalizes degree theta from -1.5pi to 1.5pi\n",
    "    multiplier = 1\n",
    "    normalized_theta = theta % (math.pi * multiplier)\n",
    "    \n",
    "    # Maintain the negative sign if the original angle is negative\n",
    "    if theta < 0:\n",
    "        normalized_theta -= math.pi * multiplier\n",
    "\n",
    "    # Return angle\n",
    "    return normalized_theta\n",
    "\n",
    "def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):\n",
    "    # Get polar coordinates of x,y pair\n",
    "    r, theta = cartesian_to_polar(x, y)\n",
    "    \n",
    "    # Get length of each limb\n",
    "    l1, l2, l3 = limbs\n",
    "    \n",
    "    # Formulas to find out joint positions for (r, z)\n",
    "    def inv_kin_r_z(p):\n",
    "        a, b, c = p\n",
    "\n",
    "        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r\n",
    "                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z\n",
    "                a-b-c) # wrist angle\n",
    "\n",
    "\n",
    "    # Normalize angles\n",
    "    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]\n",
    "\n",
    "    # Return result\n",
    "    return base, shoulder, elbow, wrist\n",
    "\n",
    "def get_joints_from_xyz_abs(x, y, z):\n",
    "    joints = get_joints_from_xyz_rel(x, y, z)\n",
    "\n",
    "    # Joint offsets\n",
    "    # Base, Shoulder, Elbow, Wrist\n",
    "    inverse = [1, -1, 1, 1]\n",
    "    offsets = [0, 0, 0, -math.pi/2]\n",
    "\n",
    "    # Return adjusted joint positions\n",
    "    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]\n",
    "\n",
    "print([math.degrees(deg) for deg in get_joints_from_xyz_rel(0.3, 0.3, 0.3)])\n",
    "print([math.degrees(deg) for deg in get_joints_from_xyz_abs(0.3, 0.3, 0.3)])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Simulate arm and joint angles"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 164,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Target position (x,y,z): 0.3 0.3 0.3\n",
      "Angles (base, shoulder, elbow, wrist): [45.0, 90.7095, 110.715, -20.0055]\n",
      "Robot Angles: [45.0, -90.7095, 110.715, -110.0055]\n",
      "elbow (x,y): -0.005 0.423\n",
      "wrist (x,y): 0.332 0.3\n",
      "tool  (x,y): 0.424 0.3\n"
     ]
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def draw_arm(x, y, z):\n",
    "\n",
    "    # Get joint angles\n",
    "    l1, l2, l3 = (.422864, .359041, .092124)\n",
    "    r, theta = cartesian_to_polar(x, y)\n",
    "    base, shoulder, elbow, wrist = get_joints_from_xyz_rel(x, y, z)\n",
    "\n",
    "    # Print angles\n",
    "    print('Target position (x,y,z):', x, y, z)\n",
    "    print('Angles (base, shoulder, elbow, wrist):', [round(math.degrees(i), 4) for i in [base, shoulder, elbow, wrist]])\n",
    "    print('Robot Angles:', [round(math.degrees(i), 4) for i in get_joints_from_xyz_abs(x, y, z)])\n",
    "\n",
    "    # Calculate each joint's endpoint position\n",
    "    x1, y1 = polar_to_cartesian(l1, shoulder)\n",
    "    x2, y2 = polar_to_cartesian(l2, shoulder-elbow)\n",
    "    x2 += x1\n",
    "    y2 += y1\n",
    "    x3, y3 = polar_to_cartesian(l3, shoulder-elbow-wrist)\n",
    "    x3 += x2\n",
    "    y3 += y2\n",
    "\n",
    "    # Print each joint's endpoint position\n",
    "    print('elbow (x,y):', round(x1,3), round(y1,3))\n",
    "    print('wrist (x,y):', round(x2,3), round(y2,3))\n",
    "    print('tool  (x,y):', round(x3,3), round(y3,3))\n",
    "\n",
    "    # Draw limbs\n",
    "    plt.plot([0, x1], [0, y1], color='cyan', linewidth=7)\n",
    "    plt.plot([x1, x2], [y1, y2], color='orange', linewidth=7)\n",
    "    plt.plot([x2, x2+l3], [y2, y2], color='red', linewidth=7)\n",
    "\n",
    "    # Display angles\n",
    "    plt.text(0, 0.02, f'{round(math.degrees(shoulder), 2)}°')\n",
    "    plt.text(x1, y1+0.02, f'{round(math.degrees(elbow), 2)}°')\n",
    "    plt.text(x2, y2+0.02, f'{round(math.degrees(wrist), 2)}°')\n",
    "\n",
    "    # Display r arrow\n",
    "    plt.annotate(f'', xy=(0, 0), xycoords='data', xytext=(x3, 0), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
    "    plt.annotate(f'r={round(r,4)}', xy=(x2/2, 0.01), xycoords='data', xytext=(x2/2, 0), textcoords='offset points')\n",
    "\n",
    "    # Display z arrow\n",
    "    plt.annotate(f'', xy=(x3, 0), xycoords='data', xytext=(x3, y3), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
    "    plt.annotate(f'z={round(y2,4)}', xy=(x3+0.01, y2/2), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
    "   \n",
    "    # Display plot\n",
    "    ax = plt.subplot(111)\n",
    "    ax.spines[['right', 'top']].set_visible(False)\n",
    "    plt.axis('equal')\n",
    "    plt.show()\n",
    "\n",
    "draw_arm(0.3, 0.3, 0.3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 165,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Target position (x,y,z): 0.3 0.3 0.3\n",
      "Angles (base, shoulder, elbow, wrist): [45.0, 90.7095, 110.715, -20.0055]\n",
      "Robot Angles: [45.0, -90.7095, 110.715, -110.0055]\n",
      "elbow (x,y): -0.005 0.423\n",
      "wrist (x,y): 0.332 0.3\n",
      "tool  (x,y): 0.424 0.3\n"
     ]
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Target position (x,y,z): -0.3 -0.3 0.7\n",
      "Angles (base, shoulder, elbow, wrist): [-135.0, 71.7346, 15.5104, 56.2242]\n",
      "Robot Angles: [-135.0, -71.7346, 15.5104, -33.7758]\n",
      "elbow (x,y): 0.133 0.402\n",
      "wrist (x,y): 0.332 0.7\n",
      "tool  (x,y): 0.424 0.7\n"
     ]
    },
    {
     "data": {
      "image/png": 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cXD788EOmTZvGhAkTGu5diIh3O/gOHPg/8/VXzIJmF1vWjog4xuGlvcOGDePo0aNMmjQJm81GQkICK1eutF/UmpeXh6/vuYwTExPDRx99xB//+Ed69uxJ27Zteeihh3j00Ucb7l2IiPf6sQC2jDdfH30jdBhtWTsi4jgfwzAMZzdRm+LiYkJDQykqKiIkJMTZ7YiIK1l/F+QtMVfbJBSG7IBmba3tyc3l5uYSFxfHunXr6NOnj7PbES+gZ9OIiPvKe9t8EAFInKUgIuKCFEZExD39eBS2/N58ffQQuGSUdf2ISJ0pjIiIe/p8ApQeNVfbpCUkvarVMyIuSmFERNxP3tLKzazE/4Vm0db1IyL1ojAiIu7lxyMOTs/8Bi65x7p+RKTeFEZExH0YRmUQKS0wV9+kJSS9oukZERenMCIi7iPvLTj4b/P1vV7U9IyIG1AYERH3cDq/8qJVs9reDLEjrOtHRBqMwoiIuD7DgM9/X/kwPDMCWkHSXE3PiLgJhRERcX0HllQ+f8asxBehaZR1/YhIg1IYERHXdtrm2PTMxUMh9n8sa0dEGp7CiIi4LsOofAhe2XFz9QFh0PtlTc+IuBmFERFxXQf+Dw69Z76+12xoGmlZOyJiDYUREXFNp23w+YPm6y++FdrfZV0/ImIZhRERcT2GAVt+Z356JvAiTc+IuDGFERFxPfv/BYfeN1/faw40jbCuHxGxlMKIiLiW04ch+w/m62Nuh3Z3WtePiFhOYUREXIdhwOb7oewHc/WBraH3S5qeEXFzCiMi4jr2vwHf/cd8fa85EBRuXT8i0igURkTENZz6Hj53YHqm3R3QXtMzIp5AYUREnM8wYPN9cKbQXH1gm8pRERHxCAojIuJ8+/4B339ovr73SxDUxrp+RKRRKYyIiHOd+g6yHzJf3+5OaPdb6/oRkUanMCIizmOfnikyVx8UrukZEQ+kMCIizrN3EXy/3Hx975chqLVl7YiIcyiMiIhznDoEWx82X9/+Loi5zbJ2RMR5FEZEpPEZBmwaB2eKzdUHhUPii9b2JCJOozAiIo1v70I4vNJ8fe+5mp4R8WAKIyLSuEoOwtY/mq9v/z8Qc6t1/YiI0ymMiEjjMQzY7Mj0TAT0+ru1PYmI0ymMiEjj2TMfDn9kvj7pFQi8yLp+RMQlKIyISOMoyYOt6ebrY0fAxbdY14+IuAyFERGxnmHApnvh7Alz9UGRkKjpGRFvoTAiItbbMw9sq8zXJ70KgWHW9SMiLkVhRESsVXIAtv7JfH3sPXDxTdb1IyIuR2FERKxjn545aa6+aRT0+l9rexIRl6MwIiLW2f0q2D4xX5/0KgS0sq4fEXFJdQojc+bMITY2lqCgIJKTk9m8eXONtYsWLcLHx6fKFhQUVOeGRcRNnNwPX/zZfP0lo6DtbyxrR0Rcl8NhZMmSJaSnpzN58mS2bt1KfHw8gwYN4siRIzUeExISwuHDh+3bgQMH6tW0iLg4owI2jXVgeiYaEmdZ2pKIuC6Hw8jMmTMZN24caWlpdO/enblz59KsWTMWLFhQ4zE+Pj5ERkbat4iIiHo1LSIubvcrkP+p+fqkeRDQ0rJ2RMS1ORRGysrKyM7OJjU19dwJfH1JTU0lKyurxuNOnjxJ+/btiYmJ4ZZbbmHHjh0XfJ3S0lKKi4urbCLiJk7ugy/+Yr6+w2hoe6Nl7YiI63MojBQUFFBeXn7eyEZERAQ2m63aY+Li4liwYAHvv/8+b7zxBhUVFVx11VUcOnSoxtfJyMggNDTUvsXExDjSpog4i316psRcfdO2cMX/s7YnEXF5lq+mSUlJYeTIkSQkJNCvXz/eeecd2rRpwyuvvFLjMRMnTqSoqMi+HTx40Oo2RaQhfPsy5K82X5+s6RkRAX9Hilu3bo2fnx/5+flV9ufn5xMZGWnqHE2aNOHyyy9n9+7dNdYEBgYSGBjoSGsi4mwn98IXj5iv7zAGom+wrh8RcRsOjYwEBASQmJhIZmamfV9FRQWZmZmkpKSYOkd5eTnbtm0jKirKsU5FxHUZFbBxDJSfMlff7GK4Yqa1PYmI23BoZAQgPT2dUaNG0atXL5KSkpg1axYlJSWkpaUBMHLkSNq2bUtGRgYAzzzzDFdeeSWdOnWisLCQF154gQMHDnDvvfc27DsREefJfQmOrDVfn/QaBIRa14+IuBWHw8iwYcM4evQokyZNwmazkZCQwMqVK+0Xtebl5eHre27A5YcffmDcuHHYbDZatWpFYmIiGzZsoHv37g33LkTEeU7sgZxHzdd3vBeiB1nXj4i4HR/DMAxnN1Gb4uJiQkNDKSoqIiQkxNntiMjPjArIvBaOrDNX3ywGhmyHJvo9dmW5ubnExcWxbt06+vTp4+x2xAvo2TQiUne5s80HEYDk1xREROQ8CiMiUjcndkPOY+brO46DqIHW9SMibkthREQcZ1TAxjQoP22uvlk7uGKGtT2JiNtSGBERx+36Oxxdb77+yvmanhGRGimMiIhjir+FLx83X9/pfohMrb1ORLyWwoiImFdRDpscmJ5p3h4uf8HankTE7SmMiIh5uX+Ho5+Zr0+eD02CretHRDyCwoiImFOc69j0TOfxEHm9df2IiMdQGBGR2lWUw8bRUP6jufrmsZDwvJUdiYgHURgRkdrtmgUFWebrr1wATVpY1o6IeBaFERG5sOJd8NWT5us7/x4irrWuHxHxOAojIlKzinLIGu3A9MwlkPBXS1sSEc+jMCIiNftmJhzbaL5e0zMiUgcKIyJSvaKd8NVT5uu7PAAR/S1rR0Q8l8KIiJyvorzy2TMVpebqW3SAhOnW9iQiHkthRETO983f4Ngm8/VXLgT/5tb1IyIeTWFERKoq+hq+mmS+vssfILyvdf2IiMdTGBGRcyrOVq6eMT090xESplnakoh4PoURETln5ww4vsVksY+mZ0SkQSiMiEilwh2wbbL5+rg/QHgf6/oREa+hMCIildMzG0dDRZm5+hadIF7TMyLSMBRGRLzMunXruOmmm4iOjsbHx4f33nsPdj4Pxz8HYPRc8BlRdRtc5aaqPpCyCPyb2fdMmTIFHx+fKlvXrl2rvO6rr75K//79CQkJwcfHh8LCwvN6y8rKIiEhgdjYWObPn9/g711EXJO/sxsQkcZVUlJCfHw8Y8aM4bbbboOSA7BtSpWawT1h4f3nvg5s8otvxj0Mba4+77yXXnopn3zyif1rf/+qf15OnTrF4MGDGTx4MBMnTqy2t7Fjx/Lss88SFRXFyJEjGThwIDExMY6+RRFxMwojIl7mhhtu4IYbbji3Y9eL0PVMlZrAJhDZspqDgztD/NRqz+vv709kZGSNr/vwww8DsGbNmhprSkpKuOKKKwgPD6dVq1acOHGixloR8RyaphHxdif3nLdrzU4IHw9xf4bxC+DYCahcPbOoyvTML3377bdER0fToUMHRowYQV5ensOtTJo0iW7duhEaGsqVV15J9+7dHT6HiLgfjYyIeKvCbdXuHhwPt/WGS9rAniPw+BK44XnIWvwwfm2uqvaY5ORkFi1aRFxcHIcPH+bpp5+mT58+bN++neDgYNMtjR07lrvuuouysjJatWpVp7clIu5HYUTEG1WcgaxR1X7rrpRz/71HO+jZDjr+Edb8kMr1NZzul9M+PXv2JDk5mfbt2/PWW28xduxYh1pr3rw5zZvr3iUi3kTTNCLeaMd0+OELU6UdInxpfVFLdu87aPr0LVu2pEuXLuzevbuuHYqIF1EYEfE2P3wFO541XX6o1TiOHS8iKirK9DEnT55kz549Dh0jIt5LYUTEm1Sc4eTqe8jZe4ac/ZW79h2FnP2QVwAnf4S/vAkbv4X9RyFzXwy3PL6JTp06MWjQIPtprr/+embPnm3/+s9//jNr165l//79bNiwgVtvvRU/Pz+GDx9ur7HZbOTk5NhHS7Zt20ZOTg7Hjx9vjHcuIi5M14yIeJMdGXy+9Suufe7crvQ3Kv9zVB94eQx8lQev/xcKSyA6+gwDB/fm2WefJTAw0H7Mnj17KCgosH996NAhhg8fzrFjx2jTpg3XXHMNGzdupE2bNvaauXPn8vTTT9u/7tu38km/CxcuZPTo0da8XxFxCz6GYRjObqI2xcXFhIaGUlRUREhIiLPbEXFPP+TAyt5gnDVX3+0RuPyvtdeJx8nNzSUuLo5169bRp4+ePyTW0zSNiDcoL4Os0eaDSEg36Pl07XUiIg1AYUTEG+yYBoVfmqv18a28uZlfkKUtiYj8TGFExINtAgqPfwE7nqu11q7bI9A6ybKeRER+TWFExEMZwIjyMg5sHG1+eia0O/SYYmFXIiLnUxgR8VBbgJE7phJf+JW5A3z8fpqeCay1VESkIdUpjMyZM4fY2FiCgoJITk5m8+bNpo5bvHgxPj4+DB06tC4vKyIO2HB8K4/vmGb+gO6PwkW9rWtIRKQGDoeRJUuWkJ6ezuTJk9m6dSvx8fEMGjSII0eOXPC4/fv38+c//1nLxEQagVFexuCNo/E3ys0dEHoZXDbJ2qZERGrgcBiZOXMm48aNIy0tje7duzN37lyaNWvGggULajymvLycESNG8PTTT9OhQ4d6NSwitTu8/Vm61vBU3l8zfPwgZZGmZ0TEaRwKI2VlZWRnZ5OamnruBL6+pKamkpWVVeNxzzzzDOHh4aaf3llaWkpxcXGVTURMOvY5EV9nmC736f4YhCVa2JCIyIU5FEYKCgooLy8nIiKiyv6IiAhsNlu1x6xfv5758+czb94806+TkZFBaGiofYuJiXGkTRHvVV6KsXE0fianZ34IvQwue8ripkRELszS1TQnTpzgnnvuYd68ebRu3dr0cRMnTqSoqMi+HTxo/tHlIt7N4GjUICrwqbXyrI8fvimva3pGRJzOoQfltW7dGj8/P/Lz86vsz8/PJzIy8rz6PXv2sH//fm666Sb7voqKisoX9vdn165ddOzY8bzjAgMDqzyUS0RM8gti1hV/Y93Ft7JwYxqdT+6usXTJpY8zIuyKRmxORKR6Do2MBAQEkJiYSGZmpn1fRUUFmZmZpKSknFfftWtX+2PCf95uvvlmrr32WnJycjT9ItLADGAp8Fn4NcTf+CWz4h6qdpTky5Y9Kb30yUbvT0SkOg6NjACkp6czatQoevXqRVJSErNmzaKkpIS0tDQARo4cSdu2bcnIyCAoKIjLLrusyvEtW7YEOG+/iNTfV8DPYyGn/Zvxx8RZ/DvmdhZuTKPTyT0AnPHxZ+yVi1jpF+C0PkVEfsnhMDJs2DCOHj3KpEmTsNlsJCQksHLlSvtFrXl5efj66sauIs7wdjX71of3If7GL8nImcgfcl/kuUufoFXY5Zi/iktExFo+hmEYzm6iNsXFxYSGhlJUVERISIiz2xFxSQbQDdh1gZorj2aRHZbIbL8A7mukvsT95ObmEhcXx7p163SjSmkUDo+MiIhr2sGFgwjAxjYp+AJDrW9HRMQ0zaeIeIilJuv6A+EW9iEi4iiFEREPUd31ItX5raVdiIg4TmFExAN8/dNWGx/gNot7ERFxlMKIiAcwOyrSF4iotUpEpHEpjIh4ALPXi9xhaRciInWjMCLi5r4Btpuo0xSNiLgqhRERN2d2iuYaIMrKRkRE6khhRMTNaRWNuLM5c+YQGxtLUFAQycnJbN68+YL1/fv3x8fH57xtyJAhjdSxWEFhRMSNfQt8abL2disbEamDJUuWkJ6ezuTJk9m6dSvx8fEMGjSII0eO1HjMO++8w+HDh+3b9u3b8fPz4447dEWUO1MYEXFjZkdFrgLaWtmIeI39+/dXOzLRv39/h881c+ZMxo0bR1paGt27d2fu3Lk0a9aMBQsW1HhMWFgYkZGR9m3VqlU0a9ZMYcTNKYyIuDGzYUR/pqWhxMTEVBmZ+OKLL7jooovo27cveXl5tGjR4oLbtGnTACgrKyM7O5vU1FT7uX19fUlNTSUrK8t0P/Pnz+euu+6iefPmDf5epfHo2TQibmovsNVkraZopKH4+fkRGRkJwI8//sjQoUNJSUlhypQpVFRUkJOTc8Hjw8LCACgoKKC8vNz+xPefRURE8M0335jqZfPmzWzfvp358+c7/kbEpSiMiLgps6MiVwIxVjYiXmvMmDGcOHGCVatW4evri6+vL506dWq0158/fz49evQgKSmp0V5TrKFpGhE3ZfZGZ1pFI1aYOnUqH330EcuWLSM4OBjAoWma1q1b4+fnR35+fpXz5ufn20deLqSkpITFixczduzYhn9z0ug0MiLihvYDn5usVRiRhvbvf/+bZ555hhUrVtCxY0f7/ujoaNPTNAEBASQmJpKZmcnQoUMBqKioIDMzkwceeKDWHpYuXUppaSl33313nd+HuA6FERE3ZHaKpjfQ3spGxOts376dkSNH8uijj3LppZdis9mAynARFhbm0DRNeno6o0aNolevXiQlJTFr1ixKSkpIS0uz14wcOZK2bduSkZFR5dj58+czdOhQLrroooZ5Y+JUCiMibkiraMRZPv/8c06dOsXUqVOZOnWqfX+/fv1Ys2aNQ+caNmwYR48eZdKkSdhsNhISEli5cmWVi1rz8vLw9a16RcGuXbtYv349H3/8cb3ei7gOH8MwDGc3UZvi4mJCQ0MpKioiJCTE2e2IOFUe5kc79gKXWNiLeKbc3Fzi4uJYt24dffr0cXY74gV0AauIm/m3ybpEFERExD0ojIi4Ga2iERFPozAi4kYOAWbvTakwIiLuQmFExI2YnaJJABrv1lMiIvWjMCLiRsyuotGoiIi4E4URETfxPfCZyVot6RURd6IwIuIm3gHMrMPvAXSxuBcRkYakMCLiJsyuotGoiIi4G4URETdgA/5rslbXi4iIu1EYEXEDZqdoLgW6WdyLiEhDUxgRcQNaRSMinkxhRMTFHQHWmqzV9SIi4o4URkRc3LtAhYm6rkB3i3sREbGCwoiIi3NkFY2PlY2IiFhEYUTEhR0F1pis1fUiIuKuFEZEXNh7QLmJui5U3uxMRMQdKYyIuDBHVtFoikZE3JXCiIiLOgZkmqzVKhoRcWd1CiNz5swhNjaWoKAgkpOT2bx5c42177zzDr169aJly5Y0b96chIQE/vnPf9a5YRFv8T7mpmg6AvEW9yIiYiWHw8iSJUtIT09n8uTJbN26lfj4eAYNGsSRI0eqrQ8LC+OJJ54gKyuLr776irS0NNLS0vjoo4/q3byIJ9MqGhHxFj6GYZi5y7RdcnIyvXv3Zvbs2QBUVFQQExPDgw8+yGOPPWbqHFdccQVDhgzh2WefNVVfXFxMaGgoRUVFhISEONKuiFv6AQgHzpqo/RxItLYd8TK5ubnExcWxbt06+vTp4+x2xAs4NDJSVlZGdnY2qamp507g60tqaipZWVm1Hm8YBpmZmezatYu+ffvWWFdaWkpxcXGVTcSbvI+5IHIJcIXFvYiIWM2hMFJQUEB5eTkRERFV9kdERGCz2Wo8rqioiBYtWhAQEMCQIUN48cUXGTBgQI31GRkZhIaG2reYmBhH2hRxe1pFIyLepFFW0wQHB5OTk8OWLVt47rnnSE9PZ82aNTXWT5w4kaKiIvt28ODBxmhTxCUUAh+brNUqGhHxBP6OFLdu3Ro/Pz/y8/Or7M/PzycyMrLG43x9fenUqRMACQkJ7Ny5k4yMDPr3719tfWBgIIGBgY60JuIx/gOcMVHXHuhlcS8iIo3BoZGRgIAAEhMTycw8d/eDiooKMjMzSUlJMX2eiooKSktLHXlpEa9hdhWNpmhExFM4NDICkJ6ezqhRo+jVqxdJSUnMmjWLkpIS0tLSABg5ciRt27YlIyMDqLz+o1evXnTs2JHS0lKWL1/OP//5T15++eWGfSciHqAYMLvoXc+iERFP4XAYGTZsGEePHmXSpEnYbDYSEhJYuXKl/aLWvLw8fH3PDbiUlJTw+9//nkOHDtG0aVO6du3KG2+8wbBhwxruXYh4iP8AZSbqYoBki3sREWksDt9nxBl0nxHxFrdS+XC82jwM/D9LOxFvpvuMSGPTs2lEXMQJYIXJWq2iERFPojAi4iI+BMxc1t0WuNLiXkREGpPCiIiLMLuK5nb0iysinkV/00RcwElguclaraIREU+jMCLiApYDP5qoiwKutrgXEZHGpjAi4gLMPovmNvRLKyKeR3/XRJzsFJUXr5qhVTQi4okURkScbAWVgaQ2EcA1FvciIuIMCiMiTmZ2Fc1tgJ+VjYiIOInCiIgTnQY+MFmrVTQi4qkURkScaCVQYqKuDdDX4l5ERJxFYUTEicyuormVOjzVUkTETSiMiDjJj1Q+pdcMraIREU+mMCLiJB9T+XC82lwE9Le2FRERp1IYEXESs6toNEUjIp5OYUTECUqBZSZrtYpGRDydwoiIE6wCik3UtQKus7gXERFnUxgRcQKzq2iGAk0s7ENExBUojIg0sjLgfZO1WkUjIt5AYUSkkWUChSbqWgLXW9qJiIhrUBgRaWRmV9HcAgRY2YiIiItQGBFpRGeA90zWahWNiHgLhRGRRvQp8IOJuhBggMW9iIi4CoURkUZkdhXNzUCglY2IiLgQhRGRRnIGeNdkrVbRiIg3URgRaSRrgWMm6oKBgRb3IiLiShRGRBqJ2VU0NwFBVjYiIuJiFEZEGsFZzE/RaBWNiHgbhRGRRrAOOGqirjkw2OJeRERcjcKISCMwu4rmN0BTKxsREXFBCiMiFisH3jFZq1U0IuKNFEZELLYeyDdR1wy4weJeRERckcKIiMXMrqIZQmUgERHxNgojIhaqAP5tslaraETEWymMiFjoM8Bmoq4pcKPFvYiIuCqFERELmV1FcwPQwspGRERcmMKIiEUqMB9GtIpGRLxZncLInDlziI2NJSgoiOTkZDZv3lxj7bx58+jTpw+tWrWiVatWpKamXrBexFNsBL43URdI5cWrIiLeyuEwsmTJEtLT05k8eTJbt24lPj6eQYMGceTIkWrr16xZw/Dhw1m9ejVZWVnExMQwcOBAvvvuu3o3L+LKHJmiCbayERERF+djGIbhyAHJycn07t2b2bNnA1BRUUFMTAwPPvggjz32WK3Hl5eX06pVK2bPns3IkSNNvWZxcTGhoaEUFRUREhLiSLsiTlEBxAIHTdS+AYywtBsRx+Tm5hIXF8e6devo06ePs9sRL+DQyEhZWRnZ2dmkpqaeO4GvL6mpqWRlZZk6x6lTpzhz5gxhYWE11pSWllJcXFxlE3EnWzAXRAKofEqviIg3cyiMFBQUUF5eTkRERJX9ERER2GxmFjDCo48+SnR0dJVA82sZGRmEhobat5iYGEfaFHE6szc6GwRorE9EvF2jrqaZPn06ixcv5t133yUoKKjGuokTJ1JUVGTfDh40829MEddgoFU0IiKO8HekuHXr1vj5+ZGfX/VJG/n5+URGRl7w2BkzZjB9+nQ++eQTevbsecHawMBAAgMDHWlNxGV8DhwwUdcETdGIiICDIyMBAQEkJiaSmZlp31dRUUFmZiYpKSk1Hvf888/z7LPPsnLlSnr16lX3bkXcgNlRkYFASwv7EBFxFw6NjACkp6czatQoevXqRVJSErNmzaKkpIS0tDQARo4cSdu2bcnIyADgr3/9K5MmTeLNN98kNjbWfm1JixYtaNFC95wUz2Jg/noRPYtGRKSSw2Fk2LBhHD16lEmTJmGz2UhISGDlypX2i1rz8vLw9T034PLyyy9TVlbGb39b9U/v5MmTmTJlSv26F3ExXwD7TNT5Azdb3IuIiLtwOIwAPPDAAzzwwAPVfm/NmjVVvt6/f39dXkLELZkdFUkFal7cLiLiXfRsGpEG4sgqGk3RiIicozAi0kC+BHabqPMDhlrbioiIW1EYEWkgZkdFrgMusrIRERE3ozAi0gAcWUWjG52JiFSlMCLSALYDuSbqNEUjInI+hRGRBmB2VKQ/0MbCPkRE3JHCiEgD0CoaEZG6UxgRqacdwE4Tdb7ArRb3IiLijhRGROrJ7KhIXyDCykZERNyUwohIPWkVjYhI/SiMiNTDTiqnaWrjA9xmcS8iIu5KYUSkHsxO0fQBIq1sRETEjSmMiNSDVtGIiNSfwohIHeUCX5msvd3KRkRE3JzCiEgdmR0VuRqItrIRERE3pzAiUkdaRSMi0jAURkTqYDeQY7JWUzQiIhemMCJSB2anaFKAi61sRETEAyiMiNSBVtGIiDQchRERB+0Fsk3WKoyIiNROYUTEQf82WZcEtLOyERERD6EwIuIgraIREWlYCiMiDjgAbDFZq1U0IiLmKIyIOMDshau9gEusbERExIMojIg4QKtoREQansKIiEkHgY0maxVGRETMUxgRMcnsKprLgY5WNiIi4mEURkRM0ioaERFrKIyImPAdsMFkraZoREQcozAiYoLZKZp4oLOVjYiIeCCFERETtIpGRMQ6CiMitTgMrDdZq+tFREQcpzAiUot3AMNE3WVAnMW9iIh4IoURkVpoFY2IiLUURkQuIB9YZ7JW14uIiNSNwojIBZidoun+0yYiIo5TGBG5AK2iERGxXp3CyJw5c4iNjSUoKIjk5GQ2b95cY+2OHTu4/fbbiY2NxcfHh1mzZtW1V5FGdQRYY7JW14uIiNSdw2FkyZIlpKenM3nyZLZu3Up8fDyDBg3iyJEj1dafOnWKDh06MH36dCIjI+vdsEhjeQ+oMFEXB1xqbSsiIh7N4TAyc+ZMxo0bR1paGt27d2fu3Lk0a9aMBQsWVFvfu3dvXnjhBe666y4CAwPr3bBIY3FkFY2PlY2IiHg4h8JIWVkZ2dnZpKamnjuBry+pqalkZWU1WFOlpaUUFxdX2UQaUwGw2mStrhcREakfh8JIQUEB5eXlREREVNkfERGBzWZrsKYyMjIIDQ21bzExMQ12bhEz3gPKTdR1Bnpa24qIiMdzydU0EydOpKioyL4dPHjQ2S2Jl3FkFY2maERE6sffkeLWrVvj5+dHfn5+lf35+fkNenFqYGCgri8RpzkOZJqs1SoaEZH6c2hkJCAggMTERDIzz/2prqioIDMzk5SUlAZvTsQZ3gfOmqjrACRY24qIiFdwaGQEID09nVGjRtGrVy+SkpKYNWsWJSUlpKWlATBy5Ejatm1LRkYGUHnR69dff23/79999x05OTm0aNGCTp06NeBbEWkYWkUjItK4HA4jw4YN4+jRo0yaNAmbzUZCQgIrV660X9Sal5eHr++5AZfvv/+eyy+/3P71jBkzmDFjBv369WPNmjX1fwciDegH4BOTtVpFIyLSMHwMwzDz6A2nKi4uJjQ0lKKiIkJCQpzdjniw14HRJupigb1oZEQ8U25uLnFxcaxbt44+ffo4ux3xAi65mkbEWbSKRkSk8SmMiPykCPjYZK1W0YiINByFEZGf/AcoM1HXDuhtcS8iIt5EYUTkJ2ZX0WiKRkSkYSmMiADFwEcma7WKRkSkYSmMiAAfAKUm6i4Gki3uRUTE2yiMiGB+Fc3t6JdGRKSh6e+qeL2TwAqTtVpFIyLS8BRGxOt9CPxooi4a0BOYREQansKIeD2zq2g0RSMiYg39bRWvVgIsN1mrVTQiItZQGBGvthw4baIuErja4l5ERLyVwoh4NbOraG4D/KxsRETEiymMiNc6ReX9RczQKhoREesojIjXWkllIKlNOKCHqIuIWEdhRLyWpmhERFyDwoh4pdNUPqXXDK2iERGxlsKIeKWPqbzzam1aA/0s7kVExNspjIhXMnujs1sBfysbERERhRHxPqXAMpO1WkUjImI9hRHxOh8DJ0zUhQH9rW1FRERQGBEvZHYVza1AEysbERERQGFEvEwp8M/YWPDxOX+bMKGy6NVXoX9/3gwJwcfHh8LCwlrPGxsbi4+Pz3nbhJ/PCdx///107NiRpk2b0qZNG2655Ra++eabKudZtmwZXbp0IS4ujg8+MHtLNhER96YwIl4lEzC2bIHDh89tq1ZVfvOOn64QOXWKpoMH88Tjj5s+75YtWzh8+LB9W/XTOe+449xVJ4mJiSxcuJCdO3fy0UcfYRgGAwcOpLy8HIDS0lImTJjASy+9xOzZsxk/fjxlZWUN8r5FRFyZFgqIV1kK0KZN1Z3Tp0PHjtDvp0W8Dz/MMODqNWtMn7fNr845ffp0OnbsSL9+5xYG33ffffb/Hhsby9SpU4mPj2f//v107NiR0tJS/Pz8SEhIAMDf35/S0lICAgLMv0ERETekkRHxGmXAe+ftLIM33oAxYyqnan5SnxudlZWV8cYbbzBmzBh8fnHOXyopKWHhwoVccsklxMTEABASEkJaWhpRUVFER0czfvx4goOD69GJiIh7UBgRr/EpUPjrne+9B4WFMHq0fVcokFqP13nvvfcoLCxk9C/O+bOXXnqJFi1a0KJFC1asWMGqVauqjHxMnjyZgoICjh07xiOPPFKPLkRE3IfCiHiNalfRzJ8PN9wA0dH2XTcDgfV4nfnz53PDDTcQ/Ytz/mzEiBF88cUXrF27li5dunDnnXfy448/VqkJDQ31+BGRr776ij59+hAUFERMTAzPP/+86WOPHTvGxRdffN7Fxe+88w4DBgygTZs2hISEkJKSwkcffVTjeaZPn46Pjw8PP/xwlf1mLjQWkYalMCJe4Qzw7q93HjgAn3wC995bZXd9bnR24MABPvnkE+791Tl/FhoaSufOnenbty9vv/0233zzDe++e15nbsXRi2yLi4sZOHAg7du3Jzs7mxdeeIEpU6bw6quvmjp+7Nix9OzZ87z969atY8CAASxfvpzs7GyuvfZabrrpJr744ovzards2cIrr7xS7Xlqu9BYRBqeLmAVr7AGOP7rnQsXQng4DBli3xUMDKjH6yxcuJDw8HCG/OKcNTEMA8MwKC0trccrNr7+/ftz2WWX4e/vzxtvvEGPHj1YvXq16eP/9a9/UVZWxoIFCwgICODSSy8lJyeHmTNnVrnItzovv/wyhYWFTJo0iRUrVlT53qxZs6p8PW3aNN5//33+85//cPnll9v3nzx5khEjRjBv3jymTp163mvUdqGxiDQ8jYyIVzjvWTQVFZVhZNQo8D+XyW8GCm02cnJy2L17NwDbtm0jJyeH48fPxZnrr7+e2bNn/+qUFSxcuJBRo0bh71815+/du5eMjAyys7PJy8tjw4YN3HHHHTRt2pQbb7yxId9qo3j99dcJCAjgs88+Y+7cudxwww32a2Gq2y699FL7sVlZWfTt27fKtTKDBg1i165d/PDDDzW+5tdff80zzzzDP/7xD3x9a//TVVFRwYkTJwgLC6uyf8KECQwZMoTU1NqvDKruQmNPdubMGYf2izQUjYyIxztLNVM0n3wCeXmVq2h+4bfA3Llzefrpp+37+vbtC1SOevx8UeqePXsoKCj41Sk/IS8vjzG/OidAUFAQ//3vf5k1axY//PADERER9O3blw0bNhAeHl7Pd9j4OnfuXOU6j9dee43Tp0/XWN+kybl72dpsNi655JIq34+IiLB/r1WrVucdX1payvDhw3nhhRdo164de/furbXHGTNmcPLkSe688077vsWLF7N161a2bNlywWNfeuklHnnkEUpKSoiLizvvQmNPdc0113D77bczdOhQ+75Fixbx9NNPs2/fPuc1Jh5PYUQ83lqg4Nc7Bw4Ew6iyqwUwCBg6ZQpTpky54Dn3799/3r6BAwdi/OqcP4uOjmb58uUmO3Z9iYmJVb5u27atpa83ceJEunXrxt13322q/s033+Tpp5/m/ffft4e9gwcP8tBDD7Fq1SqCgoIuePyIESMYMGAAhw8fZsaMGdx555189tlntR7n7q6++mqmTZvGddddB1ReDzRp0iT69Onj5M7E02maRjye2WfR/AZoamUjHqR58+ZVvnZkmiYyMpL8/Pwqx//8dWRkZLWv9+mnn7J06VL8/f3x9/fn+uuvB6B169ZMnjy5Su3ixYu59957eeutt6pMxWRnZ3PkyBGuuOIK+3nWrl3L3//+d/z9/atcoOqJFxqb8cgjj1BaWsrrr78OwIoVKzh06BBPPfWUkzsTT6eREfFo5cA7Jmvrs4rG2zkyTZOSksITTzzBmTNn7PtXrVpFXFxctVM0AP/+97+rnH/Lli2MGTOG//73v1UuKv2///s/xowZw+LFi8+7iPj6669n27ZtVfalpaXRtWtXHn30Ufz8/Kp9bXe90LguIiMjGT9+PK+99hoA//znPxk+fDhdu3Z1cmfi8Qw3UFRUZABGUVGRs1sRN7Pa+On/SWrZmhmGUeKcFt1Ov379jIceeqjOxxcWFhoRERHGPffcY2zfvt1YvHix0axZM+OVV16x17zzzjtGXFxcjedYvXq1ARg//PCDfd+//vUvw9/f35gzZ45x+PBh+1ZYWGj6vezZs8eYNm2a8fnnnxsHDhwwPvvsM+Omm24ywsLCjPz8/Dq/Z3dy+PBhIzAw0AAMHx8fY+fOnc5uSbyApmnEo523iqYGvwGaWdmI2IWGhvLxxx+zb98+EhMT+dOf/sSkSZOqLKktKipi165dDp331Vdf5ezZs0yYMIGoqCj79tBDD5k+x88XGt9444106tSJYcOGERwc7LYXGtdFZGQkw4cPBypHkzQqIo3BxzBquOLuAubMmcMLL7yAzWYjPj6eF198kaSkpBrrly5dylNPPcX+/fvp3Lkzf/3rXx1azlhcXExoaChFRUWEhIQ42q54qXLgYsBmovYtNE0j8rO9e/dy1VVX8f7775OcnOzsdsQLODwysmTJEtLT05k8eTJbt24lPj6eQYMGceTIkWrrN2zYwPDhwxk7dixffPEFQ4cOZejQoWzfvr3ezYtcyGeYCyJNgRuB06dP87//+7906tSJZcuWWduciBMYhsEVV1zBsGHD2LFjR411HTp0wGazKYhI43F0XicpKcmYMGGC/evy8nIjOjrayMjIqLb+zjvvNIYMGVJlX3JysnH//febfk1dMyJ18aBh7nqRoadOGbNmzTIiIyMNPz8/Iy0tzTh27Jiz2hax1Jtvvmm0b9/e8PHxMe68805j+/btzm5JxHBoNU1ZWRnZ2dlMnDjRvs/X15fU1FSysrKqPSYrK4v09PQq+wYNGsR7771X4+uUlpZWuXK9uLjYkTZFqAD+XVtRaSk8/jifvP46/yks5IYbbmD06NFcfPHFfPvtt43QpUjj69ChA2+88QYffvghixYtokePHlx33XVMmTKFa665xtntiZdyKIwUFBRQXl5uv1vizyIiImp8qqXNZqu23mareQA9IyOjyh0wRRyVBXxfW9FTT8HMmZz86csPPviADz74wNrGRFxQZmYmmzdv1j/8xGlc8j4jEydOrDKaUlxc7BXPhZCGY2oVzXPP0S0khOK5c/nuu+8YMGAAv/vd7+jSpYvV7Yk41enTp1m6dCkLFiygsLCQW265hUmTJjm7LfFiDoWR1q1b4+fnV+3dE2u6c2JNd1usqR4gMDCQwMBAR1oTsTM1RQPQpAlPPvkkdzz6KP/4xz+YOnUqt99+O7/97W+ZM2eO1yzlFO/y2muv8eSTT1JQUMDo0aN5/PHH6dChg7PbEi/n0GqagIAAEhMTyczMtO+rqKggMzOTlJSUao9JSUmpUg+Vd1usqV6kvvKBsFqrIJDK+4s0adKEsWPHkpuby2uvvca3335b64PURNyRYRgsWrSI3/zmN/afdwURcQUO32dkyZIljBo1ildeeYWkpCRmzZrFW2+9xTfffENERAQjR46kbdu2ZGRkAJVLe/v168f06dMZMmQIixcvZtq0aWzdupXLLrvM1GvqPiNSF7lUjpAsBb6o5vs3A+83akciIlIdh68ZGTZsGEePHmXSpEnYbDYSEhJYuXKl/SLVvLw8fH3PDbhcddVVvPnmmzz55JM8/vjjdO7cmffee890EBGpqy7AxJ+2PVQ+MO9t4POfvq+bnImIuIY63YG1sWlkRBrSPipDyX1AqJN7ERERF11NI2KlS4C/OLsJERGx04PyRERExKkURkRERMSpFEZERETEqRRGRERExKkURkRERMSpFEZERETEqRRGRERExKkURkRERMSp3OKmZz/fJLa4uNjJnYiIiIijgoOD8fHxqfH7bhFGTpw4AUBMTIyTOxERERFH1fY4F7d4Nk1FRQXff/99rcnK1RUXFxMTE8PBgwf1jB0n0OfvXPr8nUufv3N5++fvESMjvr6+XHzxxc5uo8GEhIR45Q+jq9Dn71z6/J1Ln79z6fOvni5gFREREadSGBERERGnUhhpRIGBgUyePJnAwEBnt+KV9Pk7lz5/59Ln71z6/C/MLS5gFREREc+lkRERERFxKoURERERcSqFEREREXEqhRERERFxKoURix0/fpwRI0YQEhJCy5YtGTt2LCdPnrxg/YMPPkhcXBxNmzalXbt2/OEPf6CoqKgRu3Zfc+bMITY2lqCgIJKTk9m8efMF65cuXUrXrl0JCgqiR48eLF++vJE69UyOfP7z5s2jT58+tGrVilatWpGamlrr/15yYY7+/P9s8eLF+Pj4MHToUGsb9HCOfv6FhYVMmDCBqKgoAgMD6dKli/f+DTLEUoMHDzbi4+ONjRs3Gv/973+NTp06GcOHD6+xftu2bcZtt91mLFu2zNi9e7eRmZlpdO7c2bj99tsbsWv3tHjxYiMgIMBYsGCBsWPHDmPcuHFGy5Ytjfz8/GrrP/vsM8PPz894/vnnja+//tp48sknjSZNmhjbtm1r5M49g6Of///8z/8Yc+bMMb744gtj586dxujRo43Q0FDj0KFDjdy5Z3D08//Zvn37jLZt2xp9+vQxbrnllsZp1gM5+vmXlpYavXr1Mm688UZj/fr1xr59+4w1a9YYOTk5jdy5a1AYsdDXX39tAMaWLVvs+1asWGH4+PgY3333nenzvPXWW0ZAQIBx5swZK9r0GElJScaECRPsX5eXlxvR0dFGRkZGtfV33nmnMWTIkCr7kpOTjfvvv9/SPj2Vo5//r509e9YIDg42Xn/9data9Gh1+fzPnj1rXHXVVcZrr71mjBo1SmGkHhz9/F9++WWjQ4cORllZWWO16NI0TWOhrKwsWrZsSa9evez7UlNT8fX1ZdOmTabP8/PTDv393eJRQk5RVlZGdnY2qamp9n2+vr6kpqaSlZVV7TFZWVlV6gEGDRpUY73UrC6f/6+dOnWKM2fOEBYWZlWbHquun/8zzzxDeHg4Y8eObYw2PVZdPv9ly5aRkpLChAkTiIiI4LLLLmPatGmUl5c3VtsuRf/vZiGbzUZ4eHiVff7+/oSFhWGz2Uydo6CggGeffZb77rvPihY9RkFBAeXl5URERFTZHxERwTfffFPtMTabrdp6s//byDl1+fx/7dFHHyU6Ovq8gCi1q8vnv379eubPn09OTk4jdOjZ6vL57927l08//ZQRI0awfPlydu/eze9//3vOnDnD5MmTG6Ntl6KRkTp47LHH8PHxueBm9g/whRQXFzNkyBC6d+/OlClT6t+4iIuaPn06ixcv5t133yUoKMjZ7Xi8EydOcM899zBv3jxat27t7Ha8UkVFBeHh4bz66qskJiYybNgwnnjiCebOnevs1pxCIyN18Kc//YnRo0dfsKZDhw5ERkZy5MiRKvvPnj3L8ePHiYyMvODxJ06cYPDgwQQHB/Puu+/SpEmT+rbt0Vq3bo2fnx/5+flV9ufn59f4WUdGRjpULzWry+f/sxkzZjB9+nQ++eQTevbsaWWbHsvRz3/Pnj3s37+fm266yb6voqICqBy93bVrFx07drS2aQ9Sl5//qKgomjRpgp+fn31ft27dsNlslJWVERAQYGnPrkYjI3XQpk0bunbtesEtICCAlJQUCgsLyc7Oth/76aefUlFRQXJyco3nLy4uZuDAgQQEBLBs2TL9S9GEgIAAEhMTyczMtO+rqKggMzOTlJSUao9JSUmpUg+watWqGuulZnX5/AGef/55nn32WVauXFnl2ipxjKOff9euXdm2bRs5OTn27eabb+baa68lJyeHmJiYxmzf7dXl5//qq69m9+7d9hAIkJubS1RUlNcFEUBLe602ePBg4/LLLzc2bdpkrF+/3ujcuXOVpb2HDh0y4uLijE2bNhmGYRhFRUVGcnKy0aNHD2P37t3G4cOH7dvZs2ed9TbcwuLFi43AwEBj0aJFxtdff23cd999RsuWLQ2bzWYYhmHcc889xmOPPWav/+yzzwx/f39jxowZxs6dO43JkydraW89OPr5T58+3QgICDDefvvtKj/nJ06ccNZbcGuOfv6/ptU09ePo55+Xl2cEBwcbDzzwgLFr1y7jgw8+MMLDw42pU6c66y04lcKIxY4dO2YMHz7caNGihRESEmKkpaVV+WO7b98+AzBWr15tGIZhrF692gCq3fbt2+ecN+FGXnzxRaNdu3ZGQECAkZSUZGzcuNH+vX79+hmjRo2qUv/WW28ZXbp0MQICAoxLL73U+PDDDxu5Y8/iyOffvn37an/OJ0+e3PiNewhHf/5/SWGk/hz9/Dds2GAkJycbgYGBRocOHYznnnvOa//R6WMYhuGcMRkRERERXTMiIiIiTqYwIiIiIk6lMCIiIiJOpTAiIiIiTqUwIiIiIk6lMCIiIiJOpTAiIiIiTqUwIiIiIk6lMCIiIiJOpTAiIiIiTqUwIiIiIk6lMCIiIiJO9f8Bf1zahkSHk9MAAAAASUVORK5CYII=",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Target position (x,y,z): -0.3 0.4 0.2\n",
      "Angles (base, shoulder, elbow, wrist): [126.8699, 74.2826, 109.5002, -35.2176]\n",
      "Robot Angles: [126.8699, -74.2826, 109.5002, -125.2176]\n",
      "elbow (x,y): 0.115 0.407\n",
      "wrist (x,y): 0.408 0.2\n",
      "tool  (x,y): 0.5 0.2\n"
     ]
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "draw_arm(0.3, 0.3, 0.3)\n",
    "draw_arm(-0.3, -0.3, 0.7)\n",
    "draw_arm(-0.3, 0.4, 0.2)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Interactive Arm"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 160,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "5617bc9f737949c4bc84c787ff88ce16",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "interactive(children=(FloatSlider(value=0.3, description='x', max=1.0, step=0.01), FloatSlider(value=0.3, desc…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "<function __main__.draw_arm(x, y, z)>"
      ]
     },
     "execution_count": 160,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from ipywidgets import interact, FloatSlider\n",
    "\n",
    "# Interactive slider for z coordinate\n",
    "interact(draw_arm,  x=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
    "                    y=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
    "                    z=FloatSlider(min=0, max=1, step=0.01, value=0.3))\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.4"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}