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The Replimat project is focused on making tangible goods accessible to all. Small simple and inexpensive computers, and the software which runs on them can aid in this task in a number of ways.  Follow these instructions to install and use the software portions of the Replimat project:
[[File:NopSCADlib parts.png|thumb]]


===Linux===
Replimat is developed using the [https://git-scm.com/ git] version control system, on the [https://www.github.com/ github] hosting service, in the [https://github.com/timschmidt/replimat replimat git repository] as well as in the repositories of the upstream software projects themselves.
====Fedora====
 
Follow these instructions to install and use the software portions of the Replimat project and the tools to modify them.  Much of this software is intended to work with the replimat [[:Category:Controllers|controller]].
 
=Setting up prerequisites=
==Linux==
===Fedora===
Open a terminal and type the following:
Open a terminal and type the following:
  sudo dnf install git openscad rust cargo  
sudo dnf install git openscad rust cargo kicad keepassxc yosys gimp inkscape vim freecad
 
Some distributions, such as 64 bit Fedora, put 64 bit libraries in the /usr/lib64 directory, whereas nautilus-python (the program that lets us extend nautilus) assumes all libraries are in the /usr/lib directory. This is a nautilus-python bug. The current workaround is to create a symlink:
ln -s /usr/lib64/libpython2.6.so /usr/lib/libpython2.6.so
 
NopSCADlib requires some setup:
sudo sh -c 'echo "export OPENSCADPATH=$HOME/Documents/GitHub/replimat/lib/openscad" >>/etc/profile'
 
===Meikian Live===
* [https://reprap.org/wiki/Meikian_Live Meikian Live]
Meikian Live (formely named CWLive) is a GNU/Linux live distribution initially focused on Clone Wars community, but intended to all the RepRap users and developers. Based on Debian GNU/Linux, it includes most of the Software, Firmware, useful links and other related stuff you can use on a day to day as a reprapper.
 
===Pop! OS===
sudo apt install meld git openscad rustc cargo rabbitvcs-nautilus rabbitvcs-gedit rabbitvcs-cli kicad arduino gnome-tweak-tool obs-studio obs-plugins fritzing subversion keepassxc yosys openscad freecad gimp inkscape cura exfat-fuse python3-markdown codespell peek autokey filelight yagv vim vokoscreen-ng libserialport0 patchelf solvespace
 
To get the latest IceStudio, download the appimage from [https://icestudio.io/ icestudio.io]
 
NopSCADlib requires some setup:
sudo sh -c 'echo "export OPENSCADPATH=$HOME/Documents/GitHub/replimat/lib/openscad" >>/etc/profile'
 
Add the following to /etc/profile as well
if [ -d "$HOME/Documents/GitHub/replimat/lib/openscad/NopSCADlib/scripts/" ] ; then
  PATH="$PATH:$HOME/Documents/GitHub/replimat/lib/openscad/NopSCADlib/scripts/"
fi
 
[https://bugs.launchpad.net/ubuntu/+source/arduino/+bug/1916278 Arduino doesn't run] out of the box on recent Ubuntu releases.  We need to patch a library to allow it to work:
 
sudo patchelf --add-needed /usr/lib/x86_64-linux-gnu/libserialport.so.0 /usr/lib/x86_64-linux-gnu/liblistSerialsj.so.1.4.0
 
Download and unpack [https://github.com/MarlinFirmware/U8glib-HAL/archive/refs/heads/master.zip U8glib-HAL arduino library] into ~/Arduino/libraries/
 
Download [https://github.com/MarlinFirmware/Marlin/archive/2.0.x.zip Marlin firmware] and unpack into ~/Documents/GitHub/Marlin/
 
===Ubuntu===
sudo apt install meld git openscad rustc cargo rabbitvcs-nautilus rabbitvcs-gedit rabbitvcs-cli kicad arduino gnome-tweak-tool obs-studio obs-plugins fritzing subversion keepassxc yosys openscad freecad gimp inkscape cura exfat-fuse python3-markdown codespell ubuntu-gnome-default-settings vanilla-gnome-default-settings vanilla-gnome-desktop ubuntu-gnome-desktop peek filelight yagv vim vokoscreen-ng libserialport0 patchelf solvespace
 
NopSCADlib requires some setup:
sudo sh -c 'echo "export OPENSCADPATH=$HOME/Documents/GitHub/replimat/lib/openscad" >>/etc/profile'
 
Ubuntu 20.10 requires a symlink in /usr/bin for the ImageMagick command line utility:
sudo ln -s /usr/bin/convert /usr/bin/magick
 
[https://bugs.launchpad.net/ubuntu/+source/arduino/+bug/1916278 Arduino doesn't run] out of the box on recent Ubuntu releases.  We need to patch a library to allow it to work:
 
sudo patchelf --add-needed /usr/lib/x86_64-linux-gnu/libserialport.so.0 /usr/lib/x86_64-linux-gnu/liblistSerialsj.so.1.4.0
 
Download and unpack [https://github.com/MarlinFirmware/U8glib-HAL/archive/refs/heads/master.zip U8glib-HAL arduino library] into ~/Arduino/libraries/
 
Download [https://github.com/MarlinFirmware/Marlin/archive/2.0.x.zip Marlin firmware] and unpack into ~/Documents/GitHub/Marlin/
 
==Redox==
[https://www.redox-os.org/ Redox OS] is an operating system written in the Rust programming language, and a high-value build target for Replimat.  Expanding the instructions here, for installing the software necessary for building and modifying Replimat to work on Redox OS would be an excellent way to contribute to the project.
 
==Windows==
<youtube>PdKMiFKGQuc</youtube>
* [https://chocolatey.org/ chocolatey] doesn't seem to have openscad, arduino, possibly others
* [https://just-install.github.io/ Just-install] does not seem to have openscad
* [https://www.windowsremix.com/ Windows Remix] seems to have openscad
** openscad, github desktop, freecad, inkscape, gimp, arduino, cura,
 
=CAD=
==Cloning the git repository==
* If you haven't already, install git.
* [https://github.com/join Join Github]
* Using the command line client:
** git --config global user.name "User Name"
** git --config global user.email "user@email.com"
** mkdir ~/Documents/GitHub/replimat
** cd ~/Documents/GitHub/replimat
** git clone https://github.com/timschmidt/replimat.git
* Using the Github Desktop:
 
==Blender==
Using blender from Python requires the 'bpy' module which does not install correctly on Ubuntu out of the box.  Installation details [https://creativepolygon.com/development/starting-with-bpy-blender-python-part-1-installation here].
 
==OpenSCAD==
Replimat parts are modeled with important features oriented toward the X axis origin, and centered on the grid location closest to the origin or with a mounting hole centered at that location.
 
A set of CAD functions are available as part of the [https://github.com/nophead/NopSCADlib NopSCADlib] library for the free and open source [http://www.openscad.org/ OpenSCAD] [https://en.wikipedia.org/wiki/Constructive_solid_geometry constructive solid geometry] software.  It contains functions for tubular and T slot frames of configurable size and orientation, flat surfaces with and without notched corners, many additional parts, and easy hole-aligned translation:
 
// grid_frame_z(segments, material, width) - create a vertical frame 'segments' long
// grid_frame_x(segments, material, width) - create a horizontal frame along the X axis
// grid_frame_y(segments, material, width) - create a horizontal frame along the Y axis
// grid_nut()
// grid_bolt_z(length, width)
// grid_bolt_x(length, width)
// grid_bolt_y(length, width)
// grid_bolt_nut_z(length, width)
// grid_plate_dxf(wide, deep, hole_radius, corner_radius, width) - create a plate width and depth in 'segments'
// grid_plate_stl(wide, deep, hole_radius, corner_radius, width)
// grid_pillow_block()
// grid_translate([x, y, z]) - translate frames or plates in X, Y, or Z axes in units 'segments'
 
There's also an [https://github.com/ondratu/bitbeam-lib M-Bitbeam OpenSCAD library] and another [https://www.thingiverse.com/thing:51159 Gridbeam and Bitbeam OpenSCAD and OpenJSCAD library].
 
Additional information can be found in the [https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Print_version OpenSCAD User Manual]
* [https://github.com/fablabnbg/inkscape-paths2openscad Inkscape to OpenSCAD converter]
* [https://github.com/revarbat/openscad_runner OpenSCAD Runner] - A Python library to interface with and run the OpenSCAD interpreter
* [https://github.com/revarbat/openscad_docsgen OpenSCAD Documentation Generator] - This package generates wiki-ready GitHub flavored markdown documentation pages from in-line source code comments. This is similar to Doxygen or JavaDoc, but designed for use with OpenSCAD code. Example images can be generated automatically from short example scripts
* Parts and projects in the Replimat github repository are implemented using [https://github.com/nophead/NopSCADlib NopSCADlib]
* [https://github.com/moehriegitt/hob3l Github: Hob3l - Replace 3D CSG by Fast 2D Polygon Clipping for slicing for 3d printing]
* [https://www.reddit.com/r/openscad/comments/p43xqc/unionround_module/ Unionround() for fast fillets and chamfers]
* [http://graphscad.blogspot.com/ Graphscad]
 
==FreeCAD==
A [https://www.freecadweb.org/ FreeCAD] Replimat library is currently under development.  [https://www.bolts-library.org/en/index.html BOLTS] and [https://github.com/FreeCAD/FreeCAD-library/ FreeCAD Library] serve as useful starting points.
* [https://github.com/oddtopus/flamingo Flamingo toolset for frames and pipes]
* [https://wiki.opensourceecology.org/wiki/OSE_Piping_Workbench OSE Piping workbench]
* [https://forum.freecadweb.org/viewtopic.php?f=8&t=62131 McMaster Carr workbench]
 
==Inkscape==
* [https://github.com/fablabnbg/inkscape-paths2openscad Inkscape to OpenSCAD converter]
 
==DXF2Papercraft==
* [http://dxf2papercraft.sourceforge.net/ DXF2Papercraft]
 
==CADQuery==
Code CAD based on the Python programming language and PythonOCC  [https://cadquery.readthedocs.io/en/latest/intro.html Docs]
* [https://github.com/CadQuery/cadquery CADQuery]
* [https://github.com/CadQuery/CQ-editor CADQuery Editor]
* [https://github.com/cqparts/cqparts CADQuery Parts library] analagous to nopSCADlib
* [https://github.com/bernhard-42/jupyter-cadquery Jupyter Notebooks for CADQuery]
 
==[https://lovr.org/ LoVR]==
"LÖVR uses a 3D coordinate system with values specified in meters. Negative z values are in front of the camera, positive y values are above the ground, and negative x values are to the left. By default, the coordinate system maps to the VR play area, so the origin is on the ground in the middle of the play space." [https://lovr.org/docs/Callbacks_and_Modules LOVR docs]
* [https://rednuht.org/genetic_cars_2/ HTML5 Genetic Algorithm 2D Car Thingy]
* [https://www.lua.org/manual/5.4/ Lua manual]
* [https://lovr.org/docs/Libraries Libraries]
* [https://github.com/mcclure/lovr-oculus-mobile Oculus support]
* [https://github.com/evanw/csg.js/blob/master/csg.js csg.js] as an example of from-scratch CSG with polygons
* [https://c4scdn.ch/file/data/qvcz5raud5eyrus6yz6i/PHID-FILE-hrilxkvt4repl2ud64mj/report.pdf lovr calling native code through FFI on the Quest]
* [https://github.com/mcclure/rovr Rovr Rust reimplementation of the Lovr API] - lovr.filesystem only ATM
* [https://github.com/alloverse/lovr-letters lovr-letters]
* [https://alloverse.com/ Alloverse]
* [https://github.com/mcclure/lodr hot-loader for lovr]
* [https://github.com/jmiskovic/vrapper generative geometry lovr scenes]
* [https://github.com/alloverse/lovr-pointdrag lovr point and drag sample]
* [https://wiki.termux.com/wiki/Internal_and_external_storage Termux wiki: Internal and external storage]
* [https://github.com/alloverse/allo-assets Alloverse assets]
* [https://github.com/alloverse/allo-shapes Alloverse shapes]
* [https://github.com/jmiskovic/lovr-procmesh This repository is collection of Lua libraries for creating meshes from scratch and for constructing more complex objects from primitives.]
* [https://github.com/bjornbytes/lovr-grid Lovr grid]
* [https://github.com/mcclure/lovr-ent Lovr entity object engine]
* [https://github.com/bjornbytes/handy Lovr controller controller]
* [https://lovr.org/docs/v0.15.0/Animation/2_Bone_IK 2 Bone inverse kinematics]
* [https://github.com/Voxar/lovr-handtracking-skinning Lovr hand tracking skinning]
* [https://github.com/Ebiroll/qemu_esp32 Github: Qemu-ESP32]
* [https://github.com/buserror/simavr Github: Simavr]
* [https://wiki.qemu.org/Documentation/Platforms/ARM Qemu.org: ARM Platforms]
termux-setup-storage
ln -s /storage/emulated/0/Android/data/org.lovr.hotswap/files/.lodr/ lovr
 
Centering objects in Blender involves Shift-S 1, Shift-S 7
 
==Misc==
* [https://github.com/Irev-Dev/curated-code-cad Curated code CAD]
* [http://shapesmith.net/ Shapesmith.net]
* [https://www.mattkeeter.com/projects/antimony/3/ Antimony]
* [https://github.com/libfive/libfive Libfive]
* [https://docs.racket-lang.org/ruckus/index.html Ruckus: Procedural CAD For Weirdos]


====Ubuntu====
=3D Scanning=
* [https://github.com/EdwardSmith1884/Multi-View-Silhouette-and-Depth-Decomposition-for-High-Resolution-3D-Object-Representation 3D Object super-resolution]
* [https://github.com/openMVG/awesome_3DReconstruction_list Awesome 3D reconstruction list]


===Redox===
=CAM=
* [https://www.scorchworks.com/Fengrave/fengrave.html F-Engrave]
* https://github.com/grotius-cnc/QT_CadCam_rev0
* http://jscut.org/
* https://github.com/cncjs/cncjs
* https://camotics.org/
* https://wiki.freecadweb.org/Path_Workbench
* [https://mkrabset.github.io/krabzcam/krabzcam/index.html KrabzCAM]
* [https://wiki.shapeoko.com/index.php/CAM Shapeoko Wiki: CAM]
* [https://github.com/revarbat/Mandoline Github: Mandoline]
* [https://grid.space/kiri/ Kiri:Moto web slicer]
* [https://bitbucket.org/kosme/openscad2cnc/src/master/ OpenSCAD2CNC]
* [https://github.com/koppi/stl2ngc STL2NGC]
* [https://github.com/xenovacivus/PathCAM PathCAM]
* [https://github.com/nathanielstenzel/bucket_mill Bucket_mill]
* [https://hackaday.io/project/3985-bcam-2d-computer-aided-manufacturing BCAM], [https://launchpad.net/~snegovick/+archive/ubuntu/bcam-preview BCAM ppa]
==Images==
* [http://jasondorie.com/page_cnc.html reactor]
==Nesting==
* https://svgnest.com/
* https://deepnest.io/


===Windows===
=Packaging=
* [https://github.com/openzim/mwoffliner Github: MediaWiki offliner]
* [https://github.com/salamanred/dump_mediawiki_pages Github: dump mediawiki pages]
* [https://doc.wikimedia.org/mediawiki-core/master/php/md_docs_Hooks.html Mediawiki: How to handle a hook event in an extension]
* [https://doc.wikimedia.org/mediawiki-core/master/php/md_docs_pageupdater.html Mediawiki: DerivedPageDataUpdater]
* [https://www.mediawiki.org/wiki/Manual:Hooks Mediawiki: Hooks]
==Ubuntu==
* [https://packaging.ubuntu.com/html/packaging-new-software.html Ubuntu: Packaging new software]
==Windows==
* [https://nsis.sourceforge.io/Main_Page nullsoft scriptable install system]


[https://github.com/join Join Github], clone the replimat git repository
=References=
* [https://dspace.mit.edu/handle/1721.1/29225 Automatic 5-axis NC toolpath generation]
* [https://jordanlewis.org/posts/twitch-live-coding/ How to Run a Live Coding Stream on Twitch using OBS]
* [https://github.com/rene-dev/knuthcam Knuthcam]
* [https://www.wescottdesign.com/articles/pid/pidWithoutAPhd.pdf PID without a PhD]
* [https://www.amazon.com/Rust-Programming-Language-Steve-Klabnik/dp/1593278284?tag=replimat-20 The Rust Programming Language]
* [https://www.dreamsongs.com/Files/PatternsOfSoftware.pdf Patterns Of Software]
* [https://reprap.org/wiki/Useful_Software_Packages Useful software packages]
* https://wiki.shapeoko.com/index.php/CAM
* [https://reprap.org/wiki/RepRap_Options RepRap Options]
* [https://upload.wikimedia.org/wikipedia/commons/5/53/Cartesian_to_polar.gif How to convert from cartesian to polar coordinates]
* [[:File:291498143-minobb-jylanki-2015-06-01-pdf.pdf|An Exact Algorithm for Finding Minimum Oriented Bounding Boxes]]
* [https://www.openvdb.org/ OpenVDB]
* [https://doi.org/10.1371/journal.pone.0225795 Parametric CAD modeling for open source scientific hardware: Comparing OpenSCAD and FreeCAD Python scripts]
* [https://brickit.app/ Brickit App]
* [https://arxiv.org/pdf/2108.08477.pdf Image2Lego: Customized LEGO® Set Generation from Images]
* [https://wiki.shapeoko.com/index.php/CAM Shapeoko: CAM]
* [http://math.andrej.com/2007/09/28/seemingly-impossible-functional-programs/ Seemingly impossible functional programs]
* [http://www.virtualmec.com Virtual Meccano]
* [https://github.com/openethereum/parity-ethereum Github: Parity Ethereum (Rust)]
* [https://github.com/paritytech/polkadot Github: Polkadot (Rust)]
* [https://github.com/Evil-Spirit/Adjacent GitHub: Geometric constraint solver]
* [https://danielkeep.github.io/tlborm/book/README.html The Little Book of Rust Macros]
<youtube>684KSAvYbw4</youtube>

Latest revision as of 16:49, 3 August 2022

Replimat is developed using the git version control system, on the github hosting service, in the replimat git repository as well as in the repositories of the upstream software projects themselves.

Follow these instructions to install and use the software portions of the Replimat project and the tools to modify them. Much of this software is intended to work with the replimat controller.

Setting up prerequisites

Linux

Fedora

Open a terminal and type the following: 

sudo dnf install git openscad rust cargo kicad keepassxc yosys gimp inkscape vim freecad

Some distributions, such as 64 bit Fedora, put 64 bit libraries in the /usr/lib64 directory, whereas nautilus-python (the program that lets us extend nautilus) assumes all libraries are in the /usr/lib directory. This is a nautilus-python bug. The current workaround is to create a symlink: 

ln -s /usr/lib64/libpython2.6.so /usr/lib/libpython2.6.so

NopSCADlib requires some setup: 

sudo sh -c 'echo "export OPENSCADPATH=$HOME/Documents/GitHub/replimat/lib/openscad" >>/etc/profile'

Meikian Live

Meikian Live (formely named CWLive) is a GNU/Linux live distribution initially focused on Clone Wars community, but intended to all the RepRap users and developers. Based on Debian GNU/Linux, it includes most of the Software, Firmware, useful links and other related stuff you can use on a day to day as a reprapper.

Pop! OS

sudo apt install meld git openscad rustc cargo rabbitvcs-nautilus rabbitvcs-gedit rabbitvcs-cli kicad arduino gnome-tweak-tool obs-studio obs-plugins fritzing subversion keepassxc yosys openscad freecad gimp inkscape cura exfat-fuse python3-markdown codespell peek autokey filelight yagv vim vokoscreen-ng libserialport0 patchelf solvespace

To get the latest IceStudio, download the appimage from icestudio.io

NopSCADlib requires some setup: 

sudo sh -c 'echo "export OPENSCADPATH=$HOME/Documents/GitHub/replimat/lib/openscad" >>/etc/profile'

Add the following to /etc/profile as well 

if [ -d "$HOME/Documents/GitHub/replimat/lib/openscad/NopSCADlib/scripts/" ] ; then
  PATH="$PATH:$HOME/Documents/GitHub/replimat/lib/openscad/NopSCADlib/scripts/"
fi

Arduino doesn't run out of the box on recent Ubuntu releases. We need to patch a library to allow it to work: 

sudo patchelf --add-needed /usr/lib/x86_64-linux-gnu/libserialport.so.0 /usr/lib/x86_64-linux-gnu/liblistSerialsj.so.1.4.0

Download and unpack U8glib-HAL arduino library into ~/Arduino/libraries/

Download Marlin firmware and unpack into ~/Documents/GitHub/Marlin/

Ubuntu

sudo apt install meld git openscad rustc cargo rabbitvcs-nautilus rabbitvcs-gedit rabbitvcs-cli kicad arduino gnome-tweak-tool obs-studio obs-plugins fritzing subversion keepassxc yosys openscad freecad gimp inkscape cura exfat-fuse python3-markdown codespell ubuntu-gnome-default-settings vanilla-gnome-default-settings vanilla-gnome-desktop ubuntu-gnome-desktop peek filelight yagv vim vokoscreen-ng libserialport0 patchelf solvespace

NopSCADlib requires some setup: 

sudo sh -c 'echo "export OPENSCADPATH=$HOME/Documents/GitHub/replimat/lib/openscad" >>/etc/profile'

Ubuntu 20.10 requires a symlink in /usr/bin for the ImageMagick command line utility: 

sudo ln -s /usr/bin/convert /usr/bin/magick

Arduino doesn't run out of the box on recent Ubuntu releases. We need to patch a library to allow it to work: 

sudo patchelf --add-needed /usr/lib/x86_64-linux-gnu/libserialport.so.0 /usr/lib/x86_64-linux-gnu/liblistSerialsj.so.1.4.0

Download and unpack U8glib-HAL arduino library into ~/Arduino/libraries/

Download Marlin firmware and unpack into ~/Documents/GitHub/Marlin/

Redox

Redox OS is an operating system written in the Rust programming language, and a high-value build target for Replimat. Expanding the instructions here, for installing the software necessary for building and modifying Replimat to work on Redox OS would be an excellent way to contribute to the project.

Windows

  • chocolatey doesn't seem to have openscad, arduino, possibly others
  • Just-install does not seem to have openscad
  • Windows Remix seems to have openscad
    • openscad, github desktop, freecad, inkscape, gimp, arduino, cura,

CAD

Cloning the git repository

  • If you haven't already, install git.
  • Join Github
  • Using the command line client:
  • Using the Github Desktop:

Blender

Using blender from Python requires the 'bpy' module which does not install correctly on Ubuntu out of the box. Installation details here.

OpenSCAD

Replimat parts are modeled with important features oriented toward the X axis origin, and centered on the grid location closest to the origin or with a mounting hole centered at that location.

A set of CAD functions are available as part of the NopSCADlib library for the free and open source OpenSCAD constructive solid geometry software. It contains functions for tubular and T slot frames of configurable size and orientation, flat surfaces with and without notched corners, many additional parts, and easy hole-aligned translation: 

// grid_frame_z(segments, material, width) - create a vertical frame 'segments' long
// grid_frame_x(segments, material, width) - create a horizontal frame along the X axis
// grid_frame_y(segments, material, width) - create a horizontal frame along the Y axis
// grid_nut()
// grid_bolt_z(length, width)
// grid_bolt_x(length, width)
// grid_bolt_y(length, width)
// grid_bolt_nut_z(length, width)
// grid_plate_dxf(wide, deep, hole_radius, corner_radius, width) - create a plate width and depth in 'segments'
// grid_plate_stl(wide, deep, hole_radius, corner_radius, width)
// grid_pillow_block()
// grid_translate([x, y, z]) - translate frames or plates in X, Y, or Z axes in units 'segments'

There's also an M-Bitbeam OpenSCAD library and another Gridbeam and Bitbeam OpenSCAD and OpenJSCAD library.

Additional information can be found in the OpenSCAD User Manual

FreeCAD

A FreeCAD Replimat library is currently under development. BOLTS and FreeCAD Library serve as useful starting points.

Inkscape

DXF2Papercraft

CADQuery

Code CAD based on the Python programming language and PythonOCC Docs

LoVR

"LÖVR uses a 3D coordinate system with values specified in meters. Negative z values are in front of the camera, positive y values are above the ground, and negative x values are to the left. By default, the coordinate system maps to the VR play area, so the origin is on the ground in the middle of the play space." LOVR docs 

termux-setup-storage
ln -s /storage/emulated/0/Android/data/org.lovr.hotswap/files/.lodr/ lovr

Centering objects in Blender involves Shift-S 1, Shift-S 7

Misc

3D Scanning

CAM

Images

Nesting

Packaging

Ubuntu

Windows

References

Retrieved from "https://wiki.replimat.org/index.php?title=Software&oldid=9651"