From 216055851c0a697ac72e2c6db22bb6553ec81c24 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sat, 11 May 2024 15:28:17 +0300 Subject: [PATCH 01/40] heron usv project --- .../heron_usv_controller.py | 49 + .../robots/clearpath/heron/obj/axis_ptz.stl | Bin 0 -> 70984 bytes projects/robots/clearpath/heron/obj/boat.obj | 35826 ++++++++++++++++ .../robots/clearpath/heron/obj/heron_base.stl | Bin 0 -> 1170534 bytes .../clearpath/heron/obj/heron_collision.stl | Bin 0 -> 3084 bytes .../robots/clearpath/heron/obj/left_panel.stl | Bin 0 -> 18684 bytes .../clearpath/heron/obj/lidar-rear-plate.stl | Bin 0 -> 104684 bytes .../clearpath/heron/obj/novatel-smart6.stl | Bin 0 -> 11284 bytes .../clearpath/heron/obj/plain-rear-plate.stl | Bin 0 -> 87884 bytes projects/robots/clearpath/heron/obj/prop.dae | 56 + .../clearpath/heron/obj/right_panel.stl | Bin 0 -> 17284 bytes .../robots/clearpath/heron/protos/Heron.proto | 205 + .../clearpath/heron/worlds/.ocean.wbproj | 9 + .../robots/clearpath/heron/worlds/ocean.wbt | 599 + 14 files changed, 36744 insertions(+) create mode 100644 projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py create mode 100644 projects/robots/clearpath/heron/obj/axis_ptz.stl create mode 100644 projects/robots/clearpath/heron/obj/boat.obj create mode 100644 projects/robots/clearpath/heron/obj/heron_base.stl create mode 100644 projects/robots/clearpath/heron/obj/heron_collision.stl create mode 100644 projects/robots/clearpath/heron/obj/left_panel.stl create mode 100644 projects/robots/clearpath/heron/obj/lidar-rear-plate.stl create mode 100755 projects/robots/clearpath/heron/obj/novatel-smart6.stl create mode 100644 projects/robots/clearpath/heron/obj/plain-rear-plate.stl create mode 100644 projects/robots/clearpath/heron/obj/prop.dae create mode 100644 projects/robots/clearpath/heron/obj/right_panel.stl create mode 100644 projects/robots/clearpath/heron/protos/Heron.proto create mode 100644 projects/robots/clearpath/heron/worlds/.ocean.wbproj create mode 100644 projects/robots/clearpath/heron/worlds/ocean.wbt diff --git a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py new file mode 100644 index 00000000000..f62a69d4552 --- /dev/null +++ b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py @@ -0,0 +1,49 @@ +from controller import Robot, Keyboard + +# Create the Robot instance. +robot = Robot() + +keyboard = robot.getKeyboard() +keyboard.enable(1000) + +# Get the time step of the current world. +timestep = int(robot.getBasicTimeStep()) + +# Get left and right motors. +left_motor = robot.getDevice('left_motor') +right_motor = robot.getDevice('right_motor') + +# Enable position control mode for motors. +left_motor.setPosition(float('inf')) +right_motor.setPosition(float('inf')) + +# Set initial velocities. +left_velocity = 0.0 +right_velocity = 0.0 + +# Main loop: +# - perform simulation steps until Webots is stopping the controller +while robot.step(timestep) != -1: + # Read keyboard input. + key = keyboard.getKey() + + # Process keyboard input. + if key == ord('W') or key == ord('w'): + left_velocity = 5.0 + right_velocity = 5.0 + elif key == ord('S') or key == ord('s'): + left_velocity = -5.0 + right_velocity = -5.0 + elif key == ord('A') or key == ord('a'): + left_velocity = -2.5 + right_velocity = 2.5 + elif key == ord('D') or key == ord('d'): + left_velocity = 2.5 + right_velocity = -2.5 + else: + left_velocity = 0.0 + right_velocity = 0.0 + + # Set motor velocities. + left_motor.setVelocity(left_velocity) + right_motor.setVelocity(right_velocity) diff --git a/projects/robots/clearpath/heron/obj/axis_ptz.stl b/projects/robots/clearpath/heron/obj/axis_ptz.stl new file mode 100644 index 0000000000000000000000000000000000000000..6b749f240256efd1ba0770622d34c06b1e481111 GIT binary 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a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto new file mode 100644 index 00000000000..68d60b0db87 --- /dev/null +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -0,0 +1,205 @@ +#VRML_SIM R2023a utf8 +# Heron USV from Clearpath + + +PROTO Heron [ + +] +{ +Robot { + translation 0 0 0 + rotation 0 0 0 0 + children [ + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 + } + geometry Mesh { + url [ + "../obj/plain-rear-plate.stl" + ] + } + } + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/right_panel.stl" + ] + } + } + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/left_panel.stl" + ] + } + } + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.57 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 + } + texture ImageTexture { + } + textureTransform TextureTransform { + } + } + geometry Mesh { + url [ + "../obj/heron_base.stl" + ] + } + } + ] + name "heron_usv" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Group { + children [ + Transform { + translation 0 -0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0 0.04 + children [ + Box { + size 0.75 0.8 0.1 + } + ] + } + Transform { + translation -1.42746e-07 -0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + Transform { + translation -1.42746e-07 0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + linear 0.5 + angular 0.5 + } + } + controller "heron_usv_controller" + linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726 + angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19 +} +} diff --git a/projects/robots/clearpath/heron/worlds/.ocean.wbproj b/projects/robots/clearpath/heron/worlds/.ocean.wbproj new file mode 100644 index 00000000000..f73da7c72fa --- /dev/null +++ b/projects/robots/clearpath/heron/worlds/.ocean.wbproj @@ -0,0 +1,9 @@ +Webots Project File version R2023a +perspectives: 000000ff00000000fd000000020000000100000202000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000008900ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff0000057c000002f100000001000000020000000100000008fc00000000 +simulationViewPerspectives: 000000ff0000000100000002000001700000040a0100000002010000000100 +sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000200 +maximizedDockId: -1 +centralWidgetVisible: 1 +orthographicViewHeight: 1 +textFiles: 0 "../../../../../../heron_usv/controllers/heron_usv_controller/heron_usv_controller.py" +consoles: Console:All:All diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt new file mode 100644 index 00000000000..2aefec5c5c0 --- /dev/null +++ b/projects/robots/clearpath/heron/worlds/ocean.wbt @@ -0,0 +1,599 @@ +#VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto" + +WorldInfo { +} +Viewpoint { + orientation -0.16309921047752077 0.19944008111105407 0.966241326785408 1.6169049296075801 + position 8.070777854393498 -25.688059155164265 9.778134839852951 + follow "heron_usv" +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Robot { + translation 4.52366040629511 -1.4438652457520302 0.4607078407996285 + rotation -5.30279570335843e-05 -0.0007384034625238932 -0.9999997259741435 0.14338256759340193 + children [ + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 + } + geometry Mesh { + url [ + "../obj/plain-rear-plate.stl" + ] + } + } + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/right_panel.stl" + ] + } + } + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/left_panel.stl" + ] + } + } + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 + } + texture ImageTexture { + } + textureTransform TextureTransform { + } + } + geometry Mesh { + url [ + "../obj/heron_base.stl" + ] + } + } + ] + name "heron_usv" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Group { + children [ + Transform { + translation 0 -0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0 0.04 + children [ + Box { + size 0.75 0.8 0.1 + } + ] + } + Transform { + translation -1.42746e-07 -0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + Transform { + translation -1.42746e-07 0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + linear 0.5 + angular 0.5 + } + } + controller "heron_usv_controller" + linearVelocity -1.0446091457064508e-48 1.6500681733104246e-49 -7.605509238139369e-07 + angularVelocity 5.858403601863088e-05 0.0004057817764021779 1.7495030374135233e-19 +} +DEF WATER Fluid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.0626841 0.552224 0.723339 + transparency 0.7 + roughness 1 + metalness 0 + } + geometry DEF WATER_BOX Box { + size 1000 1000 0.7 + } + } + ] + viscosity 0.01 + boundingObject Transform { + children [ + USE WATER_BOX + ] + } + locked TRUE +} +Solid { + translation 7.14669 -3.92481 0.3391536512256855 + rotation -0.015008395722573746 0.027743645210153753 0.9995023952989247 0.9921796879930528 + scale 5 5 5 + children [ + DEF BEAK Transform { + translation 0.0394 0 0.05868 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.901961 0.431373 0.109804 + roughness 0.7 + metalness 0 + } + geometry Mesh { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/beak.obj" + ] + } + } + ] + } + DEF BODY Transform { + children [ + DEF GEOM Shape { + appearance PBRAppearance { + baseColor 1 0.8 0 + roughness 0.7 + metalness 0 + } + geometry Mesh { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/body.obj" + ] + } + } + ] + } + DEF EYE Transform { + translation 0.026677002 0.012248128 0.069200846 + rotation -0.18117290235136482 0.4918957348778623 0.8515955410067332 -1.18424 + children [ + DEF EYE_GEOM Shape { + appearance PBRAppearance { + baseColorMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/textures/eye.jpg" + ] + } + roughness 0.4 + metalness 0 + } + geometry Mesh { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/eye.obj" + ] + } + } + ] + } + DEF EYE Transform { + translation 0.026708849 -0.012243724 0.069238147 + rotation -0.23056699185533644 0.18891399332670777 0.954541966281283 -2.20978 + children [ + USE EYE_GEOM + ] + } + ] + name "rubber duck" + model "rubber duck" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Group { + children [ + Transform { + translation 0 0 -0.018 + children [ + Box { + size 0.06 0.05 0.005 + } + ] + } + Transform { + translation 0.037 0 0.06 + children [ + Box { + size 0.014 0.025 0.015 + } + ] + } + Transform { + translation 0.01 0 0.059 + children [ + Sphere { + radius 0.025 + } + ] + } + Transform { + translation -0.042 0 0.013 + rotation -0.06526396752413574 -0.06526396752413574 0.9957315045161609 1.575074 + children [ + Capsule { + height 0.04 + radius 0.008 + subdivision 16 + } + ] + } + Transform { + translation 0 0 0.005 + rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 + children [ + Capsule { + height 0.05 + radius 0.025 + subdivision 16 + } + ] + } + Transform { + translation 0.013 0 0.034 + children [ + Cylinder { + height 0.013 + radius 0.018 + } + ] + } + Transform { + translation 0 0.02 0 + rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 + children [ + Capsule { + height 0.036 + radius 0.018 + subdivision 16 + } + ] + } + Transform { + translation 0 -0.02 0 + rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 + children [ + Capsule { + height 0.036 + radius 0.018 + subdivision 16 + } + ] + } + ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + } + } + recognitionColors [ + 0.87451 0.756863 0.113725 + ] + linearVelocity 0 0 3.3293624693543145e-14 + angularVelocity 1.1305476084480753e-11 9.15134504157895e-12 2.144960893471934e-12 +} +Solid { + translation 6.4943669394246095 -0.621076223979003 0.3391536512256699 + rotation -0.015013139157627938 0.011737580454808973 0.999818400939741 1.8146543198789304 + scale 5 5 5 + children [ + DEF BEAK Transform { + translation 0.0394 0 0.05868 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.901961 0.431373 0.109804 + roughness 0.7 + metalness 0 + } + geometry Mesh { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/beak.obj" + ] + } + } + ] + } + DEF BODY Transform { + children [ + DEF GEOM Shape { + appearance PBRAppearance { + baseColor 1 0.8 0 + roughness 0.7 + metalness 0 + } + geometry Mesh { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/body.obj" + ] + } + } + ] + } + DEF EYE Transform { + translation 0.026677002 0.012248128 0.069200846 + rotation -0.18117290235136482 0.4918957348778623 0.8515955410067332 -1.18424 + children [ + DEF EYE_GEOM Shape { + appearance PBRAppearance { + baseColorMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/textures/eye.jpg" + ] + } + roughness 0.4 + metalness 0 + } + geometry Mesh { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/eye.obj" + ] + } + } + ] + } + DEF EYE Transform { + translation 0.026708849 -0.012243724 0.069238147 + rotation -0.23056699185533644 0.18891399332670777 0.954541966281283 -2.20978 + children [ + USE EYE_GEOM + ] + } + ] + name "rubber duck(1)" + model "rubber duck" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Group { + children [ + Transform { + translation 0 0 -0.018 + children [ + Box { + size 0.06 0.05 0.005 + } + ] + } + Transform { + translation 0.037 0 0.06 + children [ + Box { + size 0.014 0.025 0.015 + } + ] + } + Transform { + translation 0.01 0 0.059 + children [ + Sphere { + radius 0.025 + } + ] + } + Transform { + translation -0.042 0 0.013 + rotation -0.06526396752413574 -0.06526396752413574 0.9957315045161609 1.575074 + children [ + Capsule { + height 0.04 + radius 0.008 + subdivision 16 + } + ] + } + Transform { + translation 0 0 0.005 + rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 + children [ + Capsule { + height 0.05 + radius 0.025 + subdivision 16 + } + ] + } + Transform { + translation 0.013 0 0.034 + children [ + Cylinder { + height 0.013 + radius 0.018 + } + ] + } + Transform { + translation 0 0.02 0 + rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 + children [ + Capsule { + height 0.036 + radius 0.018 + subdivision 16 + } + ] + } + Transform { + translation 0 -0.02 0 + rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 + children [ + Capsule { + height 0.036 + radius 0.018 + subdivision 16 + } + ] + } + ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + } + } + recognitionColors [ + 0.87451 0.756863 0.113725 + ] + linearVelocity 0 0 -2.9743045305569948e-15 + angularVelocity -3.454113732048924e-13 1.4447344932541756e-13 3.479845892087314e-14 +} +OilBarrel { + hidden linearVelocity_0 0 0 3.3632587807085425e-16 + translation -7.137331960846931 1.5026432990788887 0.5595498919704249 + rotation -0.006514338530380317 0.7086366533239346 -0.7055435188274113 -3.004050319493877 + physics Physics { + density 100 + damping Damping { + linear 0.5 + angular 0.5 + } + } + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + } + ] +} From 437c99a543e3da876d270842de8eb74f0b8e4e1c Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sat, 11 May 2024 15:52:33 +0300 Subject: [PATCH 02/40] swarm --- projects/robots/clearpath/heron/webots.yaml | 1 + .../robots/clearpath/heron/worlds/ocean.wbt | 382 +++--------------- .../robots/clearpath/heron/worlds/swarm.wbt | 309 ++++++++++++++ 3 files changed, 356 insertions(+), 336 deletions(-) create mode 100644 projects/robots/clearpath/heron/webots.yaml create mode 100644 projects/robots/clearpath/heron/worlds/swarm.wbt diff --git a/projects/robots/clearpath/heron/webots.yaml b/projects/robots/clearpath/heron/webots.yaml new file mode 100644 index 00000000000..342dd5324d2 --- /dev/null +++ b/projects/robots/clearpath/heron/webots.yaml @@ -0,0 +1 @@ +publish: true diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt index 2aefec5c5c0..d511957403e 100644 --- a/projects/robots/clearpath/heron/worlds/ocean.wbt +++ b/projects/robots/clearpath/heron/worlds/ocean.wbt @@ -7,8 +7,8 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/project WorldInfo { } Viewpoint { - orientation -0.16309921047752077 0.19944008111105407 0.966241326785408 1.6169049296075801 - position 8.070777854393498 -25.688059155164265 9.778134839852951 + orientation -0.16182542841255412 0.05086835150351285 0.9855074538198116 2.7734415994114325 + position 4.405020578809751 -2.567246748464675 5.889973405085289 follow "heron_usv" } TexturedBackground { @@ -16,8 +16,8 @@ TexturedBackground { TexturedBackgroundLight { } Robot { - translation 4.52366040629511 -1.4438652457520302 0.4607078407996285 - rotation -5.30279570335843e-05 -0.0007384034625238932 -0.9999997259741435 0.14338256759340193 + translation -8.745262743121721 2.2893012904974483 0.4607079804159899 + rotation 9.299134448165107e-05 0.00011243356938496787 -0.9999999893556512 1.4275640952271762 children [ Transform { translation -0.185 0 0 @@ -207,8 +207,8 @@ Robot { } } controller "heron_usv_controller" - linearVelocity -1.0446091457064508e-48 1.6500681733104246e-49 -7.605509238139369e-07 - angularVelocity 5.858403601863088e-05 0.0004057817764021779 1.7495030374135233e-19 + linearVelocity 1.6719931099069372e-08 1.225696186173406e-07 1.6931370836678163e-07 + angularVelocity 0.0003302567168229787 -5.694018807829981e-06 2.231446004378168e-08 } DEF WATER Fluid { children [ @@ -232,358 +232,68 @@ DEF WATER Fluid { } locked TRUE } -Solid { - translation 7.14669 -3.92481 0.3391536512256855 - rotation -0.015008395722573746 0.027743645210153753 0.9995023952989247 0.9921796879930528 - scale 5 5 5 - children [ - DEF BEAK Transform { - translation 0.0394 0 0.05868 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.901961 0.431373 0.109804 - roughness 0.7 - metalness 0 - } - geometry Mesh { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/beak.obj" - ] - } - } - ] - } - DEF BODY Transform { - children [ - DEF GEOM Shape { - appearance PBRAppearance { - baseColor 1 0.8 0 - roughness 0.7 - metalness 0 - } - geometry Mesh { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/body.obj" - ] - } - } - ] - } - DEF EYE Transform { - translation 0.026677002 0.012248128 0.069200846 - rotation -0.18117290235136482 0.4918957348778623 0.8515955410067332 -1.18424 - children [ - DEF EYE_GEOM Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/textures/eye.jpg" - ] - } - roughness 0.4 - metalness 0 - } - geometry Mesh { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/eye.obj" - ] - } - } - ] - } - DEF EYE Transform { - translation 0.026708849 -0.012243724 0.069238147 - rotation -0.23056699185533644 0.18891399332670777 0.954541966281283 -2.20978 - children [ - USE EYE_GEOM - ] +OilBarrel { + hidden linearVelocity_0 2.573909362966855e-13 8.101483462833414e-13 1.2003110195264215e-07 + hidden angularVelocity_0 0.00029722487068166415 -0.0011509866633606927 -2.3388211172652233e-14 + translation -5.769041604986536 5.713736372614108 0.5595498992963539 + rotation 0.1699718823923225 0.9046421892250012 -0.3908095043243032 -1.7519092253369184 + physics Physics { + density 100 + damping Damping { + linear 0.5 + angular 0.5 } - ] - name "rubber duck" - model "rubber duck" + } immersionProperties [ ImmersionProperties { fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 } ] - boundingObject Group { - children [ - Transform { - translation 0 0 -0.018 - children [ - Box { - size 0.06 0.05 0.005 - } - ] - } - Transform { - translation 0.037 0 0.06 - children [ - Box { - size 0.014 0.025 0.015 - } - ] - } - Transform { - translation 0.01 0 0.059 - children [ - Sphere { - radius 0.025 - } - ] - } - Transform { - translation -0.042 0 0.013 - rotation -0.06526396752413574 -0.06526396752413574 0.9957315045161609 1.575074 - children [ - Capsule { - height 0.04 - radius 0.008 - subdivision 16 - } - ] - } - Transform { - translation 0 0 0.005 - rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 - children [ - Capsule { - height 0.05 - radius 0.025 - subdivision 16 - } - ] - } - Transform { - translation 0.013 0 0.034 - children [ - Cylinder { - height 0.013 - radius 0.018 - } - ] - } - Transform { - translation 0 0.02 0 - rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 - children [ - Capsule { - height 0.036 - radius 0.018 - subdivision 16 - } - ] - } - Transform { - translation 0 -0.02 0 - rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 - children [ - Capsule { - height 0.036 - radius 0.018 - subdivision 16 - } - ] - } - ] - } +} +OilBarrel { + hidden linearVelocity_0 -1.0608211407654344e-07 1.6589633305608436e-07 2.196064163305319e-06 + hidden angularVelocity_0 -0.0014550157419136274 0.0002700284102669188 8.673041437585036e-08 + translation -10.052079094555102 2.4814943703168106 0.5595500669482671 + rotation 0.275099147140283 0.6600733935310941 -0.6990161474494234 2.843706103645247 + name "oil barrel(1)" physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] + density 100 damping Damping { + linear 0.5 + angular 0.5 } } - recognitionColors [ - 0.87451 0.756863 0.113725 - ] - linearVelocity 0 0 3.3293624693543145e-14 - angularVelocity 1.1305476084480753e-11 9.15134504157895e-12 2.144960893471934e-12 -} -Solid { - translation 6.4943669394246095 -0.621076223979003 0.3391536512256699 - rotation -0.015013139157627938 0.011737580454808973 0.999818400939741 1.8146543198789304 - scale 5 5 5 - children [ - DEF BEAK Transform { - translation 0.0394 0 0.05868 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.901961 0.431373 0.109804 - roughness 0.7 - metalness 0 - } - geometry Mesh { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/beak.obj" - ] - } - } - ] - } - DEF BODY Transform { - children [ - DEF GEOM Shape { - appearance PBRAppearance { - baseColor 1 0.8 0 - roughness 0.7 - metalness 0 - } - geometry Mesh { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/body.obj" - ] - } - } - ] - } - DEF EYE Transform { - translation 0.026677002 0.012248128 0.069200846 - rotation -0.18117290235136482 0.4918957348778623 0.8515955410067332 -1.18424 - children [ - DEF EYE_GEOM Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/textures/eye.jpg" - ] - } - roughness 0.4 - metalness 0 - } - geometry Mesh { - url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/toys/protos/RubberDuck/meshes/eye.obj" - ] - } - } - ] - } - DEF EYE Transform { - translation 0.026708849 -0.012243724 0.069238147 - rotation -0.23056699185533644 0.18891399332670777 0.954541966281283 -2.20978 - children [ - USE EYE_GEOM - ] - } - ] - name "rubber duck(1)" - model "rubber duck" immersionProperties [ ImmersionProperties { fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 } ] - boundingObject Group { - children [ - Transform { - translation 0 0 -0.018 - children [ - Box { - size 0.06 0.05 0.005 - } - ] - } - Transform { - translation 0.037 0 0.06 - children [ - Box { - size 0.014 0.025 0.015 - } - ] - } - Transform { - translation 0.01 0 0.059 - children [ - Sphere { - radius 0.025 - } - ] - } - Transform { - translation -0.042 0 0.013 - rotation -0.06526396752413574 -0.06526396752413574 0.9957315045161609 1.575074 - children [ - Capsule { - height 0.04 - radius 0.008 - subdivision 16 - } - ] - } - Transform { - translation 0 0 0.005 - rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 - children [ - Capsule { - height 0.05 - radius 0.025 - subdivision 16 - } - ] - } - Transform { - translation 0.013 0 0.034 - children [ - Cylinder { - height 0.013 - radius 0.018 - } - ] - } - Transform { - translation 0 0.02 0 - rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 - children [ - Capsule { - height 0.036 - radius 0.018 - subdivision 16 - } - ] - } - Transform { - translation 0 -0.02 0 - rotation -0.5773509358554485 -0.5773509358554485 -0.5773489358556708 -2.094397 - children [ - Capsule { - height 0.036 - radius 0.018 - subdivision 16 - } - ] - } - ] - } +} +OilBarrel { + hidden linearVelocity_0 -3.0604552490579713e-09 -1.0713621031612705e-08 2.022575678460609e-06 + hidden angularVelocity_0 -6.125146151654697e-10 -9.821803790534122e-10 5.789035930131023e-10 + translation -9.806804320505991 -3.2705951284597123 0.5595497963857429 + rotation 0.9914248558774157 0.04559709580005233 0.12246493376900346 1.5859460287729068 + name "oil barrel(2)" physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] + density 100 damping Damping { + linear 0.5 + angular 0.5 } } - recognitionColors [ - 0.87451 0.756863 0.113725 + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + } ] - linearVelocity 0 0 -2.9743045305569948e-15 - angularVelocity -3.454113732048924e-13 1.4447344932541756e-13 3.479845892087314e-14 } OilBarrel { - hidden linearVelocity_0 0 0 3.3632587807085425e-16 - translation -7.137331960846931 1.5026432990788887 0.5595498919704249 - rotation -0.006514338530380317 0.7086366533239346 -0.7055435188274113 -3.004050319493877 + hidden linearVelocity_0 1.523141856440047e-08 6.992887800620743e-07 -3.829958410866254e-05 + hidden angularVelocity_0 -0.00027213668203701484 -0.0008587515051977977 1.1912607949198997e-07 + translation -9.046348859380034 3.246362640433868 0.559552332830202 + rotation 0.7377120821383204 0.14390797589864487 -0.6595994074738842 -2.4505165669246933 + name "oil barrel(3)" physics Physics { density 100 damping Damping { diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt new file mode 100644 index 00000000000..5702e027e4e --- /dev/null +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -0,0 +1,309 @@ +#VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto" + +WorldInfo { +} +Viewpoint { + orientation -0.16182542841255412 0.05086835150351285 0.9855074538198116 2.7734415994114325 + position 4.405020592471226 -2.5672464156130994 5.889973415227746 + follow "heron_usv" +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Robot { + translation -8.745262721392196 2.2893014497913806 0.4607078932571719 + rotation -0.00012771567942538524 -0.00014745618704912973 -0.9999999809726887 1.4275640632894828 + children [ + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 + } + geometry Mesh { + url [ + "../obj/plain-rear-plate.stl" + ] + } + } + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/right_panel.stl" + ] + } + } + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/left_panel.stl" + ] + } + } + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 + } + texture ImageTexture { + } + textureTransform TextureTransform { + } + } + geometry Mesh { + url [ + "../obj/heron_base.stl" + ] + } + } + ] + name "heron_usv" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Group { + children [ + Transform { + translation 0 -0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0 0.04 + children [ + Box { + size 0.75 0.8 0.1 + } + ] + } + Transform { + translation -1.42746e-07 -0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + Transform { + translation -1.42746e-07 0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + linear 0.5 + angular 0.5 + } + } + controller "heron_usv_controller" + linearVelocity 3.781607611636344e-88 2.7722016315276604e-87 1.1130756256616958e-06 + angularVelocity 0.0009670554937837543 0.0001394686281319582 -1.2135128876604891e-18 +} +DEF WATER Fluid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.0626841 0.552224 0.723339 + transparency 0.7 + roughness 1 + metalness 0 + } + geometry DEF WATER_BOX Box { + size 1000 1000 0.7 + } + } + ] + viscosity 0.01 + boundingObject Transform { + children [ + USE WATER_BOX + ] + } + locked TRUE +} +OilBarrel { + hidden linearVelocity_0 2.279718970196228e-84 7.175507344075087e-84 -9.830093645651827e-08 + hidden angularVelocity_0 -0.00020240550653680402 0.0007838039869854438 -3.5835749260232474e-19 + translation -5.769041604986175 5.7137363726152754 0.5595498885934773 + rotation 0.16995723822816233 0.9045642485178794 -0.390996237164937 -1.7514393221414872 + physics Physics { + density 100 + damping Damping { + linear 0.5 + angular 0.5 + } + } + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + } + ] +} +OilBarrel { + hidden linearVelocity_0 -9.395723537834991e-79 1.4693486219656376e-78 9.180210624799918e-08 + hidden angularVelocity_0 -0.0013083831220102474 0.00024271599797989288 2.1784688874000346e-20 + translation -10.052079249302796 2.4814946123187727 0.5595499016183809 + rotation 0.2750758106273438 0.6600176649821811 -0.6990779501022607 2.843680177267007 + name "oil barrel(1)" + physics Physics { + density 100 + damping Damping { + linear 0.5 + angular 0.5 + } + } + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + } + ] +} +OilBarrel { + hidden linearVelocity_0 -2.7106540692916766e-80 -9.489085146769864e-80 -6.820345134302821e-16 + hidden angularVelocity_0 -5.425059666181305e-81 -8.699200035425662e-81 5.127365877507019e-81 + translation -9.806804324970415 -3.2705951440882433 0.5595498919704248 + rotation 0.9914248557443196 0.04559709558681101 0.12246493492588871 1.5859460279251565 + name "oil barrel(2)" + physics Physics { + density 100 + damping Damping { + linear 0.5 + angular 0.5 + } + } + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + } + ] +} +OilBarrel { + hidden linearVelocity_0 1.349051149347315e-79 6.193620958413781e-78 -5.825222212626668e-08 + hidden angularVelocity_0 0.00036016939171020683 0.0011363961039678016 6.227975842817276e-19 + translation -9.046348837161165 3.2463636605243056 0.5595498900956839 + rotation 0.7375476409921733 0.14387598358647882 -0.6597902535002343 -2.4503322533169154 + name "oil barrel(3)" + physics Physics { + density 100 + damping Damping { + linear 0.5 + angular 0.5 + } + } + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + } + ] +} From 3fc6493dbb9db0518adb467a4ec142475c04b66d Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sat, 11 May 2024 15:54:28 +0300 Subject: [PATCH 03/40] swarm --- .../robots/clearpath/heron/worlds/swarm.wbt | 624 +++++++++++++++++- 1 file changed, 603 insertions(+), 21 deletions(-) diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index 5702e027e4e..e48acf08ca3 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -7,8 +7,8 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/project WorldInfo { } Viewpoint { - orientation -0.16182542841255412 0.05086835150351285 0.9855074538198116 2.7734415994114325 - position 4.405020592471226 -2.5672464156130994 5.889973415227746 + orientation -0.1530425006556164 0.1186694463170303 0.981068578389852 2.074963317613508 + position -2.1480771978670727 -7.040105713881074 5.837167217246025 follow "heron_usv" } TexturedBackground { @@ -16,8 +16,8 @@ TexturedBackground { TexturedBackgroundLight { } Robot { - translation -8.745262721392196 2.2893014497913806 0.4607078932571719 - rotation -0.00012771567942538524 -0.00014745618704912973 -0.9999999809726887 1.4275640632894828 + translation -8.966667054553618 2.2522664131230914 0.4607076886234796 + rotation 4.354910719564034e-05 5.038136330044529e-05 -0.9999999977825967 1.4255773180629152 children [ Transform { translation -0.185 0 0 @@ -207,8 +207,593 @@ Robot { } } controller "heron_usv_controller" - linearVelocity 3.781607611636344e-88 2.7722016315276604e-87 1.1130756256616958e-06 - angularVelocity 0.0009670554937837543 0.0001394686281319582 -1.2135128876604891e-18 + linearVelocity -1.374684074496604e-62 -2.3010196993674645e-63 -2.3243030400312516e-06 + angularVelocity 0.0001991283688528125 2.912222846341607e-05 5.0338743881919334e-20 +} +Robot { + translation -7.86759948870937 2.420336321026957 0.4607075068988634 + rotation -3.934284907174036e-05 -4.681636255588292e-05 -0.9999999981301843 1.3977479906308097 + children [ + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 + } + geometry Mesh { + url [ + "../obj/plain-rear-plate.stl" + ] + } + } + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/right_panel.stl" + ] + } + } + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/left_panel.stl" + ] + } + } + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 + } + texture ImageTexture { + } + textureTransform TextureTransform { + } + } + geometry Mesh { + url [ + "../obj/heron_base.stl" + ] + } + } + ] + name "heron_usv(1)" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Group { + children [ + Transform { + translation 0 -0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0 0.04 + children [ + Box { + size 0.75 0.8 0.1 + } + ] + } + Transform { + translation -1.42746e-07 -0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + Transform { + translation -1.42746e-07 0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + linear 0.5 + angular 0.5 + } + } + controller "heron_usv_controller" + linearVelocity -1.2150020712846084e-60 -3.795358344005562e-61 -7.737287236600241e-07 + angularVelocity 0.0002026514370308186 3.542278935653201e-05 -3.673487391286503e-19 +} +Robot { + translation -6.8992623579707315 2.5153676374756793 0.4607075789021848 + rotation 0.00038137592797382136 0.00043400203298794393 -0.9999998330973044 1.4418913333316488 + children [ + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 + } + geometry Mesh { + url [ + "../obj/plain-rear-plate.stl" + ] + } + } + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/right_panel.stl" + ] + } + } + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/left_panel.stl" + ] + } + } + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 + } + texture ImageTexture { + } + textureTransform TextureTransform { + } + } + geometry Mesh { + url [ + "../obj/heron_base.stl" + ] + } + } + ] + name "heron_usv(2)" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Group { + children [ + Transform { + translation 0 -0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0 0.04 + children [ + Box { + size 0.75 0.8 0.1 + } + ] + } + Transform { + translation -1.42746e-07 -0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + Transform { + translation -1.42746e-07 0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + linear 0.5 + angular 0.5 + } + } + controller "heron_usv_controller" + linearVelocity -2.4216425029471387e-60 -2.7819643967818302e-61 -1.3202351171575406e-06 + angularVelocity 0.0021998390209959757 0.00028515176302868785 1.7337001185044833e-18 +} +Robot { + translation -5.70262 2.68036 0.4607075716078548 + rotation -3.027905820395772e-05 -3.507453185081821e-05 -0.9999999989264781 1.4243041555338372 + children [ + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 + } + geometry Mesh { + url [ + "../obj/plain-rear-plate.stl" + ] + } + } + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/right_panel.stl" + ] + } + } + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/left_panel.stl" + ] + } + } + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + } + } + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 + } + texture ImageTexture { + } + textureTransform TextureTransform { + } + } + geometry Mesh { + url [ + "../obj/heron_base.stl" + ] + } + } + ] + name "heron_usv(3)" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Group { + children [ + Transform { + translation 0 -0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0.134 0.35 + children [ + Cylinder { + height 0.35 + radius 0.005 + } + ] + } + Transform { + translation 0 0 0.04 + children [ + Box { + size 0.75 0.8 0.1 + } + ] + } + Transform { + translation -1.42746e-07 -0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + Transform { + translation -1.42746e-07 0.37 -0.14 + rotation 0 1 0 -1.5707953071795862 + children [ + Capsule { + height 1.2 + radius 0.1 + subdivision 16 + } + ] + } + ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + linear 0.5 + angular 0.5 + } + } + controller "heron_usv_controller" + linearVelocity 0 0 2.3212134488944604e-06 + angularVelocity 6.85708221219303e-05 1.0117566627096724e-05 1.2638676249562585e-20 } DEF WATER Fluid { children [ @@ -233,10 +818,9 @@ DEF WATER Fluid { locked TRUE } OilBarrel { - hidden linearVelocity_0 2.279718970196228e-84 7.175507344075087e-84 -9.830093645651827e-08 - hidden angularVelocity_0 -0.00020240550653680402 0.0007838039869854438 -3.5835749260232474e-19 - translation -5.769041604986175 5.7137363726152754 0.5595498885934773 - rotation 0.16995723822816233 0.9045642485178794 -0.390996237164937 -1.7514393221414872 + hidden linearVelocity_0 0 0 5.482079875807984e-16 + translation -5.769041604986175 5.7137363726152754 0.5595498919704248 + rotation -0.16995723822816233 -0.9045642485178795 0.39099623716493703 1.751439322141487 physics Physics { density 100 damping Damping { @@ -251,10 +835,9 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -9.395723537834991e-79 1.4693486219656376e-78 9.180210624799918e-08 - hidden angularVelocity_0 -0.0013083831220102474 0.00024271599797989288 2.1784688874000346e-20 - translation -10.052079249302796 2.4814946123187727 0.5595499016183809 - rotation 0.2750758106273438 0.6600176649821811 -0.6990779501022607 2.843680177267007 + hidden linearVelocity_0 0 0 -6.820345134302821e-16 + translation -10.052079249302796 2.4814946123187727 0.5595498919704248 + rotation -0.2750758106273438 -0.660017664982181 0.6990779501022609 -2.8436801772670064 name "oil barrel(1)" physics Physics { density 100 @@ -270,10 +853,9 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -2.7106540692916766e-80 -9.489085146769864e-80 -6.820345134302821e-16 - hidden angularVelocity_0 -5.425059666181305e-81 -8.699200035425662e-81 5.127365877507019e-81 + hidden linearVelocity_0 0 0 7.241904738043405e-17 translation -9.806804324970415 -3.2705951440882433 0.5595498919704248 - rotation 0.9914248557443196 0.04559709558681101 0.12246493492588871 1.5859460279251565 + rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" physics Physics { density 100 @@ -289,10 +871,10 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 1.349051149347315e-79 6.193620958413781e-78 -5.825222212626668e-08 - hidden angularVelocity_0 0.00036016939171020683 0.0011363961039678016 6.227975842817276e-19 - translation -9.046348837161165 3.2463636605243056 0.5595498900956839 - rotation 0.7375476409921733 0.14387598358647882 -0.6597902535002343 -2.4503322533169154 + hidden linearVelocity_0 -3.2387879034767327e-56 4.259374835467848e-56 -7.952911962539142e-08 + hidden angularVelocity_0 -0.0007666942379761637 -0.0015863719773576397 3.1711574832814148e-19 + translation -9.210530377900385 3.4633481997220334 0.5595499012259658 + rotation 0.770575560075714 0.22493029445922938 -0.5963385522071198 -2.1541012385958602 name "oil barrel(3)" physics Physics { density 100 From 5be6b7aeb6ed62e62bc97b68d55428018bdd1dda Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sun, 12 May 2024 01:41:19 +0300 Subject: [PATCH 04/40] swarm.wbproj --- .../clearpath/heron/worlds/.swarm.wbproj | 9 ++++ .../robots/clearpath/heron/worlds/swarm.wbt | 44 +++++++++---------- 2 files changed, 31 insertions(+), 22 deletions(-) create mode 100644 projects/robots/clearpath/heron/worlds/.swarm.wbproj diff --git a/projects/robots/clearpath/heron/worlds/.swarm.wbproj b/projects/robots/clearpath/heron/worlds/.swarm.wbproj new file mode 100644 index 00000000000..d2022461bf0 --- /dev/null +++ b/projects/robots/clearpath/heron/worlds/.swarm.wbproj @@ -0,0 +1,9 @@ +Webots Project File version R2023a +perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000 +simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 +sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200 +maximizedDockId: -1 +centralWidgetVisible: 1 +orthographicViewHeight: 1 +textFiles: -1 +consoles: Console:All:All diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index e48acf08ca3..8e79c88953a 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -8,7 +8,7 @@ WorldInfo { } Viewpoint { orientation -0.1530425006556164 0.1186694463170303 0.981068578389852 2.074963317613508 - position -2.1480771978670727 -7.040105713881074 5.837167217246025 + position -2.1480637820128856 -7.040197447148179 5.837167194355804 follow "heron_usv" } TexturedBackground { @@ -16,8 +16,8 @@ TexturedBackground { TexturedBackgroundLight { } Robot { - translation -8.966667054553618 2.2522664131230914 0.4607076886234796 - rotation 4.354910719564034e-05 5.038136330044529e-05 -0.9999999977825967 1.4255773180629152 + translation -8.96664623546464 2.252124058933545 0.46070752985938096 + rotation 6.572681895751878e-05 7.456714904865487e-05 -0.9999999950598629 1.4255772481540747 children [ Transform { translation -0.185 0 0 @@ -207,12 +207,12 @@ Robot { } } controller "heron_usv_controller" - linearVelocity -1.374684074496604e-62 -2.3010196993674645e-63 -2.3243030400312516e-06 - angularVelocity 0.0001991283688528125 2.912222846341607e-05 5.0338743881919334e-20 + linearVelocity 5.08753564323628e-07 -3.4786921458084494e-06 -2.9777681245242374e-07 + angularVelocity 0.0003201304047685891 0.00025617406304062694 1.4835341307161592e-08 } Robot { - translation -7.86759948870937 2.420336321026957 0.4607075068988634 - rotation -3.934284907174036e-05 -4.681636255588292e-05 -0.9999999981301843 1.3977479906308097 + translation -7.867574716571541 2.420194601263427 0.46070757392181294 + rotation -3.018120807379976e-05 -3.743462307551578e-05 -0.9999999988438717 1.3977480525037314 children [ Transform { translation -0.185 0 0 @@ -402,12 +402,12 @@ Robot { } } controller "heron_usv_controller" - linearVelocity -1.2150020712846084e-60 -3.795358344005562e-61 -7.737287236600241e-07 - angularVelocity 0.0002026514370308186 3.542278935653201e-05 -3.673487391286503e-19 + linearVelocity 6.053537391067393e-07 -3.463188737907621e-06 7.03415952055582e-07 + angularVelocity -2.5844655573084838e-06 0.000209798656011323 -7.842607738496933e-09 } Robot { - translation -6.8992623579707315 2.5153676374756793 0.4607075789021848 - rotation 0.00038137592797382136 0.00043400203298794393 -0.9999998330973044 1.4418913333316488 + translation -6.899243863899696 2.5152249626463314 0.4607078754187784 + rotation -1.099206411701376e-05 -1.3934397259811637e-05 -0.9999999998425035 1.4418905992707225 children [ Transform { translation -0.185 0 0 @@ -597,12 +597,12 @@ Robot { } } controller "heron_usv_controller" - linearVelocity -2.4216425029471387e-60 -2.7819643967818302e-61 -1.3202351171575406e-06 - angularVelocity 0.0021998390209959757 0.00028515176302868785 1.7337001185044833e-18 + linearVelocity 4.5193737024804084e-07 -3.486527495289261e-06 8.393035552613336e-07 + angularVelocity -1.585493743113555e-06 0.00020793822568304974 1.6008768627729407e-08 } Robot { - translation -5.70262 2.68036 0.4607075716078548 - rotation -3.027905820395772e-05 -3.507453185081821e-05 -0.9999999989264781 1.4243041555338372 + translation -5.702598999687603 2.68021767242861 0.4607077791646083 + rotation -3.5602633563282636e-05 -4.272123648518754e-05 -0.9999999984536742 1.42430420430093 children [ Transform { translation -0.185 0 0 @@ -792,8 +792,8 @@ Robot { } } controller "heron_usv_controller" - linearVelocity 0 0 2.3212134488944604e-06 - angularVelocity 6.85708221219303e-05 1.0117566627096724e-05 1.2638676249562585e-20 + linearVelocity 5.131820984095211e-07 -3.4780416761649935e-06 -5.467804683003646e-07 + angularVelocity -0.00014644918909698625 0.0001876820478923344 -8.294614538672105e-09 } DEF WATER Fluid { children [ @@ -837,7 +837,7 @@ OilBarrel { OilBarrel { hidden linearVelocity_0 0 0 -6.820345134302821e-16 translation -10.052079249302796 2.4814946123187727 0.5595498919704248 - rotation -0.2750758106273438 -0.660017664982181 0.6990779501022609 -2.8436801772670064 + rotation -0.2750758106273438 -0.660017664982181 0.6990779501022609 -2.843680177267006 name "oil barrel(1)" physics Physics { density 100 @@ -871,10 +871,10 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -3.2387879034767327e-56 4.259374835467848e-56 -7.952911962539142e-08 - hidden angularVelocity_0 -0.0007666942379761637 -0.0015863719773576397 3.1711574832814148e-19 - translation -9.210530377900385 3.4633481997220334 0.5595499012259658 - rotation 0.770575560075714 0.22493029445922938 -0.5963385522071198 -2.1541012385958602 + hidden linearVelocity_0 -1.4513365348126972e-57 1.9086727808080188e-57 -1.2547301368410285e-07 + hidden angularVelocity_0 -0.0003513144866474907 -0.000726907063145573 2.4052418356824356e-19 + translation -9.210530377900385 3.4633481997220334 0.5595498892838346 + rotation 0.77095174218054 0.22504010166827274 -0.5958106778750477 -2.154840208558971 name "oil barrel(3)" physics Physics { density 100 From f6cbbb6d049600c432fc50b65a229e161083a088 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sun, 12 May 2024 02:20:51 +0300 Subject: [PATCH 05/40] heron.png --- .../heron_usv_controller.py | 16 +- .../robots/clearpath/heron/obj/axis_ptz.stl | Bin 70984 -> 0 bytes projects/robots/clearpath/heron/obj/boat.obj | 35826 ---------------- .../clearpath/heron/protos/icons/Heron.png | Bin 0 -> 33168 bytes 4 files changed, 14 insertions(+), 35828 deletions(-) delete mode 100644 projects/robots/clearpath/heron/obj/axis_ptz.stl delete mode 100644 projects/robots/clearpath/heron/obj/boat.obj create mode 100644 projects/robots/clearpath/heron/protos/icons/Heron.png diff --git a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py index f62a69d4552..7bae556d046 100644 --- a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py +++ b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py @@ -1,3 +1,17 @@ +# Copyright 1996-2023 Cyberbotics Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from controller import Robot, Keyboard # Create the Robot instance. @@ -26,7 +40,6 @@ while robot.step(timestep) != -1: # Read keyboard input. key = keyboard.getKey() - # Process keyboard input. if key == ord('W') or key == ord('w'): left_velocity = 5.0 @@ -43,7 +56,6 @@ else: left_velocity = 0.0 right_velocity = 0.0 - # Set motor velocities. left_motor.setVelocity(left_velocity) right_motor.setVelocity(right_velocity) diff --git a/projects/robots/clearpath/heron/obj/axis_ptz.stl b/projects/robots/clearpath/heron/obj/axis_ptz.stl deleted file mode 100644 index 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87/272/114 86/270/112 -f 87/273/114 126/274/113 128/275/115 -f 128/275/115 89/276/116 87/273/114 -f 89/276/116 128/275/115 130/277/117 -f 130/277/117 91/278/118 89/276/116 -f 91/278/118 130/277/117 132/279/119 -f 132/279/119 93/280/120 91/278/118 -f 95/281/121 97/282/121 121/266/108 -f 121/266/108 81/265/107 95/281/121 -f 147/283/122 121/266/108 97/282/121 -f 97/282/121 99/284/122 147/283/122 -f 134/285/123 133/286/124 103/287/125 -f 103/287/125 102/288/126 134/285/123 -f 138/289/127 134/285/123 102/288/126 -f 102/288/126 106/290/128 138/289/127 -f 139/291/129 138/289/127 106/290/128 -f 106/290/128 108/292/130 139/291/129 -f 141/293/131 139/294/129 108/295/130 -f 108/295/130 110/296/132 141/293/131 -f 143/297/133 141/293/131 110/296/132 -f 110/296/132 112/298/134 143/297/133 -f 132/279/119 143/297/133 112/298/134 -f 112/298/134 93/280/120 132/279/119 -f 113/299/135 103/287/125 133/286/124 -f 133/286/124 115/300/135 113/299/135 -f 115/300/135 133/286/124 148/301/135 -f 148/301/135 117/302/135 115/300/135 -s 44 -f 145/303/136 122/304/136 121/305/136 -f 121/305/136 147/306/136 145/303/136 -s 45 -f 149/307/137 150/308/138 151/309/137 -f 151/309/137 152/310/137 149/307/137 -s 46 -f 152/311/139 151/312/139 153/313/139 -f 153/313/139 154/314/139 152/311/139 -s 47 -f 155/315/140 156/316/140 150/317/140 -f 150/317/140 149/318/140 155/315/140 -s 48 -f 156/319/59 155/320/59 154/321/59 -f 154/321/59 153/322/59 156/319/59 -s 49 -f 154/323/60 155/324/60 149/325/60 -f 149/325/60 152/326/60 154/323/60 -s 50 -f 157/327/60 158/328/60 159/329/60 -f 159/329/60 160/330/60 157/327/60 -f 161/331/60 159/329/60 158/328/60 -f 158/328/60 162/332/60 161/331/60 -f 162/332/60 163/333/60 164/334/60 -f 164/334/60 161/331/60 162/332/60 -f 163/333/60 165/335/60 166/336/60 -f 166/336/60 164/334/60 163/333/60 -f 167/337/60 168/338/60 166/336/60 -f 166/336/60 165/335/60 167/337/60 -f 169/339/60 170/340/60 168/338/60 -f 168/338/60 167/337/60 169/339/60 -f 171/341/60 172/342/60 173/343/60 -f 173/343/60 174/344/60 171/341/60 -f 175/345/60 176/346/60 172/342/60 -f 172/342/60 171/341/60 175/345/60 -f 176/346/60 175/345/60 177/347/60 -f 177/347/60 178/348/60 176/346/60 -f 178/348/60 177/347/60 179/349/60 -f 179/349/60 180/350/60 178/348/60 -f 179/349/60 181/351/60 182/352/60 -f 182/352/60 180/350/60 179/349/60 -f 181/351/60 170/340/60 169/339/60 -f 169/339/60 182/352/60 181/351/60 -s 51 -f 183/353/75 184/354/75 185/355/75 -f 185/355/75 186/356/75 183/353/75 -f 187/357/75 188/358/75 184/354/75 -f 184/354/75 183/353/75 187/357/75 -f 188/358/75 187/357/75 189/359/75 -f 189/359/75 190/360/75 188/358/75 -f 190/360/75 189/359/75 191/361/75 -f 191/361/75 192/362/75 190/360/75 -f 191/361/75 193/363/75 194/364/75 -f 194/364/75 192/362/75 191/361/75 -f 193/363/75 195/365/75 196/366/75 -f 196/366/75 194/364/75 193/363/75 -f 197/367/75 198/368/75 199/369/75 -f 199/369/75 200/370/75 197/367/75 -f 201/371/75 199/369/75 198/368/75 -f 198/368/75 202/372/75 201/371/75 -f 202/372/75 203/373/75 204/374/75 -f 204/374/75 201/371/75 202/372/75 -f 203/373/75 205/375/75 206/376/75 -f 206/376/75 204/374/75 203/373/75 -f 207/377/75 208/378/75 206/376/75 -f 206/376/75 205/375/75 207/377/75 -f 196/366/75 195/365/75 208/378/75 -f 208/378/75 207/377/75 196/366/75 -s 52 -f 159/379/141 183/380/142 186/381/143 -f 186/381/143 160/382/143 159/379/141 -f 161/383/81 187/384/82 183/380/142 -f 183/380/142 159/379/141 161/383/81 -f 164/385/83 189/386/84 187/384/82 -f 187/384/82 161/383/81 164/385/83 -f 166/387/85 191/388/86 189/389/84 -f 189/389/84 164/390/83 166/387/85 -f 168/391/87 193/392/88 191/388/86 -f 191/388/86 166/387/85 168/391/87 -f 170/393/28 195/394/28 193/392/88 -f 193/392/88 168/391/87 170/393/28 -f 200/395/144 199/396/145 171/397/146 -f 171/397/146 174/398/144 200/395/144 -f 199/396/145 201/399/96 175/400/97 -f 175/400/97 171/397/146 199/396/145 -f 201/399/96 204/401/98 177/402/99 -f 177/402/99 175/400/97 201/399/96 -f 204/403/98 206/404/100 179/405/101 -f 179/405/101 177/406/99 204/403/98 -f 206/404/100 208/407/102 181/408/103 -f 181/408/103 179/405/101 206/404/100 -f 208/407/102 195/394/28 170/393/28 -f 170/393/28 181/408/103 208/407/102 -s 53 -f 157/409/147 185/410/147 184/411/109 -f 184/411/109 158/412/110 157/409/147 -f 158/412/110 184/411/109 188/413/111 -f 188/413/111 162/414/112 158/412/110 -f 162/414/112 188/413/111 190/415/113 -f 190/415/113 163/416/114 162/414/112 -f 163/417/114 190/418/113 192/419/115 -f 192/419/115 165/420/116 163/417/114 -f 165/420/116 192/419/115 194/421/148 -f 194/421/148 167/422/149 165/420/116 -f 167/422/149 194/421/148 196/423/14 -f 196/423/14 169/424/14 167/422/149 -f 198/425/150 197/426/151 173/427/151 -f 173/427/151 172/428/126 198/425/150 -f 202/429/127 198/425/150 172/428/126 -f 172/428/126 176/430/128 202/429/127 -f 203/431/129 202/429/127 176/430/128 -f 176/430/128 178/432/130 203/431/129 -f 205/433/131 203/434/129 178/435/130 -f 178/435/130 180/436/132 205/433/131 -f 207/437/152 205/433/131 180/436/132 -f 180/436/132 182/438/153 207/437/152 -f 196/423/14 207/437/152 182/438/153 -f 182/438/153 169/424/14 196/423/14 -s 54 -f 209/439/138 210/440/138 211/441/138 -f 211/441/138 212/442/138 209/439/138 -s 55 -f 212/443/139 211/444/139 213/445/139 -f 213/445/139 214/446/139 212/443/139 -s 56 -f 215/447/58 216/448/58 210/449/58 -f 210/449/58 209/450/58 215/447/58 -s 57 -f 216/451/59 215/452/59 214/453/59 -f 214/453/59 213/454/59 216/451/59 -s 58 -f 214/455/60 215/456/60 209/457/60 -f 209/457/60 212/458/60 214/455/60 -s 59 -f 217/459/60 218/460/60 219/461/60 -f 219/461/60 220/462/60 217/459/60 -f 221/463/60 219/461/60 218/460/60 -f 218/460/60 222/464/60 221/463/60 -f 222/464/60 223/465/60 224/466/60 -f 224/466/60 221/463/60 222/464/60 -f 223/465/60 225/467/60 226/468/60 -f 226/468/60 224/466/60 223/465/60 -f 227/469/60 228/470/60 226/468/60 -f 226/468/60 225/467/60 227/469/60 -f 229/471/60 230/472/60 228/470/60 -f 228/470/60 227/469/60 229/471/60 -f 231/473/60 232/474/60 233/475/60 -f 233/475/60 234/476/60 231/473/60 -f 235/477/60 236/478/60 232/474/60 -f 232/474/60 231/473/60 235/477/60 -f 236/478/60 235/477/60 237/479/60 -f 237/479/60 238/480/60 236/478/60 -f 238/480/60 237/479/60 239/481/60 -f 239/481/60 240/482/60 238/480/60 -f 239/481/60 241/483/60 242/484/60 -f 242/484/60 240/482/60 239/481/60 -f 241/483/60 230/472/60 229/471/60 -f 229/471/60 242/484/60 241/483/60 -s 60 -f 243/485/75 244/486/75 245/487/75 -f 245/487/75 246/488/75 243/485/75 -f 247/489/75 248/490/75 244/486/75 -f 244/486/75 243/485/75 247/489/75 -f 248/490/75 247/489/75 249/491/75 -f 249/491/75 250/492/75 248/490/75 -f 250/492/75 249/491/75 251/493/75 -f 251/493/75 252/494/75 250/492/75 -f 251/493/75 253/495/75 254/496/75 -f 254/496/75 252/494/75 251/493/75 -f 253/495/75 255/497/75 256/498/75 -f 256/498/75 254/496/75 253/495/75 -f 257/499/75 258/500/75 259/501/75 -f 259/501/75 260/502/75 257/499/75 -f 261/503/75 259/501/75 258/500/75 -f 258/500/75 262/504/75 261/503/75 -f 262/504/75 263/505/75 264/506/75 -f 264/506/75 261/503/75 262/504/75 -f 263/505/75 265/507/75 266/508/75 -f 266/508/75 264/506/75 263/505/75 -f 267/509/75 268/510/75 266/508/75 -f 266/508/75 265/507/75 267/509/75 -f 256/498/75 255/497/75 268/510/75 -f 268/510/75 267/509/75 256/498/75 -s 61 -f 219/511/141 243/512/142 246/513/143 -f 246/513/143 220/514/143 219/511/141 -f 221/515/81 247/516/82 243/512/142 -f 243/512/142 219/511/141 221/515/81 -f 224/517/83 249/518/84 247/516/82 -f 247/516/82 221/515/81 224/517/83 -f 226/519/85 251/520/86 249/521/84 -f 249/521/84 224/522/83 226/519/85 -f 228/523/87 253/524/88 251/520/86 -f 251/520/86 226/519/85 228/523/87 -f 230/525/28 255/526/28 253/524/88 -f 253/524/88 228/523/87 230/525/28 -f 260/527/144 259/528/145 231/529/146 -f 231/529/146 234/530/144 260/527/144 -f 259/528/145 261/531/96 235/532/97 -f 235/532/97 231/529/146 259/528/145 -f 261/531/96 264/533/98 237/534/99 -f 237/534/99 235/532/97 261/531/96 -f 264/535/98 266/536/100 239/537/101 -f 239/537/101 237/538/99 264/535/98 -f 266/536/100 268/539/102 241/540/103 -f 241/540/103 239/537/101 266/536/100 -f 268/539/102 255/526/28 230/525/28 -f 230/525/28 241/540/103 268/539/102 -s 62 -f 217/541/147 245/542/147 244/543/109 -f 244/543/109 218/544/110 217/541/147 -f 218/544/110 244/543/109 248/545/111 -f 248/545/111 222/546/112 218/544/110 -f 222/546/112 248/545/111 250/547/113 -f 250/547/113 223/548/114 222/546/112 -f 223/549/114 250/550/113 252/551/115 -f 252/551/115 225/552/116 223/549/114 -f 225/552/116 252/551/115 254/553/148 -f 254/553/148 227/554/149 225/552/116 -f 227/554/149 254/553/148 256/555/14 -f 256/555/14 229/556/14 227/554/149 -f 258/557/150 257/558/151 233/559/151 -f 233/559/151 232/560/126 258/557/150 -f 262/561/127 258/557/150 232/560/126 -f 232/560/126 236/562/128 262/561/127 -f 263/563/129 262/561/127 236/562/128 -f 236/562/128 238/564/130 263/563/129 -f 265/565/131 263/566/129 238/567/130 -f 238/567/130 240/568/132 265/565/131 -f 267/569/152 265/565/131 240/568/132 -f 240/568/132 242/570/153 267/569/152 -f 256/555/14 267/569/152 242/570/153 -f 242/570/153 229/556/14 256/555/14 -s 63 -f 269/571/138 270/572/138 271/573/138 -f 271/573/138 272/574/138 269/571/138 -s 64 -f 272/575/56 271/576/56 273/577/56 -f 273/577/56 274/578/56 272/575/56 -s 65 -f 275/579/58 276/580/58 270/581/58 -f 270/581/58 269/582/58 275/579/58 -s 66 -f 276/583/59 275/584/59 274/585/59 -f 274/585/59 273/586/59 276/583/59 -s 67 -f 274/587/60 275/588/60 269/589/60 -f 269/589/60 272/590/60 274/587/60 -s 68 -f 277/591/28 278/592/28 279/593/154 -f 279/593/154 280/594/154 277/591/28 -f 281/595/155 278/592/28 277/591/28 -f 277/591/28 282/596/155 281/595/155 -s 69 -f 280/597/139 279/598/139 283/599/139 -f 283/599/139 284/600/139 280/597/139 -s 70 -f 285/601/156 132/602/157 284/603/158 -f 284/603/158 283/604/159 285/601/156 -f 286/605/160 132/602/157 285/601/156 -f 285/601/156 287/606/161 286/605/160 -s 71 -f 284/607/60 132/608/60 277/609/60 -f 277/609/60 280/610/60 284/607/60 -f 277/609/60 132/608/60 286/611/60 -f 286/611/60 282/612/60 277/609/60 -s 72 -f 288/613/60 289/614/60 290/615/60 -f 290/615/60 291/616/60 288/613/60 -f 292/617/60 289/614/60 288/613/60 -f 288/613/60 293/618/60 292/617/60 -s 73 -f 294/619/75 295/620/76 296/621/75 -f 296/621/75 297/622/75 294/619/75 -f 298/623/76 296/621/75 295/620/76 -f 295/620/76 299/624/76 298/623/76 -s 74 -f 289/625/162 295/626/162 294/627/163 -f 294/627/163 290/628/163 289/625/162 -f 299/629/164 295/626/162 289/625/162 -f 289/625/162 292/630/164 299/629/164 -s 75 -f 291/631/165 297/632/165 296/633/166 -f 296/633/166 288/634/166 291/631/165 -f 293/635/167 288/634/166 296/633/166 -f 296/633/166 298/636/167 293/635/167 -s 76 -f 298/637/168 299/638/168 292/639/168 -f 292/639/168 293/640/168 298/637/168 -s 77 -f 300/641/60 301/642/60 302/643/60 -f 302/643/60 303/644/60 300/641/60 -f 304/645/60 301/642/60 300/641/60 -f 300/641/60 305/646/60 304/645/60 -s 78 -f 306/647/75 307/648/76 308/649/75 -f 308/649/75 309/650/75 306/647/75 -f 310/651/76 308/649/75 307/648/76 -f 307/648/76 311/652/76 310/651/76 -s 79 -f 301/653/162 307/654/162 306/655/163 -f 306/655/163 302/656/163 301/653/162 -f 311/657/164 307/654/162 301/653/162 -f 301/653/162 304/658/164 311/657/164 -s 80 -f 303/659/165 309/660/165 308/661/166 -f 308/661/166 300/662/166 303/659/165 -f 305/663/167 300/662/166 308/661/166 -f 308/661/166 310/664/167 305/663/167 -s 81 -f 310/665/168 311/666/168 304/667/168 -f 304/667/168 305/668/168 310/665/168 -s 82 -f 312/669/60 313/670/60 314/671/60 -f 314/671/60 315/672/60 312/669/60 -f 316/673/60 313/670/60 312/669/60 -f 312/669/60 317/674/60 316/673/60 -s 83 -f 318/675/75 319/676/76 320/677/75 -f 320/677/75 321/678/75 318/675/75 -f 322/679/76 320/677/75 319/676/76 -f 319/676/76 323/680/76 322/679/76 -s 84 -f 313/681/162 319/682/162 318/683/163 -f 318/683/163 314/684/163 313/681/162 -f 323/685/164 319/682/162 313/681/162 -f 313/681/162 316/686/164 323/685/164 -s 85 -f 315/687/165 321/688/165 320/689/166 -f 320/689/166 312/690/166 315/687/165 -f 317/691/167 312/690/166 320/689/166 -f 320/689/166 322/692/167 317/691/167 -s 86 -f 322/693/168 323/694/168 316/695/168 -f 316/695/168 317/696/168 322/693/168 -s 87 -f 324/697/138 325/698/138 326/699/138 -f 326/699/138 327/700/138 324/697/138 -s 88 -f 327/701/56 326/702/56 328/703/56 -f 328/703/56 329/704/56 327/701/56 -s 89 -f 330/705/140 331/706/140 325/707/140 -f 325/707/140 324/708/140 330/705/140 -s 90 -f 331/709/59 330/710/59 329/711/59 -f 329/711/59 328/712/59 331/709/59 -s 91 -f 329/713/60 330/714/60 324/715/60 -f 324/715/60 327/716/60 329/713/60 -s 92 -f 332/717/138 333/718/138 334/719/138 -f 334/719/138 295/720/138 332/717/138 -s 93 -f 295/721/139 334/722/139 335/723/139 -f 335/723/139 336/724/139 295/721/139 -s 94 -f 337/725/58 338/726/58 333/727/58 -f 333/727/58 332/728/58 337/725/58 -s 95 -f 338/729/59 337/730/59 336/731/59 -f 336/731/59 335/732/59 338/729/59 -s 96 -f 336/733/169 337/734/60 332/735/169 -f 332/735/169 295/736/170 336/733/169 -s 97 -f 339/737/137 340/738/137 341/739/137 -f 341/739/137 342/740/137 339/737/137 -s 98 -f 342/741/139 341/742/139 343/743/139 -f 343/743/139 344/744/139 342/741/139 -s 99 -f 345/745/58 346/746/58 340/747/58 -f 340/747/58 339/748/58 345/745/58 -s 100 -f 346/749/59 345/750/59 344/751/59 -f 344/751/59 343/752/59 346/749/59 -s 101 -f 344/753/60 345/754/60 339/755/60 -f 339/755/60 342/756/60 344/753/60 -s 102 -f 347/757/171 348/758/172 349/759/173 -f 349/760/173 350/761/174 347/762/171 -f 351/763/175 347/764/171 350/765/174 -f 352/766/176 349/767/173 348/768/172 -f 353/769/177 354/770/178 355/771/179 -f 355/771/179 356/772/180 353/769/177 -f 357/773/181 355/771/179 354/770/178 -f 354/770/178 358/774/182 357/773/181 -f 347/757/171 357/773/181 358/774/182 -f 358/774/182 348/758/172 347/757/171 -s 103 -f 359/775/183 352/776/184 360/777/185 -f 360/777/185 361/778/170 359/775/183 -f 349/779/186 352/776/184 359/775/183 -f 359/775/183 362/780/187 349/779/186 -f 361/778/170 360/777/185 363/781/188 -f 363/781/188 364/782/189 361/778/170 -f 364/782/189 363/781/188 365/783/190 -f 365/783/190 366/784/191 364/782/189 -s 104 -f 365/785/192 363/786/193 354/787/194 -f 354/787/194 353/788/192 365/785/192 -f 360/789/195 352/790/196 348/791/196 -f 348/791/196 358/792/197 360/789/195 -f 363/786/193 360/793/195 358/794/197 -f 358/794/197 354/787/194 363/786/193 -s 105 -f 364/795/198 366/796/199 356/797/199 -f 356/797/199 355/798/200 364/795/198 -f 361/799/201 364/795/198 355/798/200 -f 355/798/200 357/800/202 361/799/201 -f 359/801/203 361/802/201 357/803/202 -f 357/803/202 347/804/204 359/801/203 -s 106 -f 362/805/205 359/806/205 347/807/205 -f 347/807/205 351/808/205 362/805/205 -s 107 -f 349/809/206 362/810/206 351/811/206 -f 351/811/206 350/812/206 349/809/206 -s 108 -f 353/813/157 356/814/157 366/815/157 -f 366/815/157 365/816/157 353/813/157 -s 109 -f 367/817/207 368/818/172 369/819/173 -f 369/820/173 370/821/174 367/822/207 -f 371/823/175 367/824/207 370/825/174 -f 372/826/176 369/827/173 368/828/172 -f 373/829/208 374/830/209 375/831/177 -f 375/831/177 376/832/210 373/829/208 -f 377/833/211 375/831/177 374/830/209 -f 374/830/209 378/834/212 377/833/211 -f 367/817/207 377/833/211 378/834/212 -f 378/834/212 368/818/172 367/817/207 -s 110 -f 379/835/213 372/836/214 380/837/215 -f 380/837/215 381/838/169 379/835/213 -f 369/839/186 372/836/214 379/835/213 -f 379/835/213 382/840/187 369/839/186 -f 381/838/169 380/837/215 383/841/188 -f 383/841/188 384/842/189 381/838/169 -f 384/842/189 383/841/188 385/843/190 -f 385/843/190 386/844/191 384/842/189 -s 111 -f 385/845/216 383/846/217 374/847/218 -f 374/847/218 373/848/216 385/845/216 -f 380/849/195 372/850/196 368/851/196 -f 368/851/196 378/852/197 380/849/195 -f 383/846/217 380/853/195 378/854/197 -f 378/854/197 374/847/218 383/846/217 -s 112 -f 384/855/219 386/856/220 376/857/220 -f 376/857/220 375/858/221 384/855/219 -f 381/859/201 384/855/219 375/858/221 -f 375/858/221 377/860/202 381/859/201 -f 379/861/203 381/862/201 377/863/202 -f 377/863/202 367/864/204 379/861/203 -s 113 -f 382/865/205 379/866/205 367/867/205 -f 367/867/205 371/868/205 382/865/205 -s 114 -f 387/869/207 388/870/172 389/871/173 -f 389/872/173 390/873/174 387/874/207 -f 391/875/175 387/876/207 390/877/174 -f 392/878/176 389/879/173 388/880/172 -f 393/881/208 394/882/209 395/883/177 -f 395/883/177 396/884/210 393/881/208 -f 397/885/211 395/883/177 394/882/209 -f 394/882/209 398/886/212 397/885/211 -f 387/869/207 397/885/211 398/886/212 -f 398/886/212 388/870/172 387/869/207 -s 115 -f 399/887/184 392/888/214 400/889/215 -f 400/889/215 401/890/170 399/887/184 -f 389/891/186 392/888/214 399/887/184 -f 399/887/184 402/892/187 389/891/186 -f 401/890/170 400/889/215 403/893/222 -f 403/893/222 404/894/223 401/890/170 -f 404/894/223 403/893/222 405/895/189 -f 405/895/189 406/896/191 404/894/223 -s 116 -f 405/897/216 403/898/217 394/899/218 -f 394/899/218 393/900/216 405/897/216 -f 400/901/195 392/902/196 388/903/196 -f 388/903/196 398/904/197 400/901/195 -f 403/898/217 400/905/195 398/906/197 -f 398/906/197 394/899/218 403/898/217 -s 117 -f 404/907/219 406/908/220 396/909/220 -f 396/909/220 395/910/221 404/907/219 -f 401/911/201 404/907/219 395/910/221 -f 395/910/221 397/912/202 401/911/201 -f 399/913/203 401/914/201 397/915/202 -f 397/915/202 387/916/204 399/913/203 -s 118 -f 402/917/205 399/918/205 387/919/205 -f 387/919/205 391/920/205 402/917/205 -s 119 -f 407/921/224 408/922/138 409/923/224 -f 409/923/224 410/924/224 407/921/224 -s 120 -f 410/925/139 409/926/139 411/927/139 -f 411/927/139 412/928/139 410/925/139 -s 121 -f 413/929/140 414/930/140 408/931/140 -f 408/931/140 407/932/140 413/929/140 -s 122 -f 414/933/59 413/934/59 412/935/59 -f 412/935/59 411/936/59 414/933/59 -s 123 -f 412/937/60 413/938/60 407/939/60 -f 407/939/60 410/940/60 412/937/60 -s 124 -f 415/941/138 416/942/138 417/943/138 -f 417/943/138 418/944/138 415/941/138 -s 125 -f 418/945/139 417/946/139 419/947/139 -f 419/947/139 420/948/139 418/945/139 -s 126 -f 421/949/140 422/950/140 416/951/140 -f 416/951/140 415/952/140 421/949/140 -s 127 -f 422/953/59 421/954/59 420/955/59 -f 420/955/59 419/956/59 422/953/59 -s 128 -f 420/957/60 421/958/60 415/959/60 -f 415/959/60 418/960/60 420/957/60 -s 129 -f 423/961/138 424/962/138 425/963/138 -f 425/963/138 426/964/138 423/961/138 -s 130 -f 426/965/139 425/966/139 427/967/139 -f 427/967/139 428/968/139 426/965/139 -s 131 -f 429/969/58 430/970/58 424/971/58 -f 424/971/58 423/972/58 429/969/58 -s 132 -f 430/973/59 429/974/59 428/975/59 -f 428/975/59 427/976/59 430/973/59 -s 133 -f 428/977/60 429/978/60 423/979/60 -f 423/979/60 426/980/60 428/977/60 -s 134 -f 431/981/137 432/982/137 433/983/137 -f 433/983/137 434/984/138 431/981/137 -s 135 -f 434/985/225 433/986/226 435/987/225 -f 435/987/225 436/988/227 434/985/225 -s 136 -f 437/989/140 438/990/140 432/991/140 -f 432/991/140 431/992/140 437/989/140 -s 137 -f 438/993/228 437/994/229 436/995/228 -f 436/995/228 435/996/230 438/993/228 -s 138 -f 436/997/231 437/998/232 431/999/231 -f 431/999/231 434/1000/233 436/997/231 -s 139 -f 439/1001/234 440/1002/235 441/1003/236 -f 441/1003/236 442/1004/237 439/1001/234 -f 436/1005/238 442/1004/237 441/1003/236 -f 441/1003/236 443/1006/239 436/1005/238 -f 444/1007/240 440/1002/235 439/1001/234 -f 439/1001/234 445/1008/241 444/1007/240 -f 444/1007/240 445/1008/241 446/1009/242 -f 446/1009/242 447/1010/243 444/1007/240 -s 140 -f 448/1011/244 449/1012/245 450/1013/246 -f 450/1013/246 451/1014/247 448/1011/244 -f 452/1015/170 453/1016/170 448/1011/244 -f 448/1011/244 451/1014/247 452/1015/170 -f 450/1013/246 449/1012/245 454/1017/248 -f 454/1017/248 455/1018/249 450/1013/246 -f 456/1019/250 455/1018/249 454/1017/248 -f 454/1017/248 457/1020/250 456/1019/250 -s 141 -f 451/1021/251 450/1022/28 439/1023/252 -f 439/1023/252 442/1024/253 451/1021/251 -f 439/1023/252 450/1022/28 455/1025/254 -f 455/1025/254 445/1026/255 439/1023/252 -s 142 -f 452/1027/256 451/1028/1 442/1029/256 -f 442/1029/256 436/1030/257 452/1027/256 -s 143 -f 443/1031/258 453/1032/259 452/1033/258 -f 452/1033/258 436/1034/260 443/1031/258 -s 144 -f 448/1035/261 453/1036/262 443/1037/261 -f 443/1037/261 441/1038/261 448/1035/261 -s 145 -f 458/1039/263 459/1040/264 460/1041/263 -f 460/1041/263 461/1042/224 458/1039/263 -s 146 -f 461/1043/265 460/1044/266 462/1045/265 -f 462/1045/265 463/1046/139 461/1043/265 -s 147 -f 464/1047/58 465/1048/58 459/1049/58 -f 459/1049/58 458/1050/58 464/1047/58 -s 148 -f 465/1051/59 464/1052/59 463/1053/59 -f 463/1053/59 462/1054/59 465/1051/59 -s 149 -f 463/1055/60 464/1056/60 458/1057/60 -f 458/1057/60 461/1058/60 463/1055/60 -s 150 -f 466/1059/234 467/1060/235 468/1061/267 -f 468/1061/267 469/1062/241 466/1059/234 -f 470/1063/211 469/1062/241 468/1061/267 -f 468/1061/267 471/1064/211 470/1063/211 -f 472/1065/268 467/1060/235 466/1059/234 -f 466/1059/234 473/1066/237 472/1065/268 -f 472/1065/268 473/1066/237 474/1067/269 -f 474/1067/269 475/1068/269 472/1065/268 -s 151 -f 476/1069/244 477/1070/270 478/1071/271 -f 478/1071/271 479/1072/170 476/1069/244 -f 480/1073/170 481/1074/170 476/1069/244 -f 476/1069/244 479/1072/170 480/1073/170 -f 478/1071/271 477/1070/270 482/1075/248 -f 482/1075/248 483/1076/250 478/1071/271 -f 484/1077/250 483/1076/250 482/1075/248 -f 482/1075/248 485/1078/250 484/1077/250 -s 152 -f 479/1079/251 478/1080/28 466/1081/252 -f 466/1081/252 469/1082/251 479/1079/251 -f 466/1081/252 478/1080/28 483/1083/254 -f 483/1083/254 473/1084/254 466/1081/252 -s 153 -f 480/1085/1 479/1086/1 469/1087/1 -f 469/1087/1 470/1088/1 480/1085/1 -s 154 -f 476/1089/261 481/1090/262 471/1091/261 -f 471/1091/261 468/1092/261 476/1089/261 -s 155 -f 486/1093/234 487/1094/235 488/1095/267 -f 488/1095/267 489/1096/241 486/1093/234 -f 490/1097/211 489/1096/241 488/1095/267 -f 488/1095/267 491/1098/211 490/1097/211 -f 492/1099/268 487/1094/235 486/1093/234 -f 486/1093/234 493/1100/237 492/1099/268 -f 492/1099/268 493/1100/237 494/1101/269 -f 494/1101/269 495/1102/269 492/1099/268 -s 156 -f 496/1103/272 497/1104/270 498/1105/271 -f 498/1105/271 499/1106/170 496/1103/272 -f 500/1107/273 501/1108/273 496/1103/272 -f 496/1103/272 499/1106/170 500/1107/273 -f 498/1105/271 497/1104/270 502/1109/274 -f 502/1109/274 503/1110/250 498/1105/271 -f 504/1111/275 503/1110/250 502/1109/274 -f 502/1109/274 505/1112/275 504/1111/275 -s 157 -f 499/1113/251 498/1114/28 486/1115/252 -f 486/1115/252 489/1116/251 499/1113/251 -f 486/1115/252 498/1114/28 503/1117/254 -f 503/1117/254 493/1118/254 486/1115/252 -s 158 -f 500/1119/1 499/1120/1 489/1121/1 -f 489/1121/1 490/1122/1 500/1119/1 -s 159 -f 496/1123/261 501/1124/262 491/1125/261 -f 491/1125/261 488/1126/261 496/1123/261 -s 160 -f 449/1127/276 448/1128/277 441/1129/278 -f 441/1129/278 440/1130/279 449/1127/276 -f 444/1131/280 454/1132/281 449/1127/276 -f 449/1127/276 440/1130/279 444/1131/280 -s 161 -f 477/1133/276 476/1134/282 468/1135/278 -f 468/1135/278 467/1136/283 477/1133/276 -f 472/1137/280 482/1138/284 477/1133/276 -f 477/1133/276 467/1136/283 472/1137/280 -s 162 -f 497/1139/276 496/1140/282 488/1141/278 -f 488/1141/278 487/1142/283 497/1139/276 -f 492/1143/280 502/1144/284 497/1139/276 -f 497/1139/276 487/1142/283 492/1143/280 -s 163 -f 506/1145/1 507/1146/1 508/1147/1 -f 508/1147/1 509/1148/1 506/1145/1 -s 164 -f 510/1149/60 506/1150/60 509/1151/60 -f 509/1151/60 511/1152/60 510/1149/60 -s 165 -f 512/1153/285 510/1154/285 511/1155/285 -f 511/1155/285 513/1156/285 512/1153/285 -s 166 -f 509/1157/14 508/1158/14 513/1159/14 -f 513/1159/14 511/1160/14 509/1157/14 -s 167 -f 510/1161/28 512/1162/28 507/1163/28 -f 507/1163/28 506/1164/28 510/1161/28 -s 168 -f 514/1165/286 515/1166/287 516/1167/286 -f 516/1167/286 517/1168/288 514/1165/286 -s 169 -f 517/1169/289 516/1170/290 518/1171/289 -f 518/1171/289 519/1172/291 517/1169/289 -s 170 -f 520/1173/292 521/1174/293 515/1175/292 -f 515/1175/292 514/1176/294 520/1173/292 -s 171 -f 521/1177/295 520/1178/295 519/1179/295 -f 519/1179/295 518/1180/295 521/1177/295 -s 172 -f 519/1181/296 520/1182/297 514/1183/296 -f 514/1183/296 517/1184/298 519/1181/296 -s 173 -f 522/1185/299 523/1186/299 524/1187/299 -f 524/1187/299 525/1188/299 522/1185/299 -s 174 -f 525/1189/300 524/1190/300 526/1191/300 -f 526/1191/300 527/1192/300 525/1189/300 -s 175 -f 528/1193/301 529/1194/301 523/1195/301 -f 523/1195/301 522/1196/302 528/1193/301 -s 176 -f 529/1197/303 528/1198/303 527/1199/303 -f 527/1199/303 526/1200/303 529/1197/303 -s 177 -f 530/1201/304 531/1202/304 532/1203/304 -f 532/1203/304 533/1204/304 530/1201/304 -s 178 -f 533/1205/305 532/1206/305 534/1207/305 -f 534/1207/305 535/1208/305 533/1205/305 -s 179 -f 536/1209/306 537/1210/306 531/1211/306 -f 531/1211/306 530/1212/306 536/1209/306 -s 180 -f 537/1213/295 536/1214/295 535/1215/295 -f 535/1215/295 534/1216/295 537/1213/295 -s 181 -f 535/1217/296 536/1218/297 530/1219/296 -f 530/1219/296 533/1220/298 535/1217/296 -s 182 -f 538/1221/307 539/1222/308 540/1223/307 -f 540/1223/307 541/1224/307 538/1221/307 -s 183 -f 541/1225/309 540/1226/310 516/1227/309 -f 516/1227/309 542/1228/311 541/1225/309 -s 184 -f 543/1229/312 515/1230/313 539/1231/312 -f 539/1231/312 538/1232/314 543/1229/312 -s 185 -f 515/1233/315 543/1234/316 542/1235/315 -f 542/1235/315 516/1236/317 515/1233/315 -s 186 -f 544/1237/318 545/1238/318 546/1239/318 -f 546/1239/318 547/1240/319 544/1237/318 -s 187 -f 547/1241/320 546/1242/320 548/1243/320 -f 548/1243/320 549/1244/320 547/1241/320 -s 188 -f 550/1245/321 551/1246/321 545/1247/321 -f 545/1247/321 544/1248/321 550/1245/321 -s 189 -f 551/1249/322 550/1250/322 549/1251/322 -f 549/1251/322 548/1252/323 551/1249/322 -s 190 -f 545/1253/324 551/1254/324 548/1255/324 -f 548/1255/324 546/1256/324 545/1253/324 -s 191 -f 552/1257/319 553/1258/319 554/1259/319 -f 554/1259/319 555/1260/319 552/1257/319 -s 192 -f 555/1261/320 554/1262/320 556/1263/320 -f 556/1263/320 557/1264/325 555/1261/320 -s 193 -f 558/1265/321 559/1266/321 553/1267/321 -f 553/1267/321 552/1268/321 558/1265/321 -s 194 -f 559/1269/322 558/1270/323 557/1271/322 -f 557/1271/322 556/1272/322 559/1269/322 -s 195 -f 553/1273/324 559/1274/324 556/1275/324 -f 556/1275/324 554/1276/324 553/1273/324 -s 196 -f 560/1277/326 561/1278/327 562/1279/326 -f 562/1279/326 563/1280/328 560/1277/326 -s 197 -f 563/1281/329 562/1282/329 564/1283/329 -f 564/1283/329 565/1284/330 563/1281/329 -s 198 -f 566/1285/331 567/1286/331 561/1287/331 -f 561/1287/331 560/1288/331 566/1285/331 -s 199 -f 567/1289/332 566/1290/332 565/1291/332 -f 565/1291/332 564/1292/332 567/1289/332 -s 200 -f 565/1293/333 566/1294/60 560/1295/333 -f 560/1295/333 563/1296/334 565/1293/333 -s 201 -f 568/1297/326 569/1298/335 570/1299/326 -f 570/1299/326 571/1300/336 568/1297/326 -s 202 -f 571/1301/337 570/1302/330 572/1303/337 -f 572/1303/337 573/1304/338 571/1301/337 -s 203 -f 574/1305/339 575/1306/339 569/1307/339 -f 569/1307/339 568/1308/339 574/1305/339 -s 204 -f 575/1309/332 574/1310/340 573/1311/332 -f 573/1311/332 572/1312/332 575/1309/332 -s 205 -f 573/1313/333 574/1314/60 568/1315/333 -f 568/1315/333 571/1316/334 573/1313/333 -s 206 -f 576/1317/341 577/1318/342 578/1319/343 -f 578/1319/343 579/1320/344 576/1317/341 -f 579/1321/344 578/1322/343 580/1323/345 -f 580/1323/345 581/1324/346 579/1321/344 -f 581/1324/346 580/1323/345 582/1325/347 -f 582/1325/347 583/1326/348 581/1324/346 -f 583/1326/348 582/1325/347 584/1327/349 -f 584/1328/349 585/1329/350 583/1330/348 -f 585/1329/350 584/1328/349 586/1331/351 -f 586/1331/351 587/1332/352 585/1329/350 -f 587/1332/352 586/1331/351 588/1333/353 -f 588/1333/353 589/1334/354 587/1332/352 -f 589/1334/354 588/1333/353 590/1335/355 -f 590/1335/355 591/1336/356 589/1334/354 -f 591/1337/356 590/1338/355 592/1339/357 -f 592/1339/357 593/1340/358 591/1337/356 -f 593/1340/358 592/1339/357 594/1341/359 -f 594/1341/359 595/1342/360 593/1340/358 -f 595/1343/360 594/1344/359 596/1345/361 -f 596/1345/361 597/1346/362 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833/1907/592 834/1908/598 819/1909/598 -f 819/1909/598 818/1910/594 833/1907/592 -s 228 -f 833/1911/599 842/1912/600 839/1913/599 -f 839/1913/599 831/1914/601 833/1911/599 -s 229 -f 845/1915/602 846/1916/603 842/1917/602 -f 842/1917/602 847/1918/604 845/1915/602 -s 230 -f 848/1919/567 846/1920/567 845/1921/567 -f 845/1921/567 849/1922/567 848/1919/567 -s 231 -f 849/1923/605 850/1924/606 851/1925/605 -f 851/1925/605 848/1926/607 849/1923/605 -s 232 -f 842/1927/608 851/1928/609 850/1929/608 -f 850/1929/608 847/1930/610 842/1927/608 -s 233 -f 852/1931/1 853/1932/1 854/1933/1 -f 854/1933/1 855/1934/1 852/1931/1 -s 234 -f 856/1935/60 852/1936/60 855/1937/60 -f 855/1937/60 857/1938/60 856/1935/60 -s 235 -f 858/1939/285 856/1940/285 857/1941/285 -f 857/1941/285 859/1942/285 858/1939/285 -s 236 -f 853/1943/75 858/1944/75 859/1945/75 -f 859/1945/75 854/1946/75 853/1943/75 -s 237 -f 855/1947/14 854/1948/14 859/1949/14 -f 859/1949/14 857/1950/14 855/1947/14 -s 238 -f 856/1951/28 858/1952/28 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872/1999/28 874/2000/28 869/2001/28 -f 869/2001/28 868/2002/28 872/1999/28 -s 251 -f 876/2003/1 877/2004/1 878/2005/1 -f 878/2005/1 879/2006/1 876/2003/1 -s 252 -f 880/2007/60 876/2008/60 879/2009/60 -f 879/2009/60 881/2010/60 880/2007/60 -s 253 -f 882/2011/285 880/2012/285 881/2013/285 -f 881/2013/285 883/2014/285 882/2011/285 -s 254 -f 877/2015/75 882/2016/75 883/2017/75 -f 883/2017/75 878/2018/75 877/2015/75 -s 255 -f 879/2019/14 878/2020/14 883/2021/14 -f 883/2021/14 881/2022/14 879/2019/14 -s 256 -f 880/2023/28 882/2024/28 877/2025/28 -f 877/2025/28 876/2026/28 880/2023/28 -s 257 -f 884/2027/611 885/2028/612 886/2029/612 -f 886/2029/612 887/2030/613 884/2027/611 -f 888/2031/614 889/2032/615 884/2033/611 -f 884/2033/611 887/2034/613 888/2031/614 -f 890/2035/612 886/2029/612 885/2028/612 -f 891/2036/616 890/2035/612 885/2028/612 -f 885/2028/612 892/2037/617 891/2036/616 -f 893/2038/618 891/2036/616 892/2037/617 -f 894/2039/619 893/2038/618 892/2037/617 -f 892/2037/617 895/2040/620 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1950/4385/1708 1966/4384/1707 -f 1967/4386/1709 1968/4388/1711 1952/4389/1712 -f 1952/4389/1712 1951/4387/1710 1967/4386/1709 -f 1969/4390/1713 1953/4391/1714 1952/4392/1712 -f 1952/4392/1712 1968/4393/1711 1969/4390/1713 -f 1970/4394/1715 1954/4395/1716 1953/4391/1714 -f 1953/4391/1714 1969/4390/1713 1970/4394/1715 -f 1970/4394/1715 1971/4396/1717 1955/4397/1718 -f 1955/4397/1718 1954/4395/1716 1970/4394/1715 -f 1972/4398/1719 1956/4399/1720 1955/4400/1718 -f 1955/4400/1718 1971/4401/1717 1972/4398/1719 -f 1973/4402/1721 1957/4403/1722 1956/4399/1720 -f 1956/4399/1720 1972/4398/1719 1973/4402/1721 -f 1974/4404/1723 1958/4405/1724 1957/4403/1722 -f 1957/4403/1722 1973/4402/1721 1974/4404/1723 -f 1974/4404/1723 1975/4406/1725 1959/4407/1726 -f 1959/4407/1726 1958/4405/1724 1974/4404/1723 -f 1975/4406/1725 1962/4408/1697 1960/4409/1700 -f 1960/4409/1700 1959/4407/1726 1975/4406/1725 -s 497 -f 1976/4410/1727 1977/4411/1728 1978/4412/1729 -f 1978/4412/1729 1979/4413/1730 1976/4410/1727 -f 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2001/4442/1609 -f 2001/4442/1609 2002/4443/1610 1999/4440/1607 -f 2002/4443/1610 2001/4442/1609 2003/4444/1611 -f 2004/4445/1612 1991/4446/1599 2005/4447/1741 -f 2005/4447/1741 2006/4448/1614 2004/4445/1612 -f 2007/4449/1615 2005/4450/1741 1991/4429/1599 -f 1991/4429/1599 1990/4428/1598 2007/4449/1615 -f 2008/4451/1616 2003/4444/1611 2009/4452/1617 -f 2009/4452/1617 2010/4453/1618 2008/4451/1616 -f 1991/4454/1599 2004/4455/1612 2011/4456/1742 -f 2011/4456/1742 1989/4457/1737 1991/4454/1599 -f 2012/4458/1620 2004/4445/1612 2006/4448/1614 -f 2006/4448/1614 2013/4459/1621 2012/4458/1620 -f 2014/4460/1622 2011/4456/1742 2004/4455/1612 -f 2004/4455/1612 2012/4461/1620 2014/4460/1622 -f 1987/4425/1595 1986/4424/1594 2015/4462/1623 -f 2015/4462/1623 1988/4426/1596 1987/4425/1595 -f 1988/4426/1596 2015/4462/1623 2008/4451/1616 -f 2008/4451/1616 1990/4428/1598 1988/4426/1596 -f 1990/4428/1598 2008/4451/1616 2010/4453/1618 -f 2010/4453/1618 2007/4449/1615 1990/4428/1598 -f 2003/4444/1611 2001/4442/1609 2016/4463/1624 -f 2016/4463/1624 2009/4452/1617 2003/4444/1611 -f 2015/4462/1623 2002/4443/1610 2003/4444/1611 -f 2003/4444/1611 2008/4451/1616 2015/4462/1623 -f 1986/4424/1594 1999/4440/1607 2002/4443/1610 -f 2002/4443/1610 2015/4462/1623 1986/4424/1594 -f 1981/4416/1732 1979/4415/1730 1999/4440/1607 -f 1999/4440/1607 1986/4424/1594 1981/4416/1732 -f 2001/4442/1609 1995/4464/1603 1997/4465/1605 -f 1997/4465/1605 2016/4463/1624 2001/4442/1609 -f 2000/4441/1608 1994/4466/1739 1995/4464/1603 -f 1995/4464/1603 2001/4442/1609 2000/4441/1608 -f 2000/4441/1608 1979/4415/1730 1994/4466/1739 -f 1989/4457/1737 2011/4456/1742 1992/4431/1738 -f 1992/4431/1738 1987/4430/1595 1989/4457/1737 -f 1978/4412/1729 1977/4411/1728 2017/4467/1743 -f 2017/4467/1743 2018/4468/1744 1978/4412/1729 -f 2018/4468/1744 2017/4467/1743 2019/4469/1745 -f 2019/4470/1745 2020/4471/1746 2018/4472/1744 -f 2020/4471/1746 2019/4470/1745 2021/4473/1747 -f 2021/4473/1747 2022/4474/1748 2020/4471/1746 -f 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2030/4505/1638 2034/4490/1642 -f 2034/4490/1642 2043/4503/1651 2031/4504/1639 -f 2030/4505/1638 2029/4506/1637 2032/4488/1640 -f 2032/4488/1640 2034/4490/1642 2030/4505/1638 -f 2029/4506/1637 2018/4472/1744 2032/4488/1640 -f 2025/4501/1633 2024/4483/1632 1992/4431/1738 -f 1992/4431/1738 2014/4460/1622 2025/4501/1633 -f 1992/4431/1738 2011/4456/1742 2014/4460/1622 -s 498 -f 2044/4507/1652 2045/4508/1653 2046/4509/1654 -f 2046/4509/1654 2047/4510/1655 2044/4507/1652 -f 2047/4510/1655 2048/4511/1750 2049/4512/1657 -f 2049/4512/1657 2044/4507/1652 2047/4510/1655 -f 2049/4512/1657 2050/4513/1751 2051/4514/1659 -f 2051/4514/1659 2044/4507/1652 2049/4512/1657 -f 2051/4514/1659 2052/4515/1660 2053/4516/1661 -f 2053/4516/1661 2044/4507/1652 2051/4514/1659 -f 2053/4516/1661 2054/4517/1752 2055/4518/1663 -f 2055/4518/1663 2044/4507/1652 2053/4516/1661 -f 2044/4507/1652 2055/4518/1663 2056/4519/1664 -f 2056/4519/1664 2057/4520/1665 2044/4507/1652 -f 2044/4507/1652 2057/4520/1665 2058/4521/1666 -s 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2069/4543/1758 -f 2069/4543/1758 2005/4542/1687 2007/4544/1689 -f 2010/4546/1691 2071/4547/1759 2070/4545/1690 -f 2070/4545/1690 2007/4544/1689 2010/4546/1691 -f 2010/4546/1691 2009/4548/1693 2072/4549/1694 -f 2072/4549/1694 2071/4547/1759 2010/4546/1691 -f 2009/4548/1693 2016/4550/1695 2073/4551/1696 -f 2073/4551/1696 2072/4549/1694 2009/4548/1693 -f 2016/4550/1695 1997/4525/1754 2060/4524/1753 -f 2060/4524/1753 2073/4551/1696 2016/4550/1695 -s 500 -f 2060/4552/1697 2059/4553/1760 2044/4554/1699 -f 2044/4554/1699 2058/4555/1700 2060/4552/1697 -f 2061/4556/1701 2045/4557/1761 2044/4554/1699 -f 2044/4554/1699 2059/4553/1760 2061/4556/1701 -f 2062/4558/1703 2046/4559/1704 2045/4560/1761 -f 2045/4560/1761 2061/4561/1701 2062/4558/1703 -f 2063/4562/1762 2047/4563/1706 2046/4559/1704 -f 2046/4559/1704 2062/4558/1703 2063/4562/1762 -f 2064/4564/1763 2048/4565/1708 2047/4563/1706 -f 2047/4563/1706 2063/4562/1762 2064/4564/1763 -f 2064/4564/1763 2065/4566/1709 2049/4567/1710 -f 2049/4567/1710 2048/4565/1708 2064/4564/1763 -f 2065/4566/1709 2066/4568/1711 2050/4569/1712 -f 2050/4569/1712 2049/4567/1710 2065/4566/1709 -f 2067/4570/1713 2051/4571/1714 2050/4572/1712 -f 2050/4572/1712 2066/4573/1711 2067/4570/1713 -f 2068/4574/1715 2052/4575/1764 2051/4571/1714 -f 2051/4571/1714 2067/4570/1713 2068/4574/1715 -f 2068/4574/1715 2069/4576/1717 2053/4577/1718 -f 2053/4577/1718 2052/4575/1764 2068/4574/1715 -f 2070/4578/1719 2054/4579/1720 2053/4580/1718 -f 2053/4580/1718 2069/4581/1717 2070/4578/1719 -f 2071/4582/1721 2055/4583/1722 2054/4579/1720 -f 2054/4579/1720 2070/4578/1719 2071/4582/1721 -f 2072/4584/1723 2056/4585/1724 2055/4583/1722 -f 2055/4583/1722 2071/4582/1721 2072/4584/1723 -f 2072/4584/1723 2073/4586/1725 2057/4587/1726 -f 2057/4587/1726 2056/4585/1724 2072/4584/1723 -f 2073/4586/1725 2060/4588/1697 2058/4589/1700 -f 2058/4589/1700 2057/4587/1726 2073/4586/1725 -s 501 -f 2074/4590/1765 2075/4591/1766 2076/4592/1766 -f 2076/4592/1766 2077/4593/1765 2074/4590/1765 -f 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2265/5004/1924 2260/5005/1925 2257/5006/1924 -f 2257/5006/1924 2256/5007/1926 2265/5004/1924 -s 531 -f 2266/5008/1927 2267/5009/1928 2268/5010/1929 -f 2268/5010/1929 2269/5011/1930 2266/5008/1927 -f 2269/5012/1930 2268/5013/1929 2270/5014/1931 -f 2270/5014/1931 2271/5015/1932 2269/5012/1930 -f 2271/5015/1932 2270/5014/1931 2272/5016/1933 -f 2272/5016/1933 2273/5017/1934 2271/5015/1932 -f 2273/5018/1934 2272/5019/1933 2274/5020/1935 -f 2274/5020/1935 2275/5021/1936 2273/5018/1934 -f 2275/5022/1936 2274/5023/1935 2276/5024/1937 -f 2276/5024/1937 2277/5025/1938 2275/5022/1936 -f 2277/5025/1938 2276/5024/1937 2267/5026/1928 -f 2267/5026/1928 2266/5027/1927 2277/5025/1938 -s 532 -f 2278/5028/1939 2268/5029/1939 2267/5030/1939 -f 2278/5028/1939 2272/5031/1939 2270/5032/1939 -f 2270/5032/1939 2268/5029/1939 2278/5028/1939 -f 2278/5028/1939 2274/5033/1939 2272/5031/1939 -f 2278/5028/1939 2267/5030/1939 2276/5034/1939 -f 2276/5034/1939 2274/5033/1939 2278/5028/1939 -s 533 -f 2279/5035/1940 2277/5036/1940 2266/5037/1940 -f 2266/5037/1940 2269/5038/1940 2279/5035/1940 -f 2279/5035/1940 2269/5038/1940 2271/5039/1940 -f 2271/5039/1940 2273/5040/1940 2279/5035/1940 -f 2279/5035/1940 2273/5040/1940 2275/5041/1940 -f 2275/5041/1940 2277/5036/1940 2279/5035/1940 -s 534 -f 2280/5042/1941 2281/5043/1942 2282/5044/1943 -f 2282/5044/1943 2283/5045/1944 2280/5042/1941 -f 2283/5046/1944 2282/5047/1943 2284/5048/1945 -f 2284/5048/1945 2285/5049/1946 2283/5046/1944 -f 2285/5049/1946 2284/5048/1945 2286/5050/1947 -f 2286/5050/1947 2287/5051/1948 2285/5049/1946 -f 2287/5051/1948 2286/5050/1947 2288/5052/1949 -f 2288/5052/1949 2289/5053/1950 2287/5051/1948 -f 2289/5054/1950 2288/5055/1949 2290/5056/1951 -f 2290/5056/1951 2291/5057/1952 2289/5054/1950 -f 2291/5057/1952 2290/5056/1951 2292/5058/1953 -f 2292/5058/1953 2293/5059/1954 2291/5057/1952 -f 2293/5059/1954 2292/5058/1953 2294/5060/1955 -f 2294/5060/1955 2295/5061/1956 2293/5059/1954 -f 2295/5062/1956 2294/5063/1955 2296/5064/1957 -f 2296/5064/1957 2297/5065/1958 2295/5062/1956 -f 2297/5065/1958 2296/5064/1957 2298/5066/1959 -f 2298/5066/1959 2299/5067/1960 2297/5065/1958 -f 2299/5067/1960 2298/5066/1959 2300/5068/1961 -f 2300/5068/1961 2301/5069/1962 2299/5067/1960 -f 2301/5070/1962 2300/5071/1961 2302/5072/1963 -f 2302/5072/1963 2303/5073/1964 2301/5070/1962 -f 2303/5073/1964 2302/5072/1963 2281/5043/1942 -f 2281/5043/1942 2280/5042/1941 2303/5073/1964 -s 535 -f 2281/5074/1965 2302/5075/1966 2304/5076/1967 -f 2304/5076/1967 2282/5077/1968 2281/5074/1965 -f 2304/5076/1967 2286/5078/1969 2284/5079/1970 -f 2284/5079/1970 2282/5077/1968 2304/5076/1967 -f 2304/5076/1967 2290/5080/1971 2288/5081/1972 -f 2288/5081/1972 2286/5078/1969 2304/5076/1967 -f 2290/5080/1971 2304/5076/1967 2294/5082/1973 -f 2294/5082/1973 2292/5083/1974 2290/5080/1971 -f 2294/5082/1973 2304/5076/1967 2298/5084/1975 -f 2298/5084/1975 2296/5085/1976 2294/5082/1973 -f 2298/5084/1975 2304/5076/1967 2302/5075/1966 -f 2302/5075/1966 2300/5086/1974 2298/5084/1975 -s 536 -f 2305/5087/1977 2306/5088/1978 2307/5089/1979 -f 2307/5089/1979 2308/5090/1980 2305/5087/1977 -f 2309/5091/1981 2306/5088/1978 2305/5087/1977 -f 2305/5087/1977 2310/5092/1982 2309/5091/1981 -f 2311/5093/1983 2306/5088/1978 2309/5091/1981 -f 2309/5091/1981 2312/5094/1984 2311/5093/1983 -f 2313/5095/1985 2306/5088/1978 2311/5093/1983 -f 2314/5096/1986 2315/5097/1987 2306/5088/1978 -f 2306/5088/1978 2313/5095/1985 2314/5096/1986 -f 2316/5098/1988 2317/5099/1989 2306/5088/1978 -f 2306/5088/1978 2315/5097/1987 2316/5098/1988 -f 2307/5089/1979 2306/5088/1978 2317/5099/1989 -s 537 -f 2311/5100/1990 2318/5101/1953 2319/5102/1991 -f 2319/5102/1991 2313/5103/1992 2311/5100/1990 -f 2312/5104/1952 2320/5105/1951 2318/5101/1953 -f 2318/5101/1953 2311/5100/1990 2312/5104/1952 -f 2309/5106/1950 2321/5107/1949 2320/5105/1951 -f 2320/5105/1951 2312/5104/1952 2309/5106/1950 -f 2310/5108/1993 2322/5109/1994 2321/5110/1949 -f 2321/5110/1949 2309/5111/1950 2310/5108/1993 -f 2305/5112/1995 2323/5113/1996 2322/5109/1994 -f 2322/5109/1994 2310/5108/1993 2305/5112/1995 -f 2308/5114/1997 2324/5115/1998 2323/5113/1996 -f 2323/5113/1996 2305/5112/1995 2308/5114/1997 -f 2307/5116/1999 2325/5117/1942 2324/5118/1998 -f 2324/5118/1998 2308/5119/1997 2307/5116/1999 -f 2317/5120/1964 2326/5121/1963 2325/5117/1942 -f 2325/5117/1942 2307/5116/1999 2317/5120/1964 -f 2316/5122/1962 2327/5123/2000 2326/5121/1963 -f 2326/5121/1963 2317/5120/1964 2316/5122/1962 -f 2315/5124/2001 2328/5125/2002 2327/5126/2000 -f 2327/5126/2000 2316/5127/1962 2315/5124/2001 -f 2314/5128/2003 2329/5129/2004 2328/5125/2002 -f 2328/5125/2002 2315/5124/2001 2314/5128/2003 -f 2313/5130/1992 2319/5131/1991 2329/5129/2004 -f 2329/5129/2004 2314/5128/2003 2313/5130/1992 -s 538 -f 2330/5132/2005 2331/5133/2006 2332/5134/2007 -f 2332/5134/2007 2333/5135/2008 2330/5132/2005 -f 2334/5136/2009 2335/5137/2010 2331/5133/2006 -f 2331/5133/2006 2330/5132/2005 2334/5136/2009 -f 2336/5138/2011 2337/5139/2012 2335/5137/2010 -f 2335/5137/2010 2334/5136/2009 2336/5138/2011 -f 2338/5140/2013 2339/5141/2014 2337/5142/2012 -f 2337/5142/2012 2336/5143/2011 2338/5140/2013 -f 2340/5144/2015 2341/5145/2016 2339/5141/2014 -f 2339/5141/2014 2338/5140/2013 2340/5144/2015 -f 2342/5146/2017 2343/5147/2018 2341/5145/2016 -f 2341/5145/2016 2340/5144/2015 2342/5146/2017 -f 2344/5148/2019 2345/5149/2020 2343/5150/2018 -f 2343/5150/2018 2342/5151/2017 2344/5148/2019 -f 2346/5152/2021 2347/5153/2022 2345/5149/2020 -f 2345/5149/2020 2344/5148/2019 2346/5152/2021 -f 2348/5154/2023 2349/5155/2024 2347/5153/2022 -f 2347/5153/2022 2346/5152/2021 2348/5154/2023 -f 2350/5156/2025 2351/5157/2026 2349/5158/2024 -f 2349/5158/2024 2348/5159/2023 2350/5156/2025 -f 2352/5160/2027 2353/5161/2028 2351/5157/2026 -f 2351/5157/2026 2350/5156/2025 2352/5160/2027 -f 2333/5162/2008 2332/5163/2007 2353/5161/2028 -f 2353/5161/2028 2352/5160/2027 2333/5162/2008 -s 539 -f 2354/5164/2029 2355/5165/2030 2356/5166/2031 -f 2356/5166/2031 2357/5167/2032 2354/5164/2029 -f 2358/5168/2033 2359/5169/2034 2355/5165/2030 -f 2355/5165/2030 2354/5164/2029 2358/5168/2033 -f 2360/5170/2035 2361/5171/2036 2359/5172/2034 -f 2359/5172/2034 2358/5173/2033 2360/5170/2035 -f 2362/5174/2037 2363/5175/2038 2361/5171/2036 -f 2361/5171/2036 2360/5170/2035 2362/5174/2037 -f 2364/5176/2039 2365/5177/2040 2363/5175/2038 -f 2363/5175/2038 2362/5174/2037 2364/5176/2039 -f 2366/5178/2041 2367/5179/2042 2365/5180/2040 -f 2365/5180/2040 2364/5181/2039 2366/5178/2041 -f 2368/5182/2043 2369/5183/2044 2367/5179/2042 -f 2367/5179/2042 2366/5178/2041 2368/5182/2043 -f 2370/5184/2045 2371/5185/2046 2369/5183/2044 -f 2369/5183/2044 2368/5182/2043 2370/5184/2045 -f 2372/5186/2047 2373/5187/2048 2371/5188/2046 -f 2371/5188/2046 2370/5189/2045 2372/5186/2047 -f 2374/5190/2049 2375/5191/2050 2373/5187/2048 -f 2373/5187/2048 2372/5186/2047 2374/5190/2049 -f 2376/5192/2051 2377/5193/2052 2375/5191/2050 -f 2375/5191/2050 2374/5190/2049 2376/5192/2051 -f 2357/5167/2032 2356/5166/2031 2377/5194/2052 -f 2377/5194/2052 2376/5195/2051 2357/5167/2032 -s 540 -f 2378/5196/2053 2379/5197/2054 2380/5198/2055 -f 2380/5198/2055 2381/5199/2056 2378/5196/2053 -f 2382/5200/2057 2383/5201/2058 2379/5197/2054 -f 2379/5197/2054 2378/5196/2053 2382/5200/2057 -f 2384/5202/2059 2385/5203/2060 2383/5204/2058 -f 2383/5204/2058 2382/5205/2057 2384/5202/2059 -f 2386/5206/2061 2387/5207/2062 2385/5203/2060 -f 2385/5203/2060 2384/5202/2059 2386/5206/2061 -f 2388/5208/2063 2389/5209/2064 2387/5207/2062 -f 2387/5207/2062 2386/5206/2061 2388/5208/2063 -f 2390/5210/2065 2391/5211/2066 2389/5212/2064 -f 2389/5212/2064 2388/5213/2063 2390/5210/2065 -f 2392/5214/2067 2393/5215/2068 2391/5211/2066 -f 2391/5211/2066 2390/5210/2065 2392/5214/2067 -f 2394/5216/2069 2395/5217/2070 2393/5215/2068 -f 2393/5215/2068 2392/5214/2067 2394/5216/2069 -f 2396/5218/2071 2397/5219/2072 2395/5220/2070 -f 2395/5220/2070 2394/5221/2069 2396/5218/2071 -f 2398/5222/2073 2399/5223/2074 2397/5219/2072 -f 2397/5219/2072 2396/5218/2071 2398/5222/2073 -f 2400/5224/2075 2401/5225/2076 2399/5223/2074 -f 2399/5223/2074 2398/5222/2073 2400/5224/2075 -f 2381/5199/2056 2380/5198/2055 2401/5226/2076 -f 2401/5226/2076 2400/5227/2075 2381/5199/2056 -s 541 -f 2331/5228/2077 2293/5229/2078 2295/5230/2079 -f 2295/5230/2079 2332/5231/2080 2331/5228/2077 -f 2335/5232/2081 2291/5233/2082 2293/5229/2078 -f 2293/5229/2078 2331/5228/2077 2335/5232/2081 -f 2337/5234/2083 2289/5235/2084 2291/5233/2082 -f 2291/5233/2082 2335/5232/2081 2337/5234/2083 -f 2339/5236/2085 2287/5237/2086 2289/5235/2084 -f 2289/5235/2084 2337/5234/2083 2339/5236/2085 -f 2341/5238/2087 2285/5239/2088 2287/5237/2086 -f 2287/5237/2086 2339/5236/2085 2341/5238/2087 -f 2343/5240/2089 2283/5241/2090 2285/5239/2088 -f 2285/5239/2088 2341/5238/2087 2343/5240/2089 -f 2345/5242/2091 2280/5243/2092 2283/5241/2090 -f 2283/5241/2090 2343/5240/2089 2345/5242/2091 -f 2347/5244/2093 2303/5245/2094 2280/5243/2092 -f 2280/5243/2092 2345/5242/2091 2347/5244/2093 -f 2349/5246/2095 2301/5247/2096 2303/5245/2094 -f 2303/5245/2094 2347/5244/2093 2349/5246/2095 -f 2351/5248/2097 2299/5249/2098 2301/5247/2096 -f 2301/5247/2096 2349/5246/2095 2351/5248/2097 -f 2353/5250/2099 2297/5251/2100 2299/5249/2098 -f 2299/5249/2098 2351/5248/2097 2353/5250/2099 -f 2332/5231/2080 2295/5230/2079 2297/5251/2100 -f 2297/5251/2100 2353/5250/2099 2332/5231/2080 -s 542 -f 2333/5252/2101 2377/5253/2102 2356/5254/2103 -f 2356/5254/2103 2330/5255/2104 2333/5252/2101 -f 2330/5255/2104 2356/5254/2103 2355/5256/2105 -f 2355/5256/2105 2334/5257/2106 2330/5255/2104 -f 2334/5257/2106 2355/5256/2105 2359/5258/2107 -f 2359/5258/2107 2336/5259/2108 2334/5257/2106 -f 2336/5259/2108 2359/5258/2107 2361/5260/2109 -f 2361/5260/2109 2338/5261/2110 2336/5259/2108 -f 2338/5261/2110 2361/5260/2109 2363/5262/2111 -f 2363/5262/2111 2340/5263/2112 2338/5261/2110 -f 2340/5263/2112 2363/5262/2111 2365/5264/2113 -f 2365/5264/2113 2342/5265/2114 2340/5263/2112 -f 2342/5265/2114 2365/5264/2113 2367/5266/2115 -f 2367/5266/2115 2344/5267/2116 2342/5265/2114 -f 2344/5267/2116 2367/5266/2115 2369/5268/2117 -f 2369/5268/2117 2346/5269/2118 2344/5267/2116 -f 2346/5269/2118 2369/5268/2117 2371/5270/2119 -f 2371/5270/2119 2348/5271/2120 2346/5269/2118 -f 2348/5271/2120 2371/5270/2119 2373/5272/2121 -f 2373/5272/2121 2350/5273/2122 2348/5271/2120 -f 2350/5273/2122 2373/5272/2121 2375/5274/2123 -f 2375/5274/2123 2352/5275/2124 2350/5273/2122 -f 2352/5275/2124 2375/5274/2123 2377/5253/2102 -f 2377/5253/2102 2333/5252/2101 2352/5275/2124 -s 543 -f 2379/5276/2125 2354/5277/2126 2357/5278/2127 -f 2357/5278/2127 2380/5279/2128 2379/5276/2125 -f 2383/5280/2129 2358/5281/2130 2354/5277/2126 -f 2354/5277/2126 2379/5276/2125 2383/5280/2129 -f 2385/5282/2131 2360/5283/2132 2358/5281/2130 -f 2358/5281/2130 2383/5280/2129 2385/5282/2131 -f 2387/5284/2133 2362/5285/2134 2360/5283/2132 -f 2360/5283/2132 2385/5282/2131 2387/5284/2133 -f 2389/5286/2135 2364/5287/2136 2362/5285/2134 -f 2362/5285/2134 2387/5284/2133 2389/5286/2135 -f 2391/5288/2137 2366/5289/2138 2364/5287/2136 -f 2364/5287/2136 2389/5286/2135 2391/5288/2137 -f 2393/5290/2139 2368/5291/2140 2366/5289/2138 -f 2366/5289/2138 2391/5288/2137 2393/5290/2139 -f 2395/5292/2141 2370/5293/2142 2368/5291/2140 -f 2368/5291/2140 2393/5290/2139 2395/5292/2141 -f 2397/5294/2143 2372/5295/2144 2370/5293/2142 -f 2370/5293/2142 2395/5292/2141 2397/5294/2143 -f 2399/5296/2145 2374/5297/2146 2372/5295/2144 -f 2372/5295/2144 2397/5294/2143 2399/5296/2145 -f 2401/5298/2147 2376/5299/2148 2374/5297/2146 -f 2374/5297/2146 2399/5296/2145 2401/5298/2147 -f 2380/5279/2128 2357/5278/2127 2376/5299/2148 -f 2376/5299/2148 2401/5298/2147 2380/5279/2128 -s 544 -f 2381/5300/2149 2318/5301/2150 2320/5302/2151 -f 2320/5302/2151 2378/5303/2152 2381/5300/2149 -f 2378/5303/2152 2320/5302/2151 2321/5304/2153 -f 2321/5304/2153 2382/5305/2154 2378/5303/2152 -f 2382/5305/2154 2321/5304/2153 2322/5306/2155 -f 2322/5306/2155 2384/5307/2156 2382/5305/2154 -f 2384/5307/2156 2322/5306/2155 2323/5308/2157 -f 2323/5308/2157 2386/5309/2158 2384/5307/2156 -f 2386/5309/2158 2323/5308/2157 2324/5310/2159 -f 2324/5310/2159 2388/5311/2160 2386/5309/2158 -f 2388/5311/2160 2324/5310/2159 2325/5312/2161 -f 2325/5312/2161 2390/5313/2162 2388/5311/2160 -f 2390/5313/2162 2325/5312/2161 2326/5314/2163 -f 2326/5314/2163 2392/5315/2164 2390/5313/2162 -f 2392/5315/2164 2326/5314/2163 2327/5316/2165 -f 2327/5316/2165 2394/5317/2166 2392/5315/2164 -f 2394/5317/2166 2327/5316/2165 2328/5318/2167 -f 2328/5318/2167 2396/5319/2168 2394/5317/2166 -f 2396/5319/2168 2328/5318/2167 2329/5320/2169 -f 2329/5320/2169 2398/5321/2170 2396/5319/2168 -f 2398/5321/2170 2329/5320/2169 2319/5322/2171 -f 2319/5322/2171 2400/5323/2172 2398/5321/2170 -f 2400/5323/2172 2319/5322/2171 2318/5301/2150 -f 2318/5301/2150 2381/5300/2149 2400/5323/2172 -s 545 -f 2402/5324/2173 2403/5325/2174 2404/5326/2173 -f 2404/5326/2173 2405/5327/2175 2402/5324/2173 -s 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-f 4496/10271/3959 4498/10273/3961 4521/10274/3962 -f 4521/10274/3962 4519/10272/3960 4496/10271/3959 -f 4498/10273/3961 4478/10251/3939 4499/10254/3942 -f 4499/10254/3942 4521/10274/3962 4498/10273/3961 -s 1140 -f 4441/10275/3963 4440/10276/3964 4502/10277/3965 -f 4502/10277/3965 4501/10278/3966 4441/10275/3963 -f 4442/10279/3967 4441/10275/3963 4501/10278/3966 -f 4501/10278/3966 4504/10280/3968 4442/10279/3967 -f 4443/10281/3969 4442/10279/3967 4504/10280/3968 -f 4504/10280/3968 4506/10282/3970 4443/10281/3969 -f 4444/10283/3971 4443/10281/3969 4506/10282/3970 -f 4506/10282/3970 4508/10284/3972 4444/10283/3971 -f 4445/10285/3973 4444/10283/3971 4508/10284/3972 -f 4508/10284/3972 4510/10286/3974 4445/10285/3973 -f 4446/10287/3975 4445/10285/3973 4510/10286/3974 -f 4510/10286/3974 4512/10288/3976 4446/10287/3975 -f 4447/10289/3977 4446/10287/3975 4512/10288/3976 -f 4512/10288/3976 4514/10290/3978 4447/10289/3977 -f 4448/10291/3979 4447/10289/3977 4514/10290/3978 -f 4514/10290/3978 4516/10292/3980 4448/10291/3979 -f 4449/10293/3981 4448/10291/3979 4516/10292/3980 -f 4516/10292/3980 4518/10294/3982 4449/10293/3981 -f 4450/10295/3983 4449/10293/3981 4518/10294/3982 -f 4518/10294/3982 4520/10296/3984 4450/10295/3983 -f 4439/10297/3985 4450/10295/3983 4520/10296/3984 -f 4520/10296/3984 4522/10298/3986 4439/10297/3985 -f 4440/10276/3964 4439/10297/3985 4522/10298/3986 -f 4522/10298/3986 4502/10277/3965 4440/10276/3964 -s 1141 -f 4523/10299/3987 4524/10300/3988 4525/10301/3987 -f 4525/10301/3987 4526/10302/3989 4523/10299/3987 -s 1142 -f 4527/10303/3990 4523/10304/3991 4526/10305/3990 -f 4526/10305/3990 4528/10306/3992 4527/10303/3990 -s 1143 -f 4524/10307/3993 4529/10308/3994 4530/10309/3993 -f 4530/10309/3993 4525/10310/3995 4524/10307/3993 -s 1144 -f 4527/10311/3996 4528/10312/3997 4530/10313/3996 -f 4530/10313/3996 4529/10314/3998 4527/10311/3996 -s 1145 -f 4531/10315/3999 4532/10316/4000 4533/10317/3999 -f 4533/10317/3999 4534/10318/4001 4531/10315/3999 -s 1146 -f 4535/10319/4002 4536/10320/4003 4531/10321/4002 -f 4531/10321/4002 4534/10322/4004 4535/10319/4002 -s 1147 -f 4532/10323/4005 4537/10324/4006 4538/10325/4005 -f 4538/10325/4005 4533/10326/4007 4532/10323/4005 -s 1148 -f 4536/10327/4008 4535/10328/4009 4538/10329/4008 -f 4538/10329/4008 4537/10330/4010 4536/10327/4008 -s 1149 -f 4539/10331/4011 4540/10332/4012 4541/10333/4011 -f 4541/10333/4011 4542/10334/4013 4539/10331/4011 -s 1150 -f 4543/10335/4014 4540/10336/4015 4539/10337/4014 -f 4539/10337/4014 4544/10338/4016 4543/10335/4014 -s 1151 -f 4541/10339/4017 4545/10340/4018 4546/10341/4017 -f 4546/10341/4017 4542/10342/4019 4541/10339/4017 -s 1152 -f 4544/10343/4020 4546/10344/4021 4545/10345/4020 -f 4545/10345/4020 4543/10346/4022 4544/10343/4020 -s 1153 -f 4541/10347/4023 4540/10348/4024 4543/10349/4023 -f 4543/10349/4023 4545/10350/4025 4541/10347/4023 -s 1154 -f 4546/10351/4026 4544/10352/4027 4539/10353/4026 -f 4539/10353/4026 4542/10354/4028 4546/10351/4026 -s 1155 -f 4547/10355/4029 4548/10356/4030 4549/10357/4029 -f 4549/10357/4029 4550/10358/4031 4547/10355/4029 -s 1156 -f 4551/10359/4032 4547/10360/4033 4550/10361/4032 -f 4550/10361/4032 4552/10362/4034 4551/10359/4032 -s 1157 -f 4549/10363/4035 4548/10364/4036 4553/10365/4035 -f 4553/10365/4035 4554/10366/4037 4549/10363/4035 -s 1158 -f 4551/10367/4038 4552/10368/4039 4554/10369/4038 -f 4554/10369/4038 4553/10370/4040 4551/10367/4038 -s 1159 -f 4555/10371/4041 4556/10372/4042 4557/10373/4041 -f 4557/10373/4041 4558/10374/4043 4555/10371/4041 -s 1160 -f 4559/10375/4044 4555/10376/4045 4558/10377/4044 -f 4558/10377/4044 4560/10378/4046 4559/10375/4044 -s 1161 -f 4557/10379/4047 4556/10380/4048 4561/10381/4047 -f 4561/10381/4047 4562/10382/4049 4557/10379/4047 -s 1162 -f 4559/10383/4050 4560/10384/4051 4562/10385/4050 -f 4562/10385/4050 4561/10386/4052 4559/10383/4050 -s 1163 -f 4563/10387/4011 4564/10388/4012 4565/10389/4011 -f 4565/10389/4011 4566/10390/4013 4563/10387/4011 -s 1164 -f 4567/10391/4053 4564/10392/4054 4563/10393/4053 -f 4563/10393/4053 4568/10394/4055 4567/10391/4053 -s 1165 -f 4565/10395/4017 4569/10396/4018 4570/10397/4017 -f 4570/10397/4017 4566/10398/4019 4565/10395/4017 -s 1166 -f 4568/10399/4020 4570/10400/4021 4569/10401/4020 -f 4569/10401/4020 4567/10402/4056 4568/10399/4020 -s 1167 -f 4565/10403/4057 4564/10404/4024 4567/10405/4057 -f 4567/10405/4057 4569/10406/4058 4565/10403/4057 -s 1168 -f 4570/10407/4026 4568/10408/4027 4563/10409/4026 -f 4563/10409/4026 4566/10410/4059 4570/10407/4026 -s 1169 -f 4571/10411/4060 4572/10412/4060 4573/10413/4060 -f 4573/10413/4060 4574/10414/4060 4571/10411/4060 -s 1170 -f 4574/10415/4061 4573/10416/4061 4575/10417/4061 -f 4575/10417/4061 4576/10418/4061 4574/10415/4061 -s 1171 -f 4576/10419/4062 4575/10420/4062 4577/10421/4062 -f 4577/10421/4062 4578/10422/4062 4576/10419/4062 -s 1172 -f 4578/10423/4063 4577/10424/4063 4572/10425/4063 -f 4572/10425/4063 4571/10426/4064 4578/10423/4063 -s 1173 -f 4578/10427/4065 4571/10428/4065 4574/10429/4065 -f 4574/10429/4065 4576/10430/4065 4578/10427/4065 -s 1174 -f 4579/10431/4060 4580/10432/4066 4581/10433/4060 -f 4581/10433/4060 4582/10434/4060 4579/10431/4060 -s 1175 -f 4582/10435/4061 4581/10436/4067 4583/10437/4061 -f 4583/10437/4061 4584/10438/4061 4582/10435/4061 -s 1176 -f 4584/10439/4062 4583/10440/4062 4585/10441/4062 -f 4585/10441/4062 4586/10442/4062 4584/10439/4062 -s 1177 -f 4586/10443/4063 4585/10444/4063 4580/10445/4063 -f 4580/10445/4063 4579/10446/4064 4586/10443/4063 -s 1178 -f 4586/10447/4065 4579/10448/4065 4582/10449/4065 -f 4582/10449/4065 4584/10450/4065 4586/10447/4065 -s 1179 -f 4587/10451/4060 4588/10452/4060 4589/10453/4060 -f 4589/10453/4060 4590/10454/4068 4587/10451/4060 -s 1180 -f 4590/10455/4061 4589/10456/4061 4591/10457/4061 -f 4591/10457/4061 4592/10458/4061 4590/10455/4061 -s 1181 -f 4592/10459/4062 4591/10460/4062 4593/10461/4062 -f 4593/10461/4062 4594/10462/4062 4592/10459/4062 -s 1182 -f 4594/10463/4063 4593/10464/4063 4588/10465/4063 -f 4588/10465/4063 4587/10466/4064 4594/10463/4063 -s 1183 -f 4594/10467/4065 4587/10468/4065 4590/10469/4065 -f 4590/10469/4065 4592/10470/4065 4594/10467/4065 -s 1184 -f 4595/10471/4060 4596/10472/4060 4597/10473/4060 -f 4597/10473/4060 4598/10474/4060 4595/10471/4060 -s 1185 -f 4598/10475/4061 4597/10476/4067 4599/10477/4061 -f 4599/10477/4061 4600/10478/4061 4598/10475/4061 -s 1186 -f 4600/10479/4062 4599/10480/4062 4601/10481/4062 -f 4601/10481/4062 4602/10482/4062 4600/10479/4062 -s 1187 -f 4602/10483/4064 4601/10484/4064 4596/10485/4064 -f 4596/10485/4064 4595/10486/4064 4602/10483/4064 -s 1188 -f 4602/10487/4065 4595/10488/4065 4598/10489/4065 -f 4598/10489/4065 4600/10490/4065 4602/10487/4065 -s 1189 -f 4603/10491/4069 4604/10492/4070 4605/10493/4069 -f 4605/10493/4069 4606/10494/4071 4603/10491/4069 -s 1190 -f 4606/10495/4072 4605/10496/4073 4607/10497/4072 -f 4607/10497/4072 4608/10498/4072 4606/10495/4072 -s 1191 -f 4607/10499/4074 4609/10500/4075 4610/10501/4074 -f 4610/10501/4074 4608/10502/4076 4607/10499/4074 -s 1192 -f 4610/10503/4077 4609/10504/4077 4604/10505/4077 -f 4604/10505/4077 4603/10506/4077 4610/10503/4077 -s 1193 -f 4611/10507/4069 4612/10508/4070 4613/10509/4069 -f 4613/10509/4069 4614/10510/4071 4611/10507/4069 -s 1194 -f 4614/10511/4072 4613/10512/4073 4615/10513/4072 -f 4615/10513/4072 4616/10514/4072 4614/10511/4072 -s 1195 -f 4617/10515/4078 4616/10516/4079 4615/10517/4080 -f 4618/10518/4074 4616/10516/4079 4617/10515/4078 -f 4617/10515/4078 4619/10519/4075 4618/10518/4074 -s 1196 -f 4611/10520/4077 4618/10521/4077 4619/10522/4077 -f 4619/10522/4077 4612/10523/4077 4611/10520/4077 -s 1197 -f 4620/10524/4081 4621/10525/4081 4622/10526/4081 -f 4622/10526/4081 4623/10527/4081 4620/10524/4081 -s 1198 -f 4623/10528/60 4622/10529/60 4624/10530/60 -f 4624/10530/60 4625/10531/60 4623/10528/60 -s 1199 -f 4625/10532/4082 4624/10533/4082 4626/10534/4082 -f 4626/10534/4082 4627/10535/4082 4625/10532/4082 -s 1200 -f 4627/10536/75 4626/10537/75 4621/10538/75 -f 4621/10538/75 4620/10539/75 4627/10536/75 -s 1201 -f 4627/10540/4083 4620/10541/4083 4623/10542/4083 -f 4623/10542/4083 4625/10543/4083 4627/10540/4083 -s 1202 -f 4621/10544/4084 4626/10545/4084 4624/10546/4084 -f 4624/10546/4084 4622/10547/4084 4621/10544/4084 -s 1203 -f 4628/10548/4085 4629/10549/4086 4630/10550/4087 -f 4630/10550/4087 4631/10551/4088 4628/10548/4085 -f 4631/10551/4088 4630/10550/4087 4632/10552/4089 -f 4632/10552/4089 4633/10553/4090 4631/10551/4088 -f 4633/10553/4090 4632/10552/4089 4634/10554/4091 -f 4634/10554/4091 4635/10555/4092 4633/10553/4090 -f 4635/10556/4092 4634/10557/4091 4636/10558/4093 -f 4636/10558/4093 4637/10559/4093 4635/10556/4092 -f 4629/10560/4086 4628/10561/4085 4638/10562/4094 -f 4638/10562/4094 4639/10563/4095 4629/10560/4086 -s 1204 -f 4637/10564/4096 4636/10565/4096 4639/10566/4096 -f 4639/10566/4096 4638/10567/4096 4637/10564/4096 -s 1205 -f 4635/10568/4097 4628/10569/4098 4631/10570/4097 -f 4631/10570/4097 4633/10571/4097 4635/10568/4097 -f 4628/10569/4098 4635/10568/4097 4637/10572/4098 -f 4637/10572/4098 4638/10573/4098 4628/10569/4098 -s 1206 -f 4629/10574/4099 4634/10575/4100 4632/10576/4099 -f 4632/10576/4099 4630/10577/4099 4629/10574/4099 -f 4634/10575/4100 4629/10574/4099 4639/10578/4100 -f 4639/10578/4100 4636/10579/4100 4634/10575/4100 -s 1207 -f 4640/10580/4081 4641/10581/4081 4642/10582/4081 -f 4642/10582/4081 4643/10583/4081 4640/10580/4081 -s 1208 -f 4643/10584/60 4642/10585/4101 4644/10586/4102 -f 4644/10586/4102 4645/10587/60 4643/10584/60 -f 4646/10588/4096 4647/10589/4103 4641/10590/4104 -f 4641/10590/4104 4640/10591/4096 4646/10588/4096 -f 4641/10592/4104 4647/10593/4103 4648/10594/4105 -f 4648/10594/4105 4649/10595/4106 4641/10592/4104 -f 4642/10596/4101 4641/10592/4104 4649/10595/4106 -f 4649/10595/4106 4650/10597/4107 4642/10596/4101 -f 4644/10598/4102 4642/10596/4101 4650/10597/4107 -f 4650/10597/4107 4651/10599/4108 4644/10598/4102 -f 4647/10600/4103 4644/10601/4102 4651/10602/4108 -f 4651/10602/4108 4648/10603/4105 4647/10600/4103 -f 4649/10604/4106 4648/10605/4105 4652/10606/4109 -f 4652/10606/4109 4653/10607/4110 4649/10604/4106 -f 4650/10608/4107 4649/10609/4106 4653/10610/4110 -f 4653/10610/4110 4654/10611/4111 4650/10608/4107 -f 4651/10612/4108 4650/10613/4107 4654/10614/4111 -f 4654/10614/4111 4655/10615/4112 4651/10612/4108 -f 4648/10603/4105 4651/10602/4108 4655/10616/4112 -f 4655/10616/4112 4652/10617/4109 4648/10603/4105 -s 1209 -f 4645/10618/4113 4644/10601/4113 4647/10600/4113 -f 4647/10600/4113 4646/10619/4082 4645/10618/4113 -s 1210 -f 4646/10620/4114 4640/10621/4114 4643/10622/4114 -f 4643/10622/4114 4645/10623/4114 4646/10620/4114 -s 1211 -f 4653/10624/4115 4652/10625/4115 4655/10626/4115 -f 4655/10626/4115 4654/10627/4116 4653/10624/4115 -s 1212 -f 4656/10628/4117 4657/10629/4117 4658/10630/4117 -f 4658/10630/4117 4659/10631/4117 4656/10628/4117 -s 1213 -f 4660/10632/4118 4661/10633/4119 4656/10634/4118 -f 4656/10634/4118 4659/10635/4120 4660/10632/4118 -s 1214 -f 4657/10636/4121 4662/10637/4122 4663/10638/4121 -f 4663/10638/4121 4658/10639/4123 4657/10636/4121 -s 1215 -f 4660/10640/4124 4663/10641/4124 4662/10642/4124 -f 4662/10642/4124 4661/10643/4125 4660/10640/4124 -s 1216 -f 4664/10644/4081 4665/10645/4081 4666/10646/4081 -f 4666/10646/4081 4667/10647/4081 4664/10644/4081 -s 1217 -f 4667/10648/60 4666/10649/60 4668/10650/60 -f 4668/10650/60 4669/10651/60 4667/10648/60 -s 1218 -f 4669/10652/4082 4668/10653/4082 4670/10654/4082 -f 4670/10654/4082 4671/10655/4082 4669/10652/4082 -s 1219 -f 4671/10656/75 4670/10657/75 4665/10658/75 -f 4665/10658/75 4664/10659/75 4671/10656/75 -s 1220 -f 4671/10660/4083 4664/10661/4083 4667/10662/4083 -f 4667/10662/4083 4669/10663/4083 4671/10660/4083 -s 1221 -f 4665/10664/4084 4670/10665/4084 4668/10666/4084 -f 4668/10666/4084 4666/10667/4084 4665/10664/4084 -s 1222 -f 4672/10668/4126 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5414/12067/1469 5436/12092/2449 5416/12069/5069 -f 5416/12069/5069 5415/12068/5068 5414/12067/1469 -f 5430/12083/5082 5404/12056/5061 5364/12011/5025 -f 5364/12011/5025 5365/12012/5026 5430/12083/5082 -s 1288 -f 5437/12093/5087 5438/12094/5088 5439/12095/5088 -f 5439/12095/5088 5440/12096/5089 5437/12093/5087 -f 5441/12097/5090 5442/12098/5090 5439/12095/5088 -f 5439/12095/5088 5438/12094/5088 5441/12097/5090 -f 5441/12099/5090 5443/12100/5091 5444/12101/5091 -f 5444/12102/5091 5442/12098/5090 5441/12097/5090 -f 5445/12103/5092 5446/12104/5092 5444/12101/5091 -f 5444/12101/5091 5443/12100/5091 5445/12103/5092 -f 5447/12105/110 5446/12104/5092 5445/12103/5092 -f 5445/12103/5092 5448/12106/5093 5447/12105/110 -f 5448/12106/5093 5449/12107/5094 5447/12105/110 -f 5450/12108/5095 5437/12093/5087 5440/12096/5089 -f 5440/12096/5089 5451/12109/5096 5450/12108/5095 -f 5452/12110/5097 5450/12108/5095 5451/12109/5096 -f 5451/12109/5096 5453/12111/5097 5452/12110/5097 -f 5454/12112/5098 5455/12113/5099 5452/12114/5097 -f 5452/12110/5097 5453/12111/5097 5454/12115/5098 -f 5456/12116/5100 5457/12117/5101 5455/12113/5099 -f 5455/12113/5099 5454/12112/5098 5456/12116/5100 -f 5457/12117/5101 5456/12116/5100 5458/12118/5102 -f 5458/12118/5102 5459/12119/5103 5457/12117/5101 -f 5459/12119/5103 5458/12118/5102 5460/12120/5104 -s 1289 -f 5444/12121/5105 5461/12122/241 5439/12123/75 -f 5439/12123/75 5442/12124/75 5444/12121/5105 -f 5444/12121/5105 5446/12125/5106 5447/12126/2762 -f 5447/12126/2762 5461/12122/241 5444/12121/5105 -f 5440/12127/75 5439/12123/75 5461/12122/241 -f 5451/12128/4096 5461/12122/241 5454/12129/5107 -f 5454/12129/5107 5453/12130/75 5451/12128/4096 -f 5458/12131/596 5456/12132/5108 5454/12129/5107 -f 5454/12129/5107 5461/12122/241 5458/12131/596 -f 5440/12127/75 5461/12122/241 5451/12128/4096 -s 1290 -f 5462/12133/28 5463/12134/13 5464/12135/5109 -f 5464/12135/5109 5465/12136/5109 5462/12133/28 -f 5466/12137/5110 5463/12134/13 5462/12133/28 -f 5462/12133/28 5467/12138/5110 5466/12137/5110 -s 1291 -f 5468/12139/170 5469/12140/170 5470/12141/170 -f 5470/12141/170 5471/12142/170 5468/12139/170 -s 1292 -f 5472/12143/5111 5473/12144/5112 5470/12145/5113 -f 5470/12145/5113 435/12146/5114 5472/12143/5111 -f 5474/12147/5115 5475/12148/5116 5473/12144/5112 -f 5473/12144/5112 5472/12143/5111 5474/12147/5115 -f 5473/12144/5112 5475/12148/5116 5476/12149/5117 -f 5476/12150/5117 5477/12151/5118 5473/12152/5112 -f 5477/12151/5118 5476/12150/5117 5478/12153/5119 -f 5478/12153/5119 5479/12154/5120 5477/12151/5118 -f 5384/12155/2323 5480/12156/5121 5481/12157/5122 -f 5481/12157/5122 5405/12158/14 5384/12155/2323 -f 5482/12159/5123 5483/12160/5124 5484/12161/5125 -f 5484/12162/5125 5485/12163/5126 5482/12164/5123 -f 5483/12160/5124 5481/12157/5122 5480/12156/5121 -f 5480/12156/5121 5484/12161/5125 5483/12160/5124 -f 5486/12165/5127 5487/12166/5128 5488/12167/5129 -f 5488/12167/5129 5489/12168/5130 5486/12165/5127 -f 5482/12164/5123 5485/12163/5126 5490/12169/5131 -f 5490/12169/5131 5491/12170/5132 5482/12164/5123 -f 5489/12168/5130 5488/12167/5129 5479/12154/5120 -f 5479/12154/5120 5478/12153/5119 5489/12168/5130 -f 5490/12169/5131 5487/12166/5128 5486/12165/5127 -f 5486/12165/5127 5491/12170/5132 5490/12169/5131 -s 1293 -f 5472/12171/5133 5465/12172/5134 5464/12173/5135 -f 5464/12173/5135 5474/12174/5136 5472/12171/5133 -f 435/12175/5137 5492/12176/5138 5465/12172/5134 -f 5465/12172/5134 5472/12171/5133 435/12175/5137 -s 1294 -f 5493/12177/5139 5490/12178/5140 5485/12179/5141 -f 5485/12179/5141 5494/12180/5142 5493/12177/5139 -f 5485/12179/5141 5484/12181/5143 5495/12182/5144 -f 5495/12182/5144 5494/12180/5142 5485/12179/5141 -f 5484/12181/5143 5480/12183/5145 5495/12182/5144 -s 1295 -f 5496/12184/1 5497/12185/1 5498/12186/1 -f 5498/12186/1 5499/12187/1 5496/12184/1 -s 1296 -f 5500/12188/5146 5501/12189/5146 5502/12190/5146 -f 5502/12190/5146 5503/12191/5146 5500/12188/5146 -s 1297 -f 5504/12192/5147 5505/12193/5147 5506/12194/5147 -f 5506/12194/5147 5507/12195/5147 5504/12192/5147 -s 1298 -f 5499/12196/75 5375/12197/75 5378/12198/75 -f 5378/12198/75 5496/12199/75 5499/12196/75 -s 1299 -f 5496/12200/14 5378/12201/14 5387/12202/14 -f 5387/12202/14 5497/12203/14 5496/12200/14 -s 1300 -f 5498/12204/60 5497/12205/60 5387/12206/60 -f 5387/12206/60 5386/12207/60 5498/12204/60 -s 1301 -f 5499/12208/28 5498/12209/28 5386/12210/28 -f 5386/12210/28 5375/12211/28 5499/12208/28 -s 1302 -f 5500/12212/5148 5503/12213/5148 5394/12214/5148 -f 5394/12214/5148 5393/12215/5148 5500/12212/5148 -s 1303 -f 5389/12216/75 5501/12217/75 5500/12218/75 -f 5500/12218/75 5393/12219/75 5389/12216/75 -s 1304 -f 5501/12220/5149 5389/12221/5149 5401/12222/5149 -f 5401/12222/5149 5502/12223/5149 5501/12220/5149 -s 1305 -f 5394/12224/60 5503/12225/60 5502/12226/60 -f 5502/12226/60 5401/12227/60 5394/12224/60 -s 1306 -f 5506/12228/5150 5392/12229/5150 5395/12230/5150 -f 5395/12230/5150 5507/12231/5150 5506/12228/5150 -s 1307 -f 5504/12232/60 5507/12233/60 5395/12234/60 -f 5395/12234/60 5399/12235/60 5504/12232/60 -s 1308 -f 5396/12236/5151 5505/12237/5151 5504/12238/5151 -f 5504/12238/5151 5399/12239/5151 5396/12236/5151 -s 1309 -f 5505/12240/75 5396/12241/75 5392/12242/75 -f 5392/12242/75 5506/12243/75 5505/12240/75 -s 1310 -f 5508/12244/5152 5509/12245/5153 5510/12246/5154 -f 5510/12246/5154 5511/12247/5155 5508/12244/5152 -f 5512/12248/5156 5509/12245/5153 5508/12244/5152 -f 5508/12249/5152 5513/12250/5156 5512/12251/5156 -f 5512/12251/5156 5513/12250/5156 5514/12252/5157 -f 5514/12252/5157 5515/12253/5157 5512/12251/5156 -f 5516/12254/5158 5517/12255/5159 5417/12256/14 -f 5417/12256/14 5435/12257/2323 5516/12254/5158 -f 5518/12258/5160 5519/12259/5161 5520/12260/5162 -f 5520/12260/5162 5521/12261/5163 5518/12258/5160 -f 5518/12262/5160 5521/12263/5163 5517/12255/5159 -f 5517/12255/5159 5516/12254/5158 5518/12262/5160 -f 5522/12264/5164 5523/12265/5165 5524/12266/5166 -f 5524/12266/5166 5525/12267/5166 5522/12264/5164 -f 5526/12268/5167 5527/12269/5168 5520/12260/5162 -f 5520/12260/5162 5519/12259/5161 5526/12268/5167 -f 5514/12252/5157 5525/12267/5166 5524/12266/5166 -f 5524/12266/5166 5515/12253/5157 5514/12252/5157 -f 5526/12268/5167 5523/12265/5165 5522/12264/5164 -f 5522/12264/5164 5527/12269/5168 5526/12268/5167 -s 1311 -f 5466/12270/5169 5467/12271/5170 5511/12272/5171 -f 5511/12272/5171 5510/12273/5172 5466/12270/5169 -f 2864/12274/5173 5511/12272/5171 5467/12271/5170 -f 5467/12271/5170 5528/12275/5174 2864/12274/5173 -s 1312 -f 5529/12276/5175 5530/12277/5176 5520/12278/5177 -f 5520/12278/5177 5527/12279/5178 5529/12276/5175 -f 5531/12280/5179 5521/12281/5180 5520/12278/5177 -f 5520/12278/5177 5530/12277/5176 5531/12280/5179 -f 5521/12281/5180 5531/12280/5179 5517/12282/5181 -s 1313 -f 5532/12283/285 5533/12284/285 5534/12285/285 -f 5534/12285/285 5535/12286/285 5532/12283/285 -s 1314 -f 5536/12287/5182 5537/12288/5182 5538/12289/5182 -f 5538/12289/5182 5539/12290/5182 5536/12287/5182 -s 1315 -f 5540/12291/5183 5541/12292/5183 5542/12293/5183 -f 5542/12293/5183 5543/12294/5183 5540/12291/5183 -s 1316 -f 5407/12295/75 5410/12296/75 5534/12297/75 -f 5534/12297/75 5533/12298/75 5407/12295/75 -s 1317 -f 5407/12299/14 5533/12300/14 5532/12301/14 -f 5532/12301/14 5419/12302/14 5407/12299/14 -s 1318 -f 5535/12303/60 5418/12304/60 5419/12305/60 -f 5419/12305/60 5532/12306/60 5535/12303/60 -s 1319 -f 5534/12307/28 5410/12308/28 5418/12309/28 -f 5418/12309/28 5535/12310/28 5534/12307/28 -s 1320 -f 5539/12311/5184 5538/12312/5184 5424/12313/5184 -f 5424/12313/5184 5427/12314/5184 5539/12311/5184 -s 1321 -f 5538/12315/75 5537/12316/75 5423/12317/75 -f 5423/12317/75 5424/12318/75 5538/12315/75 -s 1322 -f 5423/12319/5185 5537/12320/5185 5536/12321/5185 -f 5536/12321/5185 5432/12322/5185 5423/12319/5185 -s 1323 -f 5536/12323/60 5539/12324/60 5427/12325/60 -f 5427/12325/60 5432/12326/60 5536/12323/60 -s 1324 -f 5540/12327/5186 5543/12328/5186 5426/12329/5186 -f 5426/12329/5186 5425/12330/5186 5540/12327/5186 -s 1325 -f 5426/12331/60 5543/12332/60 5542/12333/60 -f 5542/12333/60 5430/12334/60 5426/12331/60 -s 1326 -f 5430/12335/5187 5542/12336/5187 5541/12337/5187 -f 5541/12337/5187 5428/12338/5187 5430/12335/5187 -s 1327 -f 5428/12339/75 5541/12340/75 5540/12341/75 -f 5540/12341/75 5425/12342/75 5428/12339/75 -s 1328 -f 5544/12343/5188 5545/12344/5188 5115/12345/5188 -s 1329 -f 5115/12345/5189 5116/12346/5189 5544/12343/5189 -s 1330 -f 4806/12347/5190 5546/12348/5190 5547/12349/5190 -s 1331 -f 5547/12349/5191 4807/12350/5191 4806/12347/5191 -s 1332 -f 4808/12351/5192 5548/12352/5192 5546/12348/5192 -s 1333 -f 5546/12348/5193 4806/12347/5193 4808/12351/5193 -s 1334 -f 5548/12352/5194 4808/12351/5194 4809/12353/5194 -s 1335 -f 4809/12353/5195 5549/12354/5195 5548/12352/5195 -s 1336 -f 5550/12355/5196 4810/12356/5196 4811/12357/5196 -s 1337 -f 4811/12357/5197 5551/12358/5197 5550/12355/5197 -s 1338 -f 5552/12359/5198 5551/12358/5198 4811/12357/5198 -s 1339 -f 4811/12357/5199 4812/12360/5199 5552/12359/5199 -s 1340 -f 5553/12361/5200 5552/12359/5200 4812/12360/5200 -s 1341 -f 4812/12360/5201 4813/12362/5201 5553/12361/5201 -s 1342 -f 4815/12363/5202 5554/12364/5202 5555/12365/5202 -s 1343 -f 5555/12365/5203 4814/12366/5203 4815/12363/5203 -s 1344 -f 4817/12367/5204 4816/12368/5204 5556/12369/5204 -s 1345 -f 5556/12369/5205 5557/12370/5205 4817/12367/5205 -s 1346 -f 4804/12371/5206 4805/12372/5206 5558/12373/5206 -s 1347 -f 5558/12373/5207 5559/12374/5207 4804/12371/5207 -s 1348 -f 4802/12375/5208 4804/12371/5208 5559/12374/5208 -s 1349 -f 5559/12374/5209 5560/12376/5209 4802/12375/5209 -s 1350 -f 5561/12377/5210 4803/12378/5210 4802/12375/5210 -s 1351 -f 4802/12375/5211 5560/12376/5211 5561/12377/5211 -s 1352 -f 4801/12379/5212 5562/12380/5212 5563/12381/5212 -s 1353 -f 5563/12382/5213 4799/12383/5213 4801/12384/5213 -s 1354 -f 5562/12380/5214 4801/12379/5214 4803/12378/5214 -s 1355 -f 4803/12378/5215 5561/12377/5215 5562/12380/5215 -s 1356 -f 5155/12385/5216 5564/12386/5216 5565/12387/5216 -s 1357 -f 5565/12388/5217 5152/12389/5217 5155/12390/5217 -s 1358 -f 5100/12391/5218 5102/12392/5218 5566/12393/5218 -s 1359 -f 5566/12393/5219 5567/12394/5219 5100/12391/5219 -s 1360 -f 5568/12395/5220 5096/12396/5220 5100/12391/5220 -s 1361 -f 5100/12391/5221 5567/12394/5221 5568/12395/5221 -s 1362 -f 5096/12396/5222 5568/12395/5222 5569/12397/5222 -s 1363 -f 5569/12397/5223 5097/12398/5223 5096/12396/5223 -s 1364 -f 5115/12345/5224 5545/12344/5224 5570/12399/5224 -s 1365 -f 5570/12399/5225 5112/12400/5225 5115/12345/5225 -s 1366 -f 5570/12399/5226 5571/12401/5226 5092/12402/5226 -s 1367 -f 5092/12402/5227 5112/12400/5227 5570/12399/5227 -s 1368 -f 5572/12403/5228 5573/12404/5228 5129/12405/5228 -s 1369 -f 5129/12405/5229 5093/12406/5229 5572/12403/5229 -s 1370 -f 5573/12404/5230 5574/12407/5230 5127/12408/5230 -s 1371 -f 5127/12408/5231 5129/12405/5231 5573/12404/5231 -s 1372 -f 5128/12409/5232 5127/12408/5232 5574/12407/5232 -s 1373 -f 5574/12407/5233 5575/12410/5233 5128/12409/5233 -s 1374 -f 5576/12411/5234 5577/12412/5234 5161/12413/5234 -s 1375 -f 5161/12413/5235 5139/12414/5235 5576/12411/5235 -f 5576/12411/5235 5139/12414/5235 5128/12409/5235 -s 1376 -f 5161/12413/5236 5577/12412/5236 5578/12415/5236 -s 1377 -f 5578/12415/5237 5159/12416/5237 5161/12413/5237 -s 1378 -f 5578/12415/5238 5579/12417/5238 5156/12418/5238 -s 1379 -f 5156/12418/5239 5159/12416/5239 5578/12415/5239 -s 1380 -f 5155/12385/5240 5156/12418/5240 5579/12417/5240 -s 1381 -f 5579/12417/5241 5564/12386/5241 5155/12385/5241 -s 1382 -f 5044/12419/5242 5580/12420/5242 5581/12421/5242 -s 1383 -f 5581/12421/5243 5045/12422/5243 5044/12419/5243 -s 1384 -f 5564/12423/5244 5041/12424/5244 5042/12425/5244 -s 1385 -f 5042/12425/5245 5565/12426/5245 5564/12423/5245 -s 1386 -f 5041/12424/5246 5564/12423/5246 5579/12427/5246 -s 1387 -f 5579/12427/5247 5039/12428/5247 5041/12424/5247 -s 1388 -f 5578/12429/5248 5038/12430/5248 5039/12428/5248 -s 1389 -f 5039/12428/5249 5579/12427/5249 5578/12429/5249 -s 1390 -f 5038/12430/5250 5578/12429/5250 5577/12431/5250 -s 1391 -f 5577/12431/5251 5037/12432/5251 5038/12430/5251 -s 1392 -f 5576/12433/5252 5034/12434/5252 5037/12432/5252 -f 5033/12435/5252 5034/12434/5252 5576/12433/5252 -s 1393 -f 5037/12432/5253 5577/12431/5253 5576/12433/5253 -s 1394 -f 5033/12435/5254 5575/12436/5254 5574/12437/5254 -s 1395 -f 5574/12437/5255 5031/12438/5255 5033/12435/5255 -s 1396 -f 5574/12437/5256 5573/12439/5256 5028/12440/5256 -s 1397 -f 5028/12440/5257 5031/12438/5257 5574/12437/5257 -s 1398 -f 5572/12441/5258 5029/12442/5258 5028/12440/5258 -s 1399 -f 5028/12440/5259 5573/12439/5259 5572/12441/5259 -s 1400 -f 5570/12443/5260 5025/12444/5260 5027/12445/5260 -s 1401 -f 5027/12445/5261 5571/12446/5261 5570/12443/5261 -s 1402 -f 5570/12443/5262 5545/12447/5262 5023/12448/5262 -s 1403 -f 5023/12448/5263 5025/12444/5263 5570/12443/5263 -s 1404 -f 5024/12449/5264 5023/12448/5264 5545/12447/5264 -s 1405 -f 5545/12447/5265 5544/12450/5265 5024/12449/5265 -f 5024/12449/5265 5544/12450/5265 5569/12451/5265 -s 1406 -f 5569/12451/5266 5568/12452/5266 5019/12453/5266 -s 1407 -f 5019/12453/5267 5020/12454/5267 5569/12451/5267 -s 1408 -f 5019/12453/5268 5568/12452/5268 5567/12455/5268 -s 1409 -f 5567/12455/5269 5015/12456/5269 5019/12453/5269 -s 1410 -f 5566/12457/5270 5016/12458/5270 5015/12456/5270 -s 1411 -f 5015/12456/5271 5567/12455/5271 5566/12457/5271 -s 1412 -f 5582/12459/5272 5583/12460/5272 5049/12461/5272 -s 1413 -f 5049/12461/5273 5047/12462/5273 5582/12459/5273 -s 1414 -f 5583/12460/5274 5584/12463/5274 5052/12464/5274 -s 1415 -f 5052/12464/5275 5049/12461/5275 5583/12460/5275 -s 1416 -f 5585/12465/5276 5053/12466/5276 5052/12464/5276 -s 1417 -f 5052/12464/5277 5584/12463/5277 5585/12465/5277 -s 1418 -f 5016/12458/5278 5566/12457/5278 5582/12459/5278 -s 1419 -f 5582/12459/5278 5047/12462/5278 5016/12458/5278 -s 1420 -f 5583/12467/5279 5582/12468/5279 5566/12393/5279 -s 1421 -f 5566/12393/5280 5586/12469/5280 5583/12467/5280 -s 1422 -f 5586/12469/5281 5587/12470/5281 5584/12471/5281 -s 1423 -f 5584/12471/5282 5583/12467/5282 5586/12469/5282 -s 1424 -f 5584/12472/5283 5587/12473/5283 5588/12474/5283 -s 1425 -f 5588/12474/5284 5585/12475/5284 5584/12472/5284 -s 1426 -f 5045/12422/5243 5581/12421/5243 5565/12426/5243 -s 1427 -f 5565/12426/5285 5042/12425/5285 5045/12422/5285 -s 1428 -f 5106/12476/5286 5554/12364/5286 5557/12370/5286 -s 1429 -f 5557/12370/5287 5107/12477/5287 5106/12476/5287 -s 1430 -f 5556/12369/5288 5109/12478/5288 5107/12477/5288 -s 1431 -f 5107/12477/5289 5557/12370/5289 5556/12369/5289 -s 1432 -f 5562/12380/5290 5144/12479/5290 5143/12480/5290 -s 1433 -f 5143/12480/5291 5563/12381/5291 5562/12380/5291 -s 1434 -f 5144/12479/5292 5562/12380/5292 5561/12377/5292 -s 1435 -f 5561/12377/5293 5145/12481/5293 5144/12479/5293 -s 1436 -f 5145/12481/5294 5561/12377/5294 5560/12376/5294 -s 1437 -f 5560/12376/5295 5147/12482/5295 5145/12481/5295 -s 1438 -f 5559/12374/5296 5149/12483/5296 5147/12482/5296 -s 1439 -f 5147/12482/5297 5560/12376/5297 5559/12374/5297 -s 1440 -f 5140/12484/5298 5149/12483/5298 5559/12374/5298 -s 1441 -f 5559/12374/5299 5558/12373/5299 5140/12484/5299 -s 1442 -f 5134/12485/5300 5132/12486/5300 5547/12349/5300 -s 1443 -f 5547/12349/5301 5546/12348/5301 5134/12485/5301 -s 1444 -f 5134/12485/5302 5546/12348/5302 5548/12352/5302 -s 1445 -f 5548/12352/5303 5136/12487/5303 5134/12485/5303 -s 1446 -f 5549/12354/5304 5550/12355/5304 5091/12488/5304 -s 1447 -f 5091/12488/5305 5094/12489/5305 5549/12354/5305 -s 1448 -f 5551/12358/5306 5119/12490/5306 5091/12488/5306 -s 1449 -f 5091/12488/5307 5550/12355/5307 5551/12358/5307 -s 1450 -f 5552/12359/5308 5121/12491/5308 5119/12490/5308 -s 1451 -f 5119/12490/5309 5551/12358/5309 5552/12359/5309 -s 1452 -f 5553/12361/5310 5555/12365/5310 5104/12492/5310 -s 1453 -f 5104/12492/5311 5123/12493/5311 5553/12361/5311 -s 1454 -f 5106/12476/5312 5104/12492/5312 5555/12365/5312 -s 1455 -f 5555/12365/5313 5554/12364/5313 5106/12476/5313 -s 1456 -f 5097/12398/5314 5116/12346/5314 5123/12493/5314 -s 1457 -f 5123/12493/5315 5104/12492/5315 5097/12398/5315 -s 1458 -f 5555/12365/5316 5553/12361/5316 4813/12362/5316 -s 1459 -f 4813/12362/5317 4814/12366/5317 5555/12365/5317 -s 1460 -f 5569/12451/5318 5020/12454/5318 5024/12449/5318 -s 1461 -f 5553/12361/5319 5123/12493/5319 5121/12491/5319 -s 1462 -f 5121/12491/5320 5552/12359/5320 5553/12361/5320 -s 1463 -f 4810/12356/5321 5550/12355/5321 5549/12354/5321 -s 1464 -f 5549/12354/5322 4809/12353/5322 4810/12356/5322 -s 1465 -f 5571/12401/5323 5572/12403/5323 5093/12406/5323 -s 1466 -f 5093/12406/5324 5092/12402/5324 5571/12401/5324 -s 1467 -f 5571/12446/5325 5027/12445/5325 5029/12442/5325 -s 1468 -f 5029/12442/5326 5572/12441/5326 5571/12446/5326 -s 1469 -f 5548/12352/5327 5549/12354/5327 5094/12489/5327 -s 1470 -f 5094/12489/5328 5136/12487/5328 5548/12352/5328 -s 1471 -f 5547/12349/5329 5558/12373/5329 4805/12372/5329 -s 1472 -f 4805/12372/5330 4807/12350/5330 5547/12349/5330 -s 1473 -f 5132/12486/4602 5140/12484/4602 5558/12373/4602 -s 1474 -f 5558/12373/5331 5547/12349/5331 5132/12486/5331 -s 1475 -f 5128/12409/5332 5575/12410/5332 5576/12411/5332 -s 1476 -f 5576/12433/5333 5575/12436/5333 5033/12435/5333 -s 1477 -f 4815/12363/5334 4817/12367/5334 5557/12370/5334 -s 1478 -f 5557/12370/5335 5554/12364/5335 4815/12363/5335 -s 1479 -f 5116/12346/5336 5097/12398/5336 5569/12397/5336 -s 1480 -f 5569/12397/5337 5544/12343/5337 5116/12346/5337 -s 1481 -f 5589/12494/5338 5590/12495/5338 5208/12496/5338 -s 1482 -f 5208/12496/5339 5206/12497/5339 5589/12494/5339 -s 1483 -f 5591/12498/5340 5592/12499/5340 4967/12500/5340 -s 1484 -f 4967/12500/5341 4966/12501/5341 5591/12498/5341 -s 1485 -f 4967/12500/5342 5592/12499/5342 5593/12502/5342 -s 1486 -f 5593/12502/5343 4968/12503/5343 4967/12500/5343 -s 1487 -f 4969/12504/5344 4968/12503/5344 5593/12502/5344 -s 1488 -f 5593/12502/5345 5594/12505/5345 4969/12504/5345 -s 1489 -f 5595/12506/5346 4971/12507/5346 4970/12508/5346 -s 1490 -f 4970/12508/5347 5596/12509/5347 5595/12506/5347 -s 1491 -f 5597/12510/5348 4972/12511/5348 4971/12507/5348 -s 1492 -f 4971/12507/5349 5595/12506/5349 5597/12510/5349 -s 1493 -f 4972/12511/5350 5597/12510/5350 5598/12512/5350 -s 1494 -f 5598/12512/5351 4973/12513/5351 4972/12511/5351 -f 4974/12514/5351 4973/12513/5351 5598/12512/5351 -s 1495 -f 4975/12515/5352 4974/12514/5352 5599/12516/5352 -s 1496 -f 5599/12516/5353 5600/12517/5353 4975/12515/5353 -s 1497 -f 4976/12518/5354 5601/12519/5354 5602/12520/5354 -s 1498 -f 5602/12520/5355 4977/12521/5355 4976/12518/5355 -s 1499 -f 5603/12522/5356 5604/12523/5356 4965/12524/5356 -f 4965/12524/5356 5604/12523/5356 5591/12498/5356 -s 1500 -f 4965/12524/5357 4964/12525/5357 5603/12522/5357 -s 1501 -f 5605/12526/5358 5603/12522/5358 4964/12525/5358 -s 1502 -f 4964/12525/5359 4963/12527/5359 5605/12526/5359 -s 1503 -f 4962/12528/5360 5606/12529/5360 5605/12526/5360 -s 1504 -f 5605/12526/5361 4963/12527/5361 4962/12528/5361 -s 1505 -f 4960/12530/5362 4959/12531/5362 5607/12532/5362 -s 1506 -f 5607/12533/5363 5608/12534/5363 4960/12535/5363 -s 1507 -f 4962/12528/5364 4960/12535/5364 5608/12534/5364 -s 1508 -f 5608/12534/5365 5606/12529/5365 4962/12528/5365 -s 1509 -f 5246/12536/5366 5245/12537/5366 5609/12538/5366 -s 1510 -f 5609/12539/5367 5610/12540/5367 5246/12541/5367 -s 1511 -f 5611/12542/5368 5193/12543/5368 5192/12544/5368 -s 1512 -f 5192/12544/5369 5612/12545/5369 5611/12542/5369 -s 1513 -f 5190/12546/5370 5613/12547/5370 5612/12545/5370 -s 1514 -f 5612/12545/5371 5192/12544/5371 5190/12546/5371 -s 1515 -f 5613/12547/5372 5190/12546/5372 5189/12548/5372 -s 1516 -f 5189/12548/5373 5614/12549/5373 5613/12547/5373 -s 1517 -f 5206/12497/5374 5203/12550/5374 5615/12551/5374 -s 1518 -f 5615/12551/5375 5589/12494/5375 5206/12497/5375 -s 1519 -f 5184/12552/5376 5616/12553/5376 5615/12551/5376 -s 1520 -f 5615/12551/5377 5203/12550/5377 5184/12552/5377 -s 1521 -f 5617/12554/5378 5618/12555/5378 5183/12556/5378 -f 5183/12556/5378 5618/12555/5378 5616/12553/5378 -s 1522 -f 5183/12556/5379 5221/12557/5379 5617/12554/5379 -s 1523 -f 5617/12554/5380 5221/12557/5380 5218/12558/5380 -s 1524 -f 5218/12558/5381 5619/12559/5381 5617/12554/5381 -s 1525 -f 5218/12558/5382 5217/12560/5382 5620/12561/5382 -s 1526 -f 5620/12561/5383 5619/12559/5383 5218/12558/5383 -s 1527 -f 5253/12562/5384 5251/12563/5384 5621/12564/5384 -s 1528 -f 5621/12564/5385 5622/12565/5385 5253/12562/5385 -f 5253/12562/5385 5622/12565/5385 5620/12561/5385 -s 1529 -f 5251/12563/5386 5249/12566/5386 5623/12567/5386 -s 1530 -f 5623/12567/5387 5621/12564/5387 5251/12563/5387 -s 1531 -f 5249/12566/5388 5247/12568/5388 5624/12569/5388 -s 1532 -f 5624/12569/5389 5623/12567/5389 5249/12566/5389 -s 1533 -f 5610/12540/5390 5624/12569/5390 5247/12568/5390 -s 1534 -f 5247/12568/5391 5246/12541/5391 5610/12540/5391 -s 1535 -f 5625/12570/5392 5580/12420/5392 5044/12419/5392 -s 1536 -f 5044/12419/5393 5084/12571/5393 5625/12570/5393 -s 1537 -f 5609/12572/5394 5081/12573/5394 5080/12574/5394 -s 1538 -f 5080/12574/5395 5610/12575/5395 5609/12572/5395 -s 1539 -f 5610/12575/5396 5080/12574/5396 5078/12576/5396 -s 1540 -f 5078/12576/5397 5624/12577/5397 5610/12575/5397 -s 1541 -f 5077/12578/5398 5623/12579/5398 5624/12577/5398 -s 1542 -f 5624/12577/5399 5078/12576/5399 5077/12578/5399 -s 1543 -f 5074/12580/5400 5621/12581/5400 5623/12579/5400 -s 1544 -f 5623/12579/5401 5077/12578/5401 5074/12580/5401 -s 1545 -f 5621/12581/5402 5074/12580/5402 5073/12582/5402 -s 1546 -f 5073/12582/5403 5622/12583/5403 5621/12581/5403 -s 1547 -f 5619/12584/5404 5620/12585/5404 5072/12586/5404 -s 1548 -f 5072/12586/5405 5070/12587/5405 5619/12584/5405 -s 1549 -f 5067/12588/5406 5617/12589/5406 5619/12584/5406 -s 1550 -f 5619/12584/5407 5070/12587/5407 5067/12588/5407 -s 1551 -f 5067/12588/5408 5069/12590/5408 5618/12591/5408 -s 1552 -f 5618/12591/5409 5617/12589/5409 5067/12588/5409 -s 1553 -f 5616/12592/5410 5065/12593/5410 5064/12594/5410 -s 1554 -f 5064/12594/5411 5615/12595/5411 5616/12592/5411 -s 1555 -f 5615/12595/5412 5064/12594/5412 5061/12596/5412 -s 1556 -f 5061/12596/5413 5589/12597/5413 5615/12595/5413 -s 1557 -f 5060/12598/5414 5590/12599/5414 5589/12597/5414 -s 1558 -f 5589/12597/5415 5061/12596/5415 5060/12598/5415 -s 1559 -f 5614/12600/5416 5059/12601/5416 5057/12602/5416 -s 1560 -f 5057/12602/5417 5613/12603/5417 5614/12600/5417 -s 1561 -f 5612/12604/5418 5613/12603/5418 5057/12602/5418 -s 1562 -f 5057/12602/5419 5055/12605/5419 5612/12604/5419 -s 1563 -f 5612/12604/5420 5055/12605/5420 5054/12606/5420 -s 1564 -f 5054/12606/5421 5611/12607/5421 5612/12604/5421 -s 1565 -f 5626/12608/5422 5086/12609/5422 5088/12610/5422 -s 1566 -f 5088/12610/5423 5627/12611/5423 5626/12608/5423 -s 1567 -f 5088/12610/5424 5090/12612/5424 5628/12613/5424 -s 1568 -f 5628/12613/5425 5627/12611/5425 5088/12610/5425 -s 1569 -f 5628/12613/5426 5090/12612/5426 5053/12466/5426 -s 1570 -f 5053/12466/5427 5585/12465/5427 5628/12613/5427 -s 1571 -f 5086/12609/5428 5626/12608/5428 5611/12607/5428 -s 1572 -f 5611/12607/5428 5054/12606/5428 5086/12609/5428 -s 1573 -f 5629/12614/5429 5611/12542/5429 5626/12615/5429 -s 1574 -f 5626/12615/5430 5627/12616/5430 5629/12614/5430 -s 1575 -f 5629/12614/5431 5627/12616/5431 5628/12617/5431 -s 1576 -f 5628/12617/5432 5630/12618/5432 5629/12614/5432 -s 1577 -f 5630/12619/5433 5628/12620/5433 5585/12475/5433 -s 1578 -f 5585/12475/5434 5588/12474/5434 5630/12619/5434 -s 1579 -f 5084/12571/5435 5081/12573/5435 5609/12572/5435 -s 1580 -f 5609/12572/5393 5625/12570/5393 5084/12571/5393 -s 1581 -f 5200/12621/5436 5601/12519/5436 5600/12517/5436 -s 1582 -f 5600/12517/5437 5198/12622/5437 5200/12621/5437 -s 1583 -f 5202/12623/5438 5602/12520/5438 5601/12519/5438 -s 1584 -f 5601/12519/5439 5200/12621/5439 5202/12623/5439 -s 1585 -f 5607/12532/5440 5231/12624/5440 5234/12625/5440 -s 1586 -f 5234/12626/5441 5608/12534/5441 5607/12533/5441 -s 1587 -f 5234/12626/5442 5236/12627/5442 5606/12529/5442 -s 1588 -f 5606/12529/5443 5608/12534/5443 5234/12626/5443 -s 1589 -f 5236/12627/5444 5238/12628/5444 5605/12526/5444 -s 1590 -f 5605/12526/5445 5606/12529/5445 5236/12627/5445 -s 1591 -f 5238/12628/5446 5240/12629/5446 5603/12522/5446 -s 1592 -f 5603/12522/5447 5605/12526/5447 5238/12628/5447 -s 1593 -f 5604/12523/5448 5603/12522/5448 5240/12629/5448 -s 1594 -f 5240/12629/5449 5242/12630/5449 5604/12523/5449 -s 1595 -f 5591/12498/5450 5225/12631/5450 5227/12632/5450 -s 1596 -f 5227/12632/5451 5592/12499/5451 5591/12498/5451 -s 1597 -f 5593/12502/5452 5592/12499/5452 5227/12632/5452 -s 1598 -f 5227/12632/5453 5229/12633/5453 5593/12502/5453 -s 1599 -f 5594/12505/4648 5186/12634/4648 5185/12635/4648 -f 5229/12633/4648 5186/12634/4648 5594/12505/4648 -s 1600 -f 5185/12635/5454 5596/12509/5454 5594/12505/5454 -s 1601 -f 5595/12506/5455 5596/12509/5455 5185/12635/5455 -s 1602 -f 5185/12635/5456 5212/12636/5456 5595/12506/5456 -s 1603 -f 5597/12510/5457 5595/12506/5457 5212/12636/5457 -s 1604 -f 5212/12636/5458 5214/12637/5458 5597/12510/5458 -s 1605 -f 5598/12512/5459 5216/12638/5459 5196/12639/5459 -s 1606 -f 5196/12639/5460 5599/12516/5460 5598/12512/5460 -s 1607 -f 5196/12639/5461 5198/12622/5461 5600/12517/5461 -s 1608 -f 5600/12517/5462 5599/12516/5462 5196/12639/5462 -s 1609 -f 5196/12639/5463 5216/12638/5463 5208/12496/5463 -s 1610 -f 5208/12496/5464 5189/12548/5464 5196/12639/5464 -s 1611 -f 5598/12512/5465 5599/12516/5465 4974/12514/5465 -s 1612 -f 5059/12601/5466 5614/12600/5466 5590/12599/5466 -s 1613 -f 5590/12599/5467 5060/12598/5467 5059/12601/5467 -s 1614 -f 5598/12512/5468 5597/12510/5468 5214/12637/5468 -s 1615 -f 5214/12637/5469 5216/12638/5469 5598/12512/5469 -s 1616 -f 4970/12508/5470 4969/12504/5470 5594/12505/5470 -s 1617 -f 5594/12505/5471 5596/12509/5471 4970/12508/5471 -s 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Date: Sun, 12 May 2024 02:37:40 +0300 Subject: [PATCH 06/40] heron.png and protofile --- .../robots/clearpath/heron/protos/Heron.proto | 26 ++++++++++++++---- .../clearpath/heron/protos/icons/Heron.png | Bin 33168 -> 4021 bytes 2 files changed, 20 insertions(+), 6 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index 68d60b0db87..f3dce51e8a9 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -1,14 +1,29 @@ #VRML_SIM R2023a utf8 +# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +# license url: https://cyberbotics.com/webots_assets_license # Heron USV from Clearpath - PROTO Heron [ - + field SFVec3f translation 0 0 0.0 # Is `Pose.translation`. + field SFRotation rotation 0 0 1 0 # Is `Pose.rotation`. + field SFString name "heron" # Is `Solid.name`. + field SFString controller "heron_usv_controller" # Is `Robot.controller`. + field MFString controllerArgs [] # Is `Robot.controllerArgs`. + field SFString window "" # Is `Robot.window`. + field SFBool synchronization TRUE # Is `Robot.synchronization`. + field SFColor color 0.8 0.5 0.1 # Set the bumper color. + field MFNode bodySlot [] # Extends the robot with new nodes in the body slot. ] { -Robot { - translation 0 0 0 - rotation 0 0 0 0 + Robot { + translation IS translation + rotation IS rotation + name IS name + model "Clearpath Heron" + controller IS controller + controllerArgs IS controllerArgs + window IS window + synchronization IS synchronization children [ Transform { translation -0.185 0 0 @@ -198,7 +213,6 @@ Robot { angular 0.5 } } - controller "heron_usv_controller" linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726 angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19 } diff --git a/projects/robots/clearpath/heron/protos/icons/Heron.png b/projects/robots/clearpath/heron/protos/icons/Heron.png index bc60b9af8dfc57a4df9af8df2341d224e043111d..21f6d18c0f2fb2148f28dcde2895f7e29a2c024f 100644 GIT binary patch literal 4021 zcmdUy_dnHv_s8G&UiaeKTwMD~${x8kxprksAv1fWYhQ$G7G;*rr3gu6?~sg)khqdP zGPC#m_=orH7w0hN!<%XMJX z#EBrFQrZH>fO5lH^(As`@cO-FVXX|VB!{VE(HFKA1Z z67_56BU)@>M-V^&#niO!Fe6G@_wxs=NY8Ud01iALC6j~*z{sl41gI$M&)@(QUkr)J z1TjJ)%tDf3QRX2~JQyRa+WvTyDJuEii>p(Hb{p%6Ge7la9weli~6zxy{^l0qLK(K)`{>kZGaX) zJ4=S{>6c@NgleVa)hG|u?#@`Yz%+UUFLRpz$AtN}~yXPwSAKeA+P z`Y|AEC}_t2hpD=4#AUD5WPHx~vvgWBKM)c8Dh+}Y5n{7}CiHd;C?1**)Q2^Qq5#v@ z5B+SObY1P~pylH!sq%H^m*sO8Puo1ENUO|o-#?6P?d=}z#u+y4ce-n5pviCQW?`J2 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Date: Sun, 12 May 2024 02:50:02 +0300 Subject: [PATCH 07/40] keyboard controller and proto head --- .../controllers/heron_usv_controller/heron_usv_controller.py | 2 +- projects/robots/clearpath/heron/protos/Heron.proto | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py index 7bae556d046..7b9ec4c72b4 100644 --- a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py +++ b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py @@ -17,7 +17,7 @@ # Create the Robot instance. robot = Robot() -keyboard = robot.getKeyboard() +keyboard = Keyboard() keyboard.enable(1000) # Get the time step of the current world. diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index f3dce51e8a9..fd1391b0c23 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -1,6 +1,4 @@ #VRML_SIM R2023a utf8 -# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. -# license url: https://cyberbotics.com/webots_assets_license # Heron USV from Clearpath PROTO Heron [ @@ -11,7 +9,7 @@ PROTO Heron [ field MFString controllerArgs [] # Is `Robot.controllerArgs`. field SFString window "" # Is `Robot.window`. field SFBool synchronization TRUE # Is `Robot.synchronization`. - field SFColor color 0.8 0.5 0.1 # Set the bumper color. + field SFColor color 0 0 0 # Set the bumper color. field MFNode bodySlot [] # Extends the robot with new nodes in the body slot. ] { From 071ddd2e37dbdec9b1593dbe8a1072039a5ac365 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sun, 12 May 2024 03:04:11 +0300 Subject: [PATCH 08/40] Heron.proto header add --- projects/robots/clearpath/heron/protos/Heron.proto | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index fd1391b0c23..d2364a3b579 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -1,5 +1,12 @@ #VRML_SIM R2023a utf8 -# Heron USV from Clearpath +# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +# license url: https://cyberbotics.com/webots_assets_license +# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/clearpath/heron/protos/Heron.proto +# keywords: robot/wheeled +# Clearpath Heron USV is an autonomous watercraft designed for various marine tasks. +# It features electric propulsion, advanced navigation systems, and integration capabilities for collaborative missions. +# With a streamlined hull and multiple sensor suites including cameras, +# it excels in environmental monitoring, surveillance, and research. PROTO Heron [ field SFVec3f translation 0 0 0.0 # Is `Pose.translation`. From 26cba495a9e789e35a5dbee040fc45ec7760e723 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sun, 12 May 2024 03:17:35 +0300 Subject: [PATCH 09/40] Heron.proto header version change --- projects/robots/clearpath/heron/protos/Heron.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index d2364a3b579..844afda80cf 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2023a utf8 +#VRML_SIM R2023b utf8 # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. # license url: https://cyberbotics.com/webots_assets_license # documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/clearpath/heron/protos/Heron.proto From cc85b84ebc74713fc69daf7b33b135afae3efa8a Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sun, 12 May 2024 03:32:17 +0300 Subject: [PATCH 10/40] ocean.wbt and swarm.wbt change version --- projects/robots/clearpath/heron/worlds/ocean.wbt | 2 +- projects/robots/clearpath/heron/worlds/swarm.wbt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt index d511957403e..8613f93775b 100644 --- a/projects/robots/clearpath/heron/worlds/ocean.wbt +++ b/projects/robots/clearpath/heron/worlds/ocean.wbt @@ -1,4 +1,4 @@ -#VRML_SIM R2023a utf8 +#VRML_SIM R2023b utf8 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index 8e79c88953a..54ab404e125 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -1,4 +1,4 @@ -#VRML_SIM R2023a utf8 +#VRML_SIM R2023b utf8 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" From d55d15c16996c33549b60e381600e854d5048653 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sun, 12 May 2024 03:35:03 +0300 Subject: [PATCH 11/40] ocean.wbt and swarm.wbt change version --- projects/robots/clearpath/heron/worlds/.ocean.wbproj | 4 ++-- projects/robots/clearpath/heron/worlds/.swarm.wbproj | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/projects/robots/clearpath/heron/worlds/.ocean.wbproj b/projects/robots/clearpath/heron/worlds/.ocean.wbproj index f73da7c72fa..a173db22019 100644 --- a/projects/robots/clearpath/heron/worlds/.ocean.wbproj +++ b/projects/robots/clearpath/heron/worlds/.ocean.wbproj @@ -1,9 +1,9 @@ -Webots Project File version R2023a +Webots Project File version R2023b perspectives: 000000ff00000000fd000000020000000100000202000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000008900ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff0000057c000002f100000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff0000000100000002000001700000040a0100000002010000000100 sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000200 maximizedDockId: -1 centralWidgetVisible: 1 orthographicViewHeight: 1 -textFiles: 0 "../../../../../../heron_usv/controllers/heron_usv_controller/heron_usv_controller.py" +textFiles: 0 "controllers/heron_usv_controller/heron_usv_controller.py" consoles: Console:All:All diff --git a/projects/robots/clearpath/heron/worlds/.swarm.wbproj b/projects/robots/clearpath/heron/worlds/.swarm.wbproj index d2022461bf0..f0afc1dc9ff 100644 --- a/projects/robots/clearpath/heron/worlds/.swarm.wbproj +++ b/projects/robots/clearpath/heron/worlds/.swarm.wbproj @@ -1,4 +1,4 @@ -Webots Project File version R2023a +Webots Project File version R2023b perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200 From 112c5f12066af6efca3a6b9f45bffc52a00f5d37 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sun, 12 May 2024 03:48:44 +0300 Subject: [PATCH 12/40] windows delete artificats --- .../controllers/heron_usv_controller/heron_usv_controller.py | 1 - 1 file changed, 1 deletion(-) diff --git a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py index 7b9ec4c72b4..7a76675e01f 100644 --- a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py +++ b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py @@ -34,7 +34,6 @@ # Set initial velocities. left_velocity = 0.0 right_velocity = 0.0 - # Main loop: # - perform simulation steps until Webots is stopping the controller while robot.step(timestep) != -1: From 39281eede73c105f80b658bc74c1848fbf9b6d20 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Sun, 12 May 2024 03:48:51 +0300 Subject: [PATCH 13/40] windows delete artificats --- .../controllers/heron_usv_controller/heron_usv_controller.py | 1 + 1 file changed, 1 insertion(+) diff --git a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py index 7a76675e01f..7b9ec4c72b4 100644 --- a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py +++ b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py @@ -34,6 +34,7 @@ # Set initial velocities. left_velocity = 0.0 right_velocity = 0.0 + # Main loop: # - perform simulation steps until Webots is stopping the controller while robot.step(timestep) != -1: From 3041cc172a1342bd270da34edcd9f2b0ec423645 Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Wed, 15 May 2024 00:34:58 +0300 Subject: [PATCH 14/40] ocean.sample.png --- .../clearpath/heron/worlds/ocean.sample.png | Bin 0 -> 403801 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 projects/robots/clearpath/heron/worlds/ocean.sample.png diff --git a/projects/robots/clearpath/heron/worlds/ocean.sample.png b/projects/robots/clearpath/heron/worlds/ocean.sample.png new file mode 100644 index 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z$&6?5Kg8jxP_UUY9u|;{qutD3)Fzz43>7%)<(Z`i4*KOJ$&-$`V+Dv5Cq` zkIRXNB>it4o8nOu$m&-~KRTQ&lI9Hs#VH!FWUDo2%vmZ1uBM7ygpSLvj`%BA$YEgM8;Qu zK(KM|i-tRmBfHh{&qTqedH92IA%5o%KH-n`Ulv^=Uj>yMCU}mVvV#g0*n>A3RxHx4 z9DOT|GFUP1?>#W5_QIUnaolQnqN3F9Iv$=m9yq!RVI5C@0P=_ex7z-v76}6uBn4YP ze7w@qI-_j3-~)*}uRBPL_hoT@aeW$U(ytY zz%Q{p15RL{Mf71p{h4W>HZBNCU``+xXNL{?v%16w)A6M z9Jr>gX#;FdZj<6cg)H}Mn+N#T1Sn5zT1+~9x~s7|1x_rn2M1mX{ay+T&W#)P=dKU= zgW3-OBD5Y$?8g5oo;#fb$B?A%+fF~fW2r@7ngVpKt`CO*)WLCC53!(<8R*Qrn;*ib{ujSo5C}n*==w!o7thoM3NK&Hawt zvt%{4uP5ZbZ|&86xDFIQkN6v&ZS?#z*yxt_|FqHTId1m~FMR>ptKfTRYNQX}PlGc3vJ6ipqg)<$6I^ z?jP9@E&>;np|b4N^WgY>=q1Kdu1||BL)Nh1Rsg7|-ONl_OvPWliJ}OK>!O5^QK+cQ zzr;2PG2XDawJx;49B22tY*vJ?d#<$OA*M)hna#9b$}qM7Q`ZJL(_Q*q!U*why4*{5 zYH<%@BQt25YnH?5OA&!;#-Ybin|LM~om8eX5zDxc7O3R9zPb?4dfc{~LjZb1)q%53 zJKXQ>yUY}%Jkp;%x#7!i0eC^4chjQ*{wf{3SPC;ndJ5=5kHbKJ1uztq4axT?`lgfd zPUfN^nB|eA?%7U<`;_$(GN2$-j;#ac%;_3kOk4*A`J9em>h=1Kb=m= zvKQY+l16NXBb+Y(Q{7bMF~w?HtUGrOgYpK%DaaK5DrqgK(eFkM9xt7aDa!U>pD47c zW#}WWXKaHhvnG`$>>bvapArIBKli-3qey_%XXktZ(+6Wd%Hso*F2G!?-1;ONHZD)3t}JYZMfwNcNQI**Iy1XJad;o^z|T> zxgr9&kMzjmf-#yv4o{wGC^KgJhv0O)>~Ce>CTQg@m(bQz1_qM7 z^rEa>*1dj1Hl{Z+?g}f2tmXdr1OJQ8RrBSL8@jezt741QL&`OJV9*~k7$x+skRYu&t(O=e9~06j6bT`}t%UTybLI4@rmF-j3@_7GD-0i~CdS tT)>DN?{nDFrnl8To|$Q=vl{#-;aeU*($l)4({tdT!W~uFlG~<1{|9Wam=yp3 literal 0 HcmV?d00001 From 17892cfb299a0df99dcfbb743738894c77270c66 Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Wed, 15 May 2024 00:41:16 +0300 Subject: [PATCH 15/40] Create heron.md --- .../clearpath/heron/protos/docs/heron.md | 43 +++++++++++++++++++ 1 file changed, 43 insertions(+) create mode 100644 projects/robots/clearpath/heron/protos/docs/heron.md diff --git a/projects/robots/clearpath/heron/protos/docs/heron.md b/projects/robots/clearpath/heron/protos/docs/heron.md new file mode 100644 index 00000000000..75f001f9bd3 --- /dev/null +++ b/projects/robots/clearpath/heron/protos/docs/heron.md @@ -0,0 +1,43 @@ +The [clearpath's Heron USV](https://robots.ros.org/clearpath-heron-usv/) is a USV platform. + +### Reliability: + Heron is known for engineering quality and durability based on Clearpath Robotics' years of experience. This allows users to perform their tasks without worrying about reliability. +### Flexibility: + Heron's modular design allows it to be configured according to users' needs and task requirements. This facilitates the integration of different sensors, equipment and loads, making it suitable for a variety of applications. +### Autonomous Capabilities: + Heron has autonomous navigation capabilities that can perform complex tasks. This ensures it can travel designated routes and complete tasks without operator intervention. +### High Performance: + Heron is a high-performance platform optimized for long-range and long-duration missions. This provides the ability to cover large areas, collect data, and be continuously active throughout the mission. + +### Movie Presentation + +![youtube video](https://www.youtube.com/watch?v=qWRyCnJWVuM) + +### Heron PROTO + +Derived from [Robot](https://cyberbotics.com/doc/reference/robot). + +``` +Heron { + SFVec3f translation 0 0 0 + SFRotation rotation 0 1 0 1.5708 + SFString name "heron" + SFString controller "heron_usv_controller" + MFString controllerArgs [] + SFBool synchronization TRUE + SFColor color 0.8 0.5 0.1 + MFNode bodySlot [] +} +``` + +#### Heron Field Summary + +- `bodySlot`: Extends the robot with new nodes. + +### Samples + +You will find the following sample in this folder: "[WEBOTS\_HOME/projects/robots/clearpath/heron/worlds]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds)". + +#### [heron\ocean.wbt]({{ url.github_tree }}/projects/robots/clearpath/moose/worlds/heron\ocean.wbt) + +![moose_demo.wbt.png](images/moose/moose_demo.wbt.thumbnail.jpg) This simulation shows a Moose robot following a predefined path on an uneven terrain. It carries a cardboard box.2.wbt.thumbnail.jpg) This simulation shows a PR2 robot grabbing biscuit boxes from one table, and putting them on another table. From 34af82da1e1089566d7ab66e41449e0a2463c440 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Thu, 16 May 2024 14:40:21 +0300 Subject: [PATCH 16/40] documents add all of --- .../clearpath/heron/protos/docs/heron.md | 2 +- .../heron/protos/docs/images/heron/ocean.jpg | Bin 0 -> 9444 bytes .../heron/protos/docs/images/heron/swarm.jpg | Bin 0 -> 13952 bytes .../clearpath/heron/worlds/ocean.sample.png | Bin 403801 -> 0 bytes 4 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 projects/robots/clearpath/heron/protos/docs/images/heron/ocean.jpg create mode 100644 projects/robots/clearpath/heron/protos/docs/images/heron/swarm.jpg delete mode 100644 projects/robots/clearpath/heron/worlds/ocean.sample.png diff --git a/projects/robots/clearpath/heron/protos/docs/heron.md b/projects/robots/clearpath/heron/protos/docs/heron.md index 75f001f9bd3..0c763ab7fdb 100644 --- a/projects/robots/clearpath/heron/protos/docs/heron.md +++ b/projects/robots/clearpath/heron/protos/docs/heron.md @@ -40,4 +40,4 @@ You will find the following sample in this folder: "[WEBOTS\_HOME/projects/robot #### [heron\ocean.wbt]({{ url.github_tree }}/projects/robots/clearpath/moose/worlds/heron\ocean.wbt) -![moose_demo.wbt.png](images/moose/moose_demo.wbt.thumbnail.jpg) This simulation shows a Moose robot following a predefined path on an uneven terrain. 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This allows users to perform their tasks without worrying about reliability. -### Flexibility: - Heron's modular design allows it to be configured according to users' needs and task requirements. This facilitates the integration of different sensors, equipment and loads, making it suitable for a variety of applications. -### Autonomous Capabilities: - Heron has autonomous navigation capabilities that can perform complex tasks. This ensures it can travel designated routes and complete tasks without operator intervention. -### High Performance: - Heron is a high-performance platform optimized for long-range and long-duration missions. This provides the ability to cover large areas, collect data, and be continuously active throughout the mission. +### Motors + + There are 2 engines, engine name ```left_motor```and ```right_motor``. + You can add new Camera, GPS or other sensors you want under ``body_slot```. ### Movie Presentation From 3e68ab51903a86fa0e1c45737249ff3d9562d3a6 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Thu, 8 Aug 2024 16:19:37 +0300 Subject: [PATCH 18/40] heron file update --- .../robots/clearpath/heron/protos/Heron.proto | 2 +- .../clearpath/heron/worlds/.ocean.wbproj | 10 +- .../clearpath/heron/worlds/.swarm.wbproj | 2 +- .../robots/clearpath/heron/worlds/ocean.wbt | 241 ++---------------- .../robots/clearpath/heron/worlds/swarm.wbt | 2 +- 5 files changed, 34 insertions(+), 223 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index 08f755b35e0..2ca2aeaf944 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2023b utf8 +#VRML_SIM R2024a utf8 # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. # license url: https://cyberbotics.com/webots_assets_license # documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/clearpath/heron/protos/Heron.proto diff --git a/projects/robots/clearpath/heron/worlds/.ocean.wbproj b/projects/robots/clearpath/heron/worlds/.ocean.wbproj index a173db22019..d2022461bf0 100644 --- a/projects/robots/clearpath/heron/worlds/.ocean.wbproj +++ b/projects/robots/clearpath/heron/worlds/.ocean.wbproj @@ -1,9 +1,9 @@ -Webots Project File version R2023b -perspectives: 000000ff00000000fd000000020000000100000202000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000008900ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff0000057c000002f100000001000000020000000100000008fc00000000 -simulationViewPerspectives: 000000ff0000000100000002000001700000040a0100000002010000000100 -sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000200 +Webots Project File version R2023a +perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000 +simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 +sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200 maximizedDockId: -1 centralWidgetVisible: 1 orthographicViewHeight: 1 -textFiles: 0 "controllers/heron_usv_controller/heron_usv_controller.py" +textFiles: -1 consoles: Console:All:All diff --git a/projects/robots/clearpath/heron/worlds/.swarm.wbproj b/projects/robots/clearpath/heron/worlds/.swarm.wbproj index f0afc1dc9ff..55caff450e0 100644 --- a/projects/robots/clearpath/heron/worlds/.swarm.wbproj +++ b/projects/robots/clearpath/heron/worlds/.swarm.wbproj @@ -1,4 +1,4 @@ -Webots Project File version R2023b +Webots Project File version R2024a perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200 diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt index 8613f93775b..fefa77044a1 100644 --- a/projects/robots/clearpath/heron/worlds/ocean.wbt +++ b/projects/robots/clearpath/heron/worlds/ocean.wbt @@ -1,215 +1,20 @@ -#VRML_SIM R2023b utf8 +#VRML_SIM R2023a utf8 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto" +EXTERNPROTO "../protos/Heron.proto" WorldInfo { } Viewpoint { - orientation -0.16182542841255412 0.05086835150351285 0.9855074538198116 2.7734415994114325 - position 4.405020578809751 -2.567246748464675 5.889973405085289 - follow "heron_usv" + orientation -0.24219658556528326 0.039505018164956274 0.9694225948884753 2.986262471610857 + position 6.727587480647112 -2.788009572581076 8.707663910740424 } TexturedBackground { } TexturedBackgroundLight { } -Robot { - translation -8.745262743121721 2.2893012904974483 0.4607079804159899 - rotation 9.299134448165107e-05 0.00011243356938496787 -0.9999999893556512 1.4275640952271762 - children [ - Transform { - translation -0.185 0 0 - rotation 0 0 1 1.01503e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.964706 0.827451 0.176471 - metalness 0 - } - geometry Mesh { - url [ - "../obj/plain-rear-plate.stl" - ] - } - } - ] - } - Transform { - translation 0 -0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/right_panel.stl" - ] - } - } - ] - } - Transform { - translation 0 0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/left_panel.stl" - ] - } - } - ] - } - Transform { - translation -0.73 0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "left_motor" - maxVelocity 30 - } - fastHelix Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - Transform { - translation -0.73 -0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "right_motor" - maxVelocity 30 - } - fastHelix Solid { - rotation 0 1 0 1.5708 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - DEF HERON Shape { - appearance Appearance { - material Material { - diffuseColor 0.239216 0.219608 0.27451 - } - texture ImageTexture { - } - textureTransform TextureTransform { - } - } - geometry Mesh { - url [ - "../obj/heron_base.stl" - ] - } - } - ] - name "heron_usv" - immersionProperties [ - ImmersionProperties { - fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 - } - ] - boundingObject Group { - children [ - Transform { - translation 0 -0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0 0.04 - children [ - Box { - size 0.75 0.8 0.1 - } - ] - } - Transform { - translation -1.42746e-07 -0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - Transform { - translation -1.42746e-07 0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - ] - } - physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] - damping Damping { - linear 0.5 - angular 0.5 - } - } - controller "heron_usv_controller" - linearVelocity 1.6719931099069372e-08 1.225696186173406e-07 1.6931370836678163e-07 - angularVelocity 0.0003302567168229787 -5.694018807829981e-06 2.231446004378168e-08 -} DEF WATER Fluid { children [ Shape { @@ -232,11 +37,17 @@ DEF WATER Fluid { } locked TRUE } +Heron { + hidden linearVelocity_0 7.738948701030327e-55 -4.450876199231589e-55 2.819335278757325e-06 + hidden angularVelocity_0 -0.0010746087365596433 -0.0018872241483721332 -8.299049855187801e-20 + translation -6.6784157308512615 -0.49028637658352825 0.46070759689397855 + rotation 0.0001714429217129001 0.0006475645044607216 -0.9999997756337433 0.5176249841363672 +} OilBarrel { - hidden linearVelocity_0 2.573909362966855e-13 8.101483462833414e-13 1.2003110195264215e-07 - hidden angularVelocity_0 0.00029722487068166415 -0.0011509866633606927 -2.3388211172652233e-14 - translation -5.769041604986536 5.713736372614108 0.5595498992963539 - rotation 0.1699718823923225 0.9046421892250012 -0.3908095043243032 -1.7519092253369184 + hidden linearVelocity_0 4.3841001267829204e-92 1.3799131852722908e-91 2.7336586825455718e-08 + hidden angularVelocity_0 0.00017175073340307308 -0.000665095095048527 -3.525679610207082e-19 + translation -5.769041604986175 5.7137363726152754 0.5595498936504114 + rotation -0.17000006110990545 -0.9047921649529347 0.3904498911030834 1.7528146915175131 physics Physics { density 100 damping Damping { @@ -251,10 +62,10 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -1.0608211407654344e-07 1.6589633305608436e-07 2.196064163305319e-06 - hidden angularVelocity_0 -0.0014550157419136274 0.0002700284102669188 8.673041437585036e-08 - translation -10.052079094555102 2.4814943703168106 0.5595500669482671 - rotation 0.275099147140283 0.6600733935310941 -0.6990161474494234 2.843706103645247 + hidden linearVelocity_0 -1.8068802905954023e-86 2.8256866587785812e-86 -3.103144703687781e-08 + hidden angularVelocity_0 0.0011199040548388395 -0.00020775155666699705 -2.9874548292248897e-19 + translation -10.052079249302796 2.4814946123187727 0.5595498875102384 + rotation -0.2751145870612611 -0.6601107052655576 0.6989748355841717 -2.8437234726044736 name "oil barrel(1)" physics Physics { density 100 @@ -270,10 +81,10 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -3.0604552490579713e-09 -1.0713621031612705e-08 2.022575678460609e-06 - hidden angularVelocity_0 -6.125146151654697e-10 -9.821803790534122e-10 5.789035930131023e-10 - translation -9.806804320505991 -3.2705951284597123 0.5595497963857429 - rotation 0.9914248558774157 0.04559709580005233 0.12246493376900346 1.5859460287729068 + hidden linearVelocity_0 -5.212826231745309e-88 -1.8248345492965266e-87 5.223797835316658e-17 + hidden angularVelocity_0 -1.0432866981083728e-88 -1.6729326937581797e-88 9.860375637312023e-89 + translation -9.806804324970415 -3.2705951440882433 0.5595498919704249 + rotation 0.9914248557443196 0.04559709558681102 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" physics Physics { density 100 @@ -289,10 +100,10 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 1.523141856440047e-08 6.992887800620743e-07 -3.829958410866254e-05 - hidden angularVelocity_0 -0.00027213668203701484 -0.0008587515051977977 1.1912607949198997e-07 - translation -9.046348859380034 3.246362640433868 0.559552332830202 - rotation 0.7377120821383204 0.14390797589864487 -0.6595994074738842 -2.4505165669246933 + hidden linearVelocity_0 2.5943440363533626e-87 1.1910877956457172e-85 -8.529020641187841e-08 + hidden angularVelocity_0 -0.00025822010093208856 -0.0008147286344160733 1.19113218552358e-19 + translation -9.046348837161165 3.2463636605243056 0.5595498964941401 + rotation 0.737839555282382 0.14393292832237511 -0.6594513650036995 -2.4506597166551938 name "oil barrel(3)" physics Physics { density 100 diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index 54ab404e125..946600c4ed7 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -1,4 +1,4 @@ -#VRML_SIM R2023b utf8 +#VRML_SIM R2024a utf8 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" From 1c8e0d06225734bfd4101aeebc32c5b261ba98e0 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Thu, 8 Aug 2024 16:19:41 +0300 Subject: [PATCH 19/40] heron file update --- .../robots/clearpath/heron/protos/Heron.proto | 1 - .../clearpath/heron/worlds/.swarm.wbproj | 2 +- .../robots/clearpath/heron/worlds/swarm.wbt | 833 +----------------- 3 files changed, 41 insertions(+), 795 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index 2ca2aeaf944..498a0506b03 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -16,7 +16,6 @@ PROTO Heron [ field MFString controllerArgs [] # Is `Robot.controllerArgs`. field SFString window "" # Is `Robot.window`. field SFBool synchronization TRUE # Is `Robot.synchronization`. - field SFColor color 0 0 0 # Set the bumper color. field MFNode bodySlot [] # Extends the robot with new nodes in the body slot. ] { diff --git a/projects/robots/clearpath/heron/worlds/.swarm.wbproj b/projects/robots/clearpath/heron/worlds/.swarm.wbproj index 55caff450e0..d2022461bf0 100644 --- a/projects/robots/clearpath/heron/worlds/.swarm.wbproj +++ b/projects/robots/clearpath/heron/worlds/.swarm.wbproj @@ -1,4 +1,4 @@ -Webots Project File version R2024a +Webots Project File version R2023a perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200 diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index 946600c4ed7..f93eedbe800 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -1,800 +1,20 @@ -#VRML_SIM R2024a utf8 +#VRML_SIM R2023a utf8 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto" +EXTERNPROTO "../protos/Heron.proto" WorldInfo { } Viewpoint { - orientation -0.1530425006556164 0.1186694463170303 0.981068578389852 2.074963317613508 - position -2.1480637820128856 -7.040197447148179 5.837167194355804 - follow "heron_usv" + orientation -0.18176804184458514 0.0956506889908684 0.978678356080054 2.3939203875238824 + position 9.724896539150558 -16.953124456807643 11.603646524687557 } TexturedBackground { } TexturedBackgroundLight { } -Robot { - translation -8.96664623546464 2.252124058933545 0.46070752985938096 - rotation 6.572681895751878e-05 7.456714904865487e-05 -0.9999999950598629 1.4255772481540747 - children [ - Transform { - translation -0.185 0 0 - rotation 0 0 1 1.01503e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.964706 0.827451 0.176471 - metalness 0 - } - geometry Mesh { - url [ - "../obj/plain-rear-plate.stl" - ] - } - } - ] - } - Transform { - translation 0 -0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/right_panel.stl" - ] - } - } - ] - } - Transform { - translation 0 0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/left_panel.stl" - ] - } - } - ] - } - Transform { - translation -0.73 0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "left_motor" - maxVelocity 30 - } - fastHelix Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - Transform { - translation -0.73 -0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "right_motor" - maxVelocity 30 - } - fastHelix Solid { - rotation 0 1 0 1.5708 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - DEF HERON Shape { - appearance Appearance { - material Material { - diffuseColor 0.239216 0.219608 0.27451 - } - texture ImageTexture { - } - textureTransform TextureTransform { - } - } - geometry Mesh { - url [ - "../obj/heron_base.stl" - ] - } - } - ] - name "heron_usv" - immersionProperties [ - ImmersionProperties { - fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 - } - ] - boundingObject Group { - children [ - Transform { - translation 0 -0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0 0.04 - children [ - Box { - size 0.75 0.8 0.1 - } - ] - } - Transform { - translation -1.42746e-07 -0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - Transform { - translation -1.42746e-07 0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - ] - } - physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] - damping Damping { - linear 0.5 - angular 0.5 - } - } - controller "heron_usv_controller" - linearVelocity 5.08753564323628e-07 -3.4786921458084494e-06 -2.9777681245242374e-07 - angularVelocity 0.0003201304047685891 0.00025617406304062694 1.4835341307161592e-08 -} -Robot { - translation -7.867574716571541 2.420194601263427 0.46070757392181294 - rotation -3.018120807379976e-05 -3.743462307551578e-05 -0.9999999988438717 1.3977480525037314 - children [ - Transform { - translation -0.185 0 0 - rotation 0 0 1 1.01503e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.964706 0.827451 0.176471 - metalness 0 - } - geometry Mesh { - url [ - "../obj/plain-rear-plate.stl" - ] - } - } - ] - } - Transform { - translation 0 -0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/right_panel.stl" - ] - } - } - ] - } - Transform { - translation 0 0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/left_panel.stl" - ] - } - } - ] - } - Transform { - translation -0.73 0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "left_motor" - maxVelocity 30 - } - fastHelix Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - Transform { - translation -0.73 -0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "right_motor" - maxVelocity 30 - } - fastHelix Solid { - rotation 0 1 0 1.5708 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - DEF HERON Shape { - appearance Appearance { - material Material { - diffuseColor 0.239216 0.219608 0.27451 - } - texture ImageTexture { - } - textureTransform TextureTransform { - } - } - geometry Mesh { - url [ - "../obj/heron_base.stl" - ] - } - } - ] - name "heron_usv(1)" - immersionProperties [ - ImmersionProperties { - fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 - } - ] - boundingObject Group { - children [ - Transform { - translation 0 -0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0 0.04 - children [ - Box { - size 0.75 0.8 0.1 - } - ] - } - Transform { - translation -1.42746e-07 -0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - Transform { - translation -1.42746e-07 0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - ] - } - physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] - damping Damping { - linear 0.5 - angular 0.5 - } - } - controller "heron_usv_controller" - linearVelocity 6.053537391067393e-07 -3.463188737907621e-06 7.03415952055582e-07 - angularVelocity -2.5844655573084838e-06 0.000209798656011323 -7.842607738496933e-09 -} -Robot { - translation -6.899243863899696 2.5152249626463314 0.4607078754187784 - rotation -1.099206411701376e-05 -1.3934397259811637e-05 -0.9999999998425035 1.4418905992707225 - children [ - Transform { - translation -0.185 0 0 - rotation 0 0 1 1.01503e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.964706 0.827451 0.176471 - metalness 0 - } - geometry Mesh { - url [ - "../obj/plain-rear-plate.stl" - ] - } - } - ] - } - Transform { - translation 0 -0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/right_panel.stl" - ] - } - } - ] - } - Transform { - translation 0 0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/left_panel.stl" - ] - } - } - ] - } - Transform { - translation -0.73 0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "left_motor" - maxVelocity 30 - } - fastHelix Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - Transform { - translation -0.73 -0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "right_motor" - maxVelocity 30 - } - fastHelix Solid { - rotation 0 1 0 1.5708 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - DEF HERON Shape { - appearance Appearance { - material Material { - diffuseColor 0.239216 0.219608 0.27451 - } - texture ImageTexture { - } - textureTransform TextureTransform { - } - } - geometry Mesh { - url [ - "../obj/heron_base.stl" - ] - } - } - ] - name "heron_usv(2)" - immersionProperties [ - ImmersionProperties { - fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 - } - ] - boundingObject Group { - children [ - Transform { - translation 0 -0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0 0.04 - children [ - Box { - size 0.75 0.8 0.1 - } - ] - } - Transform { - translation -1.42746e-07 -0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - Transform { - translation -1.42746e-07 0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - ] - } - physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] - damping Damping { - linear 0.5 - angular 0.5 - } - } - controller "heron_usv_controller" - linearVelocity 4.5193737024804084e-07 -3.486527495289261e-06 8.393035552613336e-07 - angularVelocity -1.585493743113555e-06 0.00020793822568304974 1.6008768627729407e-08 -} -Robot { - translation -5.702598999687603 2.68021767242861 0.4607077791646083 - rotation -3.5602633563282636e-05 -4.272123648518754e-05 -0.9999999984536742 1.42430420430093 - children [ - Transform { - translation -0.185 0 0 - rotation 0 0 1 1.01503e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.964706 0.827451 0.176471 - metalness 0 - } - geometry Mesh { - url [ - "../obj/plain-rear-plate.stl" - ] - } - } - ] - } - Transform { - translation 0 -0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/right_panel.stl" - ] - } - } - ] - } - Transform { - translation 0 0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/left_panel.stl" - ] - } - } - ] - } - Transform { - translation -0.73 0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "left_motor" - maxVelocity 30 - } - fastHelix Solid { - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - Transform { - translation -0.73 -0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "right_motor" - maxVelocity 30 - } - fastHelix Solid { - rotation 0 1 0 1.5708 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } - } - ] - } - DEF HERON Shape { - appearance Appearance { - material Material { - diffuseColor 0.239216 0.219608 0.27451 - } - texture ImageTexture { - } - textureTransform TextureTransform { - } - } - geometry Mesh { - url [ - "../obj/heron_base.stl" - ] - } - } - ] - name "heron_usv(3)" - immersionProperties [ - ImmersionProperties { - fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 - } - ] - boundingObject Group { - children [ - Transform { - translation 0 -0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0 0.04 - children [ - Box { - size 0.75 0.8 0.1 - } - ] - } - Transform { - translation -1.42746e-07 -0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - Transform { - translation -1.42746e-07 0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - ] - } - physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] - damping Damping { - linear 0.5 - angular 0.5 - } - } - controller "heron_usv_controller" - linearVelocity 5.131820984095211e-07 -3.4780416761649935e-06 -5.467804683003646e-07 - angularVelocity -0.00014644918909698625 0.0001876820478923344 -8.294614538672105e-09 -} DEF WATER Fluid { children [ Shape { @@ -818,8 +38,8 @@ DEF WATER Fluid { locked TRUE } OilBarrel { - hidden linearVelocity_0 0 0 5.482079875807984e-16 - translation -5.769041604986175 5.7137363726152754 0.5595498919704248 + hidden linearVelocity_0 0 0 1.8552471457039977e-15 + translation -5.769041604986175 5.7137363726152754 0.5595498919704249 rotation -0.16995723822816233 -0.9045642485178795 0.39099623716493703 1.751439322141487 physics Physics { density 100 @@ -835,9 +55,9 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 0 0 -6.820345134302821e-16 + hidden linearVelocity_0 0 0 7.783035268975111e-16 translation -10.052079249302796 2.4814946123187727 0.5595498919704248 - rotation -0.2750758106273438 -0.660017664982181 0.6990779501022609 -2.843680177267006 + rotation -0.2750758106273439 -0.660017664982181 0.6990779501022608 -2.8436801772670055 name "oil barrel(1)" physics Physics { density 100 @@ -853,7 +73,7 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 0 0 7.241904738043405e-17 + hidden linearVelocity_0 0 0 1.4387456326881762e-15 translation -9.806804324970415 -3.2705951440882433 0.5595498919704248 rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" @@ -871,10 +91,10 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -1.4513365348126972e-57 1.9086727808080188e-57 -1.2547301368410285e-07 - hidden angularVelocity_0 -0.0003513144866474907 -0.000726907063145573 2.4052418356824356e-19 - translation -9.210530377900385 3.4633481997220334 0.5595498892838346 - rotation 0.77095174218054 0.22504010166827274 -0.5958106778750477 -2.154840208558971 + hidden linearVelocity_0 -1.3776584555502088e-101 1.811777718183081e-101 -2.7052356205586808e-08 + hidden angularVelocity_0 0.000498525820226693 0.0010315029799719921 3.1009352794512243e-19 + translation -9.210530377900385 3.4633481997220334 0.5595498864740154 + rotation 0.7706881417390529 0.22496315694279187 -0.5961806489656792 -2.154322256155228 name "oil barrel(3)" physics Physics { density 100 @@ -889,3 +109,30 @@ OilBarrel { } ] } +Heron { + hidden linearVelocity_0 -9.519433960685579e-37 3.948304381170926e-36 -1.5056277249684206e-06 + hidden angularVelocity_0 -7.239191923238156e-06 -0.00021174756862201745 -1.1106399831068014e-19 + translation -6.615901389647778 -0.10311821791702494 0.4607076736909942 + rotation -4.6247733909052664e-05 -0.002706298153373231 -0.9999963368990169 0.03417465445606993 +} +Heron { + hidden linearVelocity_0 0 0 -1.0151432774149316e-06 + hidden angularVelocity_0 7.400626743357978e-05 0.002327912135507144 -1.3299491844686045e-18 + translation -6.52386 -1.44172 0.46070752315447433 + rotation 0.00048045640364142506 0.030233731683355424 -0.9995427407720706 0.031794666209612875 + name "heron(3)" +} +Heron { + hidden linearVelocity_0 6.569495885609102e-40 -1.6111318075786925e-39 3.2995540951991776e-07 + hidden angularVelocity_0 -2.8864401058822247e-06 -5.9032846432403795e-05 -2.4951642163401363e-20 + translation -6.432764992739735 1.126054508316503 0.46070790263066325 + rotation -2.9648308687466188e-05 -0.001213445947895377 -0.9999992633346834 0.04885661841190292 + name "heron(1)" +} +Heron { + hidden linearVelocity_0 0 0 -9.84075373541886e-07 + hidden angularVelocity_0 -6.412674563313873e-05 -0.0023487113917357583 -7.440245815017312e-19 + translation -6.32039 2.49159 0.4607075538980211 + rotation -0.00040473384668264804 -0.029653153639982166 -0.9995601666081523 0.027308176523216297 + name "heron(2)" +} From 6d39e186e4f694851e203e4701860ff32f3c4d58 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Thu, 8 Aug 2024 16:23:17 +0300 Subject: [PATCH 20/40] heron.md changed --- projects/robots/clearpath/heron/protos/docs/heron.md | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/docs/heron.md b/projects/robots/clearpath/heron/protos/docs/heron.md index cb4a4f25c64..425e22eb3ef 100644 --- a/projects/robots/clearpath/heron/protos/docs/heron.md +++ b/projects/robots/clearpath/heron/protos/docs/heron.md @@ -21,7 +21,6 @@ Heron { SFString controller "heron_usv_controller" MFString controllerArgs [] SFBool synchronization TRUE - SFColor color 0.8 0.5 0.1 MFNode bodySlot [] } ``` @@ -34,6 +33,12 @@ Heron { You will find the following sample in this folder: "[WEBOTS\_HOME/projects/robots/clearpath/heron/worlds]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds)". -#### [heron\ocean.wbt]({{ url.github_tree }}/projects/robots/clearpath/moose/worlds/heron\ocean.wbt) +Ocean + +#### [heron\ocean.wbt]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds/ocean.wbt) + +![ocean.png](images/heron/ocean.jpg) This simulation shows a basicly usv. + +#### [heron\swarm.wbt]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds/swarm.wbt) ![swarm.png](images/heron/swarm.jpg) This simulation shows a basicly swarm robotics. From b2b4dcff937eca0a40ea845995cc942c3bbf3bd8 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Thu, 8 Aug 2024 16:45:05 +0300 Subject: [PATCH 21/40] update .wbt --- projects/robots/clearpath/heron/worlds/.ocean.wbproj | 2 +- projects/robots/clearpath/heron/worlds/.swarm.wbproj | 2 +- projects/robots/clearpath/heron/worlds/ocean.wbt | 8 ++++---- projects/robots/clearpath/heron/worlds/swarm.wbt | 8 ++++---- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/projects/robots/clearpath/heron/worlds/.ocean.wbproj b/projects/robots/clearpath/heron/worlds/.ocean.wbproj index d2022461bf0..55caff450e0 100644 --- a/projects/robots/clearpath/heron/worlds/.ocean.wbproj +++ b/projects/robots/clearpath/heron/worlds/.ocean.wbproj @@ -1,4 +1,4 @@ -Webots Project File version R2023a +Webots Project File version R2024a perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200 diff --git a/projects/robots/clearpath/heron/worlds/.swarm.wbproj b/projects/robots/clearpath/heron/worlds/.swarm.wbproj index d2022461bf0..55caff450e0 100644 --- a/projects/robots/clearpath/heron/worlds/.swarm.wbproj +++ b/projects/robots/clearpath/heron/worlds/.swarm.wbproj @@ -1,4 +1,4 @@ -Webots Project File version R2023a +Webots Project File version R2024a perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200 diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt index fefa77044a1..ff8033a2018 100644 --- a/projects/robots/clearpath/heron/worlds/ocean.wbt +++ b/projects/robots/clearpath/heron/worlds/ocean.wbt @@ -1,8 +1,8 @@ -#VRML_SIM R2023a utf8 +#VRML_SIM R2024a utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/obstacles/protos/OilBarrel.proto" EXTERNPROTO "../protos/Heron.proto" WorldInfo { diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index f93eedbe800..cbf5a0b040b 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -1,8 +1,8 @@ -#VRML_SIM R2023a utf8 +#VRML_SIM R2024a utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/obstacles/protos/OilBarrel.proto" EXTERNPROTO "../protos/Heron.proto" WorldInfo { From b84139fb476e3c163dfeb62fe3bd4206ff73de67 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Wed, 25 Sep 2024 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- - - - - - - - - - - - - - - diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index 498a0506b03..0539551ef88 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -158,57 +158,15 @@ PROTO Heron [ viscousResistanceTorqueCoefficient 0.1 } ] - boundingObject Group { - children [ - Transform { - translation 0 -0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0.134 0.35 - children [ - Cylinder { - height 0.35 - radius 0.005 - } - ] - } - Transform { - translation 0 0 0.04 - children [ - Box { - size 0.75 0.8 0.1 - } - ] - } - Transform { - translation -1.42746e-07 -0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - Transform { - translation -1.42746e-07 0.37 -0.14 - rotation 0 1 0 -1.5707953071795862 - children [ - Capsule { - height 1.2 - radius 0.1 - subdivision 16 - } - ] - } - ] + boundingObject Transform { + scale 0.1 0.1 0.1 + children [ + Mesh { + url [ + "../obj/heron_collision.stl" + ] + } + ] } physics Physics { density 400 diff --git a/projects/robots/clearpath/heron/worlds/.ocean.wbproj b/projects/robots/clearpath/heron/worlds/.ocean.wbproj deleted file mode 100644 index 55caff450e0..00000000000 --- a/projects/robots/clearpath/heron/worlds/.ocean.wbproj +++ /dev/null @@ -1,9 +0,0 @@ -Webots Project File version R2024a -perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000 -simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 -sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200 -maximizedDockId: -1 -centralWidgetVisible: 1 -orthographicViewHeight: 1 -textFiles: -1 -consoles: Console:All:All From aba20d8207647fdf18deb4ba87822ad318470b18 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Wed, 25 Sep 2024 23:37:22 +0300 Subject: [PATCH 23/40] ocean.wbproj update --- projects/robots/clearpath/heron/worlds/.ocean.wbproj | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100644 projects/robots/clearpath/heron/worlds/.ocean.wbproj diff --git a/projects/robots/clearpath/heron/worlds/.ocean.wbproj b/projects/robots/clearpath/heron/worlds/.ocean.wbproj new file mode 100644 index 00000000000..c8658dcccd3 --- /dev/null +++ b/projects/robots/clearpath/heron/worlds/.ocean.wbproj @@ -0,0 +1,9 @@ +Webots Project File version R2024a +perspectives: 000000ff00000000fd00000002000000010000011c00000313fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000003130000004100ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000006620000031300000001000000020000000100000008fc00000000 +simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100 +sceneTreePerspectives: 000000ff000000010000000300000201000000d6000000000100000002010000000200 +maximizedDockId: -1 +centralWidgetVisible: 1 +orthographicViewHeight: 1 +textFiles: -1 +consoles: Console:All:All From 5794f2cebaf4736b65def44969027db83b27f378 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Fri, 27 Sep 2024 21:51:12 +0300 Subject: [PATCH 24/40] heron.md update --- projects/robots/clearpath/heron/protos/docs/heron.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/docs/heron.md b/projects/robots/clearpath/heron/protos/docs/heron.md index 425e22eb3ef..a7466545d7d 100644 --- a/projects/robots/clearpath/heron/protos/docs/heron.md +++ b/projects/robots/clearpath/heron/protos/docs/heron.md @@ -2,8 +2,8 @@ The [clearpath's Heron USV](https://robots.ros.org/clearpath-heron-usv/) is a US ### Motors - There are 2 engines, engine name ```left_motor```and ```right_motor``. - You can add new Camera, GPS or other sensors you want under ``body_slot```. +There are 2 motor, motor name ```left_motor```and ```right_motor``. +You can add new Camera, GPS or other sensors you want under ```body_slot```. ### Movie Presentation From d6191a44fec98126c4d1bc1483d576beb49814bf Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Fri, 27 Sep 2024 22:06:35 +0300 Subject: [PATCH 25/40] Update heron.md --- projects/robots/clearpath/heron/protos/docs/heron.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/projects/robots/clearpath/heron/protos/docs/heron.md b/projects/robots/clearpath/heron/protos/docs/heron.md index a7466545d7d..f686f08d19b 100644 --- a/projects/robots/clearpath/heron/protos/docs/heron.md +++ b/projects/robots/clearpath/heron/protos/docs/heron.md @@ -2,7 +2,7 @@ The [clearpath's Heron USV](https://robots.ros.org/clearpath-heron-usv/) is a US ### Motors -There are 2 motor, motor name ```left_motor```and ```right_motor``. +There are 2 motor, motor name ```left_motor```and ```right_motor```. You can add new Camera, GPS or other sensors you want under ```body_slot```. ### Movie Presentation From 7745d18d2d426607e564b4e054d8c0f19e80b7ba Mon Sep 17 00:00:00 2001 From: Olivier Michel Date: Sun, 29 Sep 2024 22:33:34 +0200 Subject: [PATCH 26/40] Update projects/robots/clearpath/heron/protos/docs/heron.md --- projects/robots/clearpath/heron/protos/docs/heron.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/docs/heron.md b/projects/robots/clearpath/heron/protos/docs/heron.md index f686f08d19b..2e2d5be52d0 100644 --- a/projects/robots/clearpath/heron/protos/docs/heron.md +++ b/projects/robots/clearpath/heron/protos/docs/heron.md @@ -2,8 +2,8 @@ The [clearpath's Heron USV](https://robots.ros.org/clearpath-heron-usv/) is a US ### Motors -There are 2 motor, motor name ```left_motor```and ```right_motor```. -You can add new Camera, GPS or other sensors you want under ```body_slot```. +There are 2 motor, motor name `left_motor`and `right_motor`. +You can add new Camera, GPS or other sensors you want under `body_slot`. ### Movie Presentation From 63da1185ef06ecb070c16d8101605e8a973414ed Mon Sep 17 00:00:00 2001 From: Olivier Michel Date: Sun, 29 Sep 2024 22:33:42 +0200 Subject: [PATCH 27/40] Update projects/robots/clearpath/heron/protos/docs/heron.md --- projects/robots/clearpath/heron/protos/docs/heron.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/projects/robots/clearpath/heron/protos/docs/heron.md b/projects/robots/clearpath/heron/protos/docs/heron.md index 2e2d5be52d0..b5dcce770ef 100644 --- a/projects/robots/clearpath/heron/protos/docs/heron.md +++ b/projects/robots/clearpath/heron/protos/docs/heron.md @@ -13,7 +13,7 @@ You can add new Camera, GPS or other sensors you want under `body_slot`. Derived from [Robot](https://cyberbotics.com/doc/reference/robot). -``` +```js Heron { SFVec3f translation 0 0 0 SFRotation rotation 0 1 0 1.5708 From 75d5d91912a7b176b4939c02272aa7343b5a4176 Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Sat, 5 Oct 2024 20:23:16 +0000 Subject: [PATCH 28/40] format changed --- .../robots/clearpath/heron/protos/Heron.proto | 276 +++++++++--------- 1 file changed, 138 insertions(+), 138 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index 0539551ef88..578fd50af89 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -10,13 +10,13 @@ PROTO Heron [ field SFVec3f translation 0 0 0.0 # Is `Pose.translation`. - field SFRotation rotation 0 0 1 0 # Is `Pose.rotation`. - field SFString name "heron" # Is `Solid.name`. - field SFString controller "heron_usv_controller" # Is `Robot.controller`. - field MFString controllerArgs [] # Is `Robot.controllerArgs`. - field SFString window "" # Is `Robot.window`. - field SFBool synchronization TRUE # Is `Robot.synchronization`. - field MFNode bodySlot [] # Extends the robot with new nodes in the body slot. + field SFRotation rotation 0 0 1 0 # Is `Pose.rotation`. + field SFString name "heron" # Is `Solid.name`. + field SFString controller "heron_usv_controller" # Is `Robot.controller`. + field MFString controllerArgs [] # Is `Robot.controllerArgs`. + field SFString window "" # Is `Robot.window`. + field SFBool synchronization TRUE # Is `Robot.synchronization`. + field MFNode bodySlot [] # Extends the robot with new nodes in the body slot. ] { Robot { @@ -28,137 +28,137 @@ PROTO Heron [ controllerArgs IS controllerArgs window IS window synchronization IS synchronization - children [ - DEF BODY_SLOT Group { - children IS bodySlot - } - Transform { - translation -0.185 0 0 - rotation 0 0 1 1.01503e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.964706 0.827451 0.176471 - metalness 0 - } - geometry Mesh { - url [ - "../obj/plain-rear-plate.stl" - ] - } - } - ] - } - Transform { - translation 0 -0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/right_panel.stl" - ] - } - } - ] - } - Transform { - translation 0 0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 + children [ + DEF BODY_SLOT Group { + children IS bodySlot + } + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 + } + geometry Mesh { + url [ + "../obj/plain-rear-plate.stl" + ] + } } - geometry Mesh { - url [ - "../obj/left_panel.stl" - ] + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/right_panel.stl" + ] + } } - } - ] - } - Transform { - translation -0.73 0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "left_motor" - maxVelocity 30 + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../obj/left_panel.stl" + ] + } } - fastHelix Solid { - rotation 0 1 0 1.57 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.57 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } } - geometry Cylinder { - height 0.1 - radius 0.05 + ] + } + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } } - } - ] + ] + } } - } - ] - } - Transform { - translation -0.73 -0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "right_motor" - maxVelocity 30 + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 } - fastHelix Solid { - rotation 0 1 0 1.5708 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] + texture ImageTexture { + } + textureTransform TextureTransform { } } - ] - } - DEF HERON Shape { - appearance Appearance { - material Material { - diffuseColor 0.239216 0.219608 0.27451 - } - texture ImageTexture { - } - textureTransform TextureTransform { + geometry Mesh { + url [ + "../obj/heron_base.stl" + ] } } - geometry Mesh { - url [ - "../obj/heron_base.stl" - ] + ] + name "heron_usv" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 } - } - ] - name "heron_usv" - immersionProperties [ - ImmersionProperties { - fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 - } - ] - boundingObject Transform { + ] + boundingObject Transform { scale 0.1 0.1 0.1 children [ Mesh { @@ -167,18 +167,18 @@ PROTO Heron [ ] } ] - } - physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] - damping Damping { - linear 0.5 - angular 0.5 } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + linear 0.5 + angular 0.5 + } + } + linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726 + angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19 } - linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726 - angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19 -} } From 2c617f2024c869d63a7956712a6a26c7fac607d7 Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Sat, 5 Oct 2024 20:28:08 +0000 Subject: [PATCH 29/40] lidar plate rear removed --- .../clearpath/heron/obj/lidar-rear-plate.stl | Bin 104684 -> 0 bytes .../robots/clearpath/heron/protos/Heron.proto | 276 +++++++++--------- 2 files changed, 138 insertions(+), 138 deletions(-) delete mode 100644 projects/robots/clearpath/heron/obj/lidar-rear-plate.stl diff --git a/projects/robots/clearpath/heron/obj/lidar-rear-plate.stl b/projects/robots/clearpath/heron/obj/lidar-rear-plate.stl deleted file mode 100644 index 89a5875ef9fe6894776545f2b2684e23c5a0bf2f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 104684 zcma)_d)%dCz5nm9+YUphwi$;!7=uw5G)2~0W@H?PahRM{OeSaBAsWLxG;HxWR=Ywm zJjTozGf0K3wfgBGHc1CNC5NrBBP5k-;&*?p>;By9eXaX`W_$ja`M%co^SQp)`Fwrv z(@s9&*ck)cOqlTD2|K)hVAqq5KH=ok&N%f`?;qIzQ=dHb{R30C+h&`AGmky}(*t|& z@zF{94@^DzjFV0uSkB-3SI+P^*t+1wwK`W^zj^13nbSU!%T36gE3ebJUt0r!Qqt!*KI7b({-T#*KSy8S=eA1-VE^kW&UVWXN89d5}R={=3Sf z-bSe*BbP@gbB0Bf>Vngkrh^(Xit;aGHP|&zF{!Js{{832Z*{w{RfaS|Ie#phVGD!Z zBCk5qINu6cITC(1I@&5yJ`$r@wc%2eMm0wHBYEUlQ9}k}n8u0>qV&7+uo^3B$SCBu z#|Wq*eKibf7_Qq*HC9D!2w}NjDe|g0Vme9<8M(a?N-$4($skIyB!eYl$?L6%&?h zmc4e&DLG?lg+Y|%Xyf6TAMJi^+p(doQ)5{+(pn<4Sc;WV3X3Sq(S~BAn2AA+W!YdJ zW|>m0)b}%pvTPe$H_ga3WiDEl4c1E8SlV=~j8a%cS&laHl((F6YAhG!5yoA~S(c+) z&RwGvR-SJq%5t=k$Ef8Jq{gzsRV(PV!93MDBi0h56c$mIqm8_$ZYgK=Ck=Y%5U$y5 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zj*%Heja=KQsbj?15>w7L!5R6;xl0WhoGqv6AcH9XUajrakYU;LcG-#LQO6K!+H@}Pzc%U*3GuZmbHETXtpPxFcz?i$c`%Ake}?rV(9AWH2N$Gn5B4WQ<%(obu43P%Bw`(pXW$dOUL7C4(r9SIVpOJW8#W8Zy{6 z(^!!~RJz)ZoY+37A!For?zXM@j@!KY73X@=? zV+iFK#`OpDiW-LN9yP9t#L!yeiFS=R5~@s1Y!;)xnEB&UqxZH8YDgnf0Q z6q0xDqmANiMqpS&hGhR98Gaqcu!z#{X*)08X7~" # Is `Robot.window`. - field SFBool synchronization TRUE # Is `Robot.synchronization`. - field MFNode bodySlot [] # Extends the robot with new nodes in the body slot. + field SFRotation rotation 0 0 1 0 # Is `Pose.rotation`. + field SFString name "heron" # Is `Solid.name`. + field SFString controller "heron_usv_controller" # Is `Robot.controller`. + field MFString controllerArgs [] # Is `Robot.controllerArgs`. + field SFString window "" # Is `Robot.window`. + field SFBool synchronization TRUE # Is `Robot.synchronization`. + field MFNode bodySlot [] # Extends the robot with new nodes in the body slot. ] { Robot { @@ -28,137 +28,137 @@ PROTO Heron [ controllerArgs IS controllerArgs window IS window synchronization IS synchronization - children [ - DEF BODY_SLOT Group { - children IS bodySlot - } - Transform { - translation -0.185 0 0 - rotation 0 0 1 1.01503e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.964706 0.827451 0.176471 - metalness 0 - } - geometry Mesh { - url [ - "../obj/plain-rear-plate.stl" - ] - } + children [ + DEF BODY_SLOT Group { + children IS bodySlot + } + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 } - ] - } - Transform { - translation 0 -0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/right_panel.stl" - ] - } + geometry Mesh { + url [ + "../obj/plain-rear-plate.stl" + ] } - ] - } - Transform { - translation 0 0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/left_panel.stl" - ] - } + } + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 } - ] - } - Transform { - translation -0.73 0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "left_motor" - maxVelocity 30 - } - fastHelix Solid { - rotation 0 1 0 1.57 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } + geometry Mesh { + url [ + "../obj/right_panel.stl" + ] } - ] - } - Transform { - translation -0.73 -0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "right_motor" - maxVelocity 30 - } - fastHelix Solid { - rotation 0 1 0 1.5708 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] - } + } + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 } - ] - } - DEF HERON Shape { - appearance Appearance { - material Material { - diffuseColor 0.239216 0.219608 0.27451 + geometry Mesh { + url [ + "../obj/left_panel.stl" + ] + } + } + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.57 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] } - texture ImageTexture { + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 } - textureTransform TextureTransform { + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] } } - geometry Mesh { - url [ - "../obj/heron_base.stl" - ] + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 + } + texture ImageTexture { + } + textureTransform TextureTransform { } } - ] - name "heron_usv" - immersionProperties [ - ImmersionProperties { - fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 + geometry Mesh { + url [ + "../obj/heron_base.stl" + ] } - ] - boundingObject Transform { + } + ] + name "heron_usv" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 + } + ] + boundingObject Transform { scale 0.1 0.1 0.1 children [ Mesh { @@ -167,18 +167,18 @@ PROTO Heron [ ] } ] + } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 + ] + damping Damping { + linear 0.5 + angular 0.5 } - physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] - damping Damping { - linear 0.5 - angular 0.5 - } - } - linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726 - angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19 } + linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726 + angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19 +} } From 84e8f15486ca665b046d1e82667b8d797cf1172d Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Sat, 5 Oct 2024 20:30:09 +0000 Subject: [PATCH 30/40] hidden removed --- projects/robots/clearpath/heron/protos/Heron.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index 0539551ef88..13fce3083a6 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -178,7 +178,7 @@ PROTO Heron [ angular 0.5 } } - linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726 - angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19 + linearVelocity 0.0 0.0 0.0 + angularVelocity 0.0 0.0 0.0 } } From abd8d62bb34c4a37f16fd5c9d726e21c9aa82a3e Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Sat, 5 Oct 2024 21:15:00 +0000 Subject: [PATCH 31/40] image update --- .../clearpath/heron/protos/icons/Heron.png | Bin 4021 -> 480951 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/icons/Heron.png b/projects/robots/clearpath/heron/protos/icons/Heron.png 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zKv0TOTefLl^Cba(e!6ts5Y}yGN+9^#;cygZq@Ku$zR^X$4PDOOEkxEn=_pea4VOq05MH^u z>ar~@LDtEOcnB-H6+7>^LU_LEPZ_QZtGVT{?UfxgQZOBW-?gWWQ5WaJ&49S&pe}B1 z2v_hPSp??x0{S(7{dbiDG@%htL`bIP(R7cI4W|N9SXfxmzaC*y%9~I6#8Ym@vE(6r zQnH}&!Gsy^?In-lTM#DBP?n=TZ)^EZOMg7z%=LF5I8~`>1Xl-VZ|i_!Ti88R)L~^1fcw2)UgEt z+@@mu<#5$c1lB68;6P3k+(iP4(NEt0Eegf!sY0vM!Kk91ll4?^YvJ3lacvN-k$upC l7HDSp%C6vl(5^BB;@tV`nC1q<(p3)!?yBpmm8w{W{RheQQ`rCj From 01437d80b460c09ece83a00e74e79f8b39b3e6c5 Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Sat, 5 Oct 2024 21:19:26 +0000 Subject: [PATCH 32/40] changed proto format and obj folder new name is stl --- .../robots/clearpath/heron/protos/Heron.proto | 274 +++++++++--------- .../heron/{obj => stl}/heron_base.stl | Bin .../heron/{obj => stl}/heron_collision.stl | Bin .../heron/{obj => stl}/left_panel.stl | Bin .../heron/{obj => stl}/plain-rear-plate.stl | Bin .../heron/{obj => stl}/right_panel.stl | Bin 6 files changed, 137 insertions(+), 137 deletions(-) rename projects/robots/clearpath/heron/{obj => stl}/heron_base.stl (100%) rename projects/robots/clearpath/heron/{obj => stl}/heron_collision.stl (100%) rename projects/robots/clearpath/heron/{obj => stl}/left_panel.stl (100%) rename projects/robots/clearpath/heron/{obj => stl}/plain-rear-plate.stl (100%) rename projects/robots/clearpath/heron/{obj => stl}/right_panel.stl (100%) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index 13fce3083a6..74052a5585f 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -28,157 +28,157 @@ PROTO Heron [ controllerArgs IS controllerArgs window IS window synchronization IS synchronization - children [ - DEF BODY_SLOT Group { - children IS bodySlot - } - Transform { - translation -0.185 0 0 - rotation 0 0 1 1.01503e-06 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.964706 0.827451 0.176471 - metalness 0 - } - geometry Mesh { - url [ - "../obj/plain-rear-plate.stl" - ] - } - } - ] - } - Transform { - translation 0 -0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 - } - geometry Mesh { - url [ - "../obj/right_panel.stl" - ] - } - } - ] - } - Transform { - translation 0 0.35 0.05 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.960784 0.760784 0.0666667 - metalness 0 + children [ + DEF BODY_SLOT Group { + children IS bodySlot + } + Transform { + translation -0.185 0 0 + rotation 0 0 1 1.01503e-06 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.964706 0.827451 0.176471 + metalness 0 + } + geometry Mesh { + url [ + "../stl/plain-rear-plate.stl" + ] + } } - geometry Mesh { - url [ - "../obj/left_panel.stl" - ] + ] + } + Transform { + translation 0 -0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../stl/right_panel.stl" + ] + } } - } - ] - } - Transform { - translation -0.73 0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "left_motor" - maxVelocity 30 + ] + } + Transform { + translation 0 0.35 0.05 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.960784 0.760784 0.0666667 + metalness 0 + } + geometry Mesh { + url [ + "../stl/left_panel.stl" + ] + } } - fastHelix Solid { - rotation 0 1 0 1.57 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 + ] + } + Transform { + translation -0.73 0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "left_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.57 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } } - geometry Cylinder { - height 0.1 - radius 0.05 + ] + } + } + ] + } + Transform { + translation -0.73 -0.38 -0.14 + children [ + Propeller { + device RotationalMotor { + name "right_motor" + maxVelocity 30 + } + fastHelix Solid { + rotation 0 1 0 1.5708 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.368627 0.360784 0.392157 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } } - } - ] + ] + } } - } - ] - } - Transform { - translation -0.73 -0.38 -0.14 - children [ - Propeller { - device RotationalMotor { - name "right_motor" - maxVelocity 30 + ] + } + DEF HERON Shape { + appearance Appearance { + material Material { + diffuseColor 0.239216 0.219608 0.27451 } - fastHelix Solid { - rotation 0 1 0 1.5708 - children [ - Shape { - appearance PBRAppearance { - baseColor 0.368627 0.360784 0.392157 - } - geometry Cylinder { - height 0.1 - radius 0.05 - } - } - ] + texture ImageTexture { + } + textureTransform TextureTransform { } } - ] - } - DEF HERON Shape { - appearance Appearance { - material Material { - diffuseColor 0.239216 0.219608 0.27451 - } - texture ImageTexture { - } - textureTransform TextureTransform { + geometry Mesh { + url [ + "../stl/heron_base.stl" + ] } } - geometry Mesh { - url [ - "../obj/heron_base.stl" - ] + ] + name "heron_usv" + immersionProperties [ + ImmersionProperties { + fluidName "fluid" + dragForceCoefficients 0.01 0 0 + dragTorqueCoefficients 0.05 0 0 + viscousResistanceForceCoefficient 400 + viscousResistanceTorqueCoefficient 0.1 } + ] + boundingObject Transform { + scale 0.1 0.1 0.1 + children [ + Mesh { + url [ + "../stl/heron_collision.stl" + ] + } + ] } - ] - name "heron_usv" - immersionProperties [ - ImmersionProperties { - fluidName "fluid" - dragForceCoefficients 0.01 0 0 - dragTorqueCoefficients 0.05 0 0 - viscousResistanceForceCoefficient 400 - viscousResistanceTorqueCoefficient 0.1 - } - ] - boundingObject Transform { - scale 0.1 0.1 0.1 - children [ - Mesh { - url [ - "../obj/heron_collision.stl" - ] - } + physics Physics { + density 400 + centerOfMass [ + 0 0 0 ] - } - physics Physics { - density 400 - centerOfMass [ - 0 0 0 - ] - damping Damping { - linear 0.5 - angular 0.5 + damping Damping { + linear 0.5 + angular 0.5 + } } + linearVelocity 0.0 0.0 0.0 + angularVelocity 0.0 0.0 0.0 } - linearVelocity 0.0 0.0 0.0 - angularVelocity 0.0 0.0 0.0 -} } diff --git a/projects/robots/clearpath/heron/obj/heron_base.stl b/projects/robots/clearpath/heron/stl/heron_base.stl similarity index 100% rename from projects/robots/clearpath/heron/obj/heron_base.stl rename to projects/robots/clearpath/heron/stl/heron_base.stl diff --git a/projects/robots/clearpath/heron/obj/heron_collision.stl b/projects/robots/clearpath/heron/stl/heron_collision.stl similarity index 100% rename from projects/robots/clearpath/heron/obj/heron_collision.stl rename to projects/robots/clearpath/heron/stl/heron_collision.stl diff --git a/projects/robots/clearpath/heron/obj/left_panel.stl b/projects/robots/clearpath/heron/stl/left_panel.stl similarity index 100% rename from projects/robots/clearpath/heron/obj/left_panel.stl rename to projects/robots/clearpath/heron/stl/left_panel.stl diff --git a/projects/robots/clearpath/heron/obj/plain-rear-plate.stl b/projects/robots/clearpath/heron/stl/plain-rear-plate.stl similarity index 100% rename from projects/robots/clearpath/heron/obj/plain-rear-plate.stl rename to projects/robots/clearpath/heron/stl/plain-rear-plate.stl diff --git a/projects/robots/clearpath/heron/obj/right_panel.stl b/projects/robots/clearpath/heron/stl/right_panel.stl similarity index 100% rename from projects/robots/clearpath/heron/obj/right_panel.stl rename to projects/robots/clearpath/heron/stl/right_panel.stl From a2e0feb540ea22565a40a8eb86029f7b91bf9325 Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Sat, 5 Oct 2024 22:09:01 +0000 Subject: [PATCH 33/40] image size changed --- .../clearpath/heron/protos/icons/Heron.png | Bin 480951 -> 3338 bytes 1 file changed, 0 insertions(+), 0 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znPBF4^oARGXI6>Ti3Xw}_a(&!PO$pCiane!crskIXhn#GSqM^={n@o|JaG_I_~P?2F)jQMG1R=rpnYFcSrvCcUFW#rLh#`jk+{`LsNB(N{MkJ7!3MUQi(_!tB z4GH_XVfaca#Q|#hJhkv^r|eoJj_y2Idbd~#G%ylOA`&cpjX~1gNd7fO zG-&cX-qp}lj;)ltd;Ya{0LWH~TB>8-REat}spas~qAWEp+9m;e#6nYaiu*gdGTkF3 z{Uws5w2bI@+Cad}$0Xv{SSjYC2C^jbIz4G(#16J~ificdpBe&BZ&SG^>ZmO!`nMsF zSWpgR|EvQJt)l&l_|K}h3s(E4z-`n~D-kd%s_XRe z$?CBuwPI`~zonW`6Cr#`lKb<}=ayCd7y`S}+6PXuPO$oKj!G74=@;`v+z;9~?vz0^u1fl>FjHDELf^H_+*6lBYPizRXK3iX`W+yEM(^$9PjP%^HkiqXUIIR zlCy4I9@D>2fjrqP8Oi@NOM${){TU+A9l36l@tihCR zVEE}r$~mhllt_-($_O`?J)9Sv6};|d30ubXRd?8b4K*}wU-e`;F;;)omWwF!?DX_= z?ZejI%(ZXiWs8WN9>2yP%YSQ(!k>K@R+udQa$sDnZf%bXJk%a!z$TGSAKEjEpb^E`WFlEj)-B<2^FwMwG;~J2N|UD=Ok4rLqyj zPO%B`Z_RP%w95e2NDVK9T!-c#_;ZT~E`EZ(e%*d-cCB z@DG@alr7_JrTImj6yB?->|$0h&w vRo8W%RrHI}(53x1|KH*NoY;#R_6a{M5}?j3tg!mx`6DZ-BvCGA?DziwIE5)0 From 11766f200ec47a30f4324ca5bb12834ad647a2c7 Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Sat, 5 Oct 2024 22:11:30 +0000 Subject: [PATCH 34/40] hidden remove --- .../robots/clearpath/heron/worlds/ocean.wbt | 20 +++++++------- .../robots/clearpath/heron/worlds/swarm.wbt | 26 +++++++++---------- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt index ff8033a2018..ef7cff5fd21 100644 --- a/projects/robots/clearpath/heron/worlds/ocean.wbt +++ b/projects/robots/clearpath/heron/worlds/ocean.wbt @@ -38,14 +38,14 @@ DEF WATER Fluid { locked TRUE } Heron { - hidden linearVelocity_0 7.738948701030327e-55 -4.450876199231589e-55 2.819335278757325e-06 - hidden angularVelocity_0 -0.0010746087365596433 -0.0018872241483721332 -8.299049855187801e-20 + linearVelocity_0 7.738948701030327e-55 -4.450876199231589e-55 2.819335278757325e-06 + angularVelocity_0 -0.0010746087365596433 -0.0018872241483721332 -8.299049855187801e-20 translation -6.6784157308512615 -0.49028637658352825 0.46070759689397855 rotation 0.0001714429217129001 0.0006475645044607216 -0.9999997756337433 0.5176249841363672 } OilBarrel { - hidden linearVelocity_0 4.3841001267829204e-92 1.3799131852722908e-91 2.7336586825455718e-08 - hidden angularVelocity_0 0.00017175073340307308 -0.000665095095048527 -3.525679610207082e-19 + linearVelocity_0 4.3841001267829204e-92 1.3799131852722908e-91 2.7336586825455718e-08 + angularVelocity_0 0.00017175073340307308 -0.000665095095048527 -3.525679610207082e-19 translation -5.769041604986175 5.7137363726152754 0.5595498936504114 rotation -0.17000006110990545 -0.9047921649529347 0.3904498911030834 1.7528146915175131 physics Physics { @@ -62,8 +62,8 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -1.8068802905954023e-86 2.8256866587785812e-86 -3.103144703687781e-08 - hidden angularVelocity_0 0.0011199040548388395 -0.00020775155666699705 -2.9874548292248897e-19 + linearVelocity_0 -1.8068802905954023e-86 2.8256866587785812e-86 -3.103144703687781e-08 + angularVelocity_0 0.0011199040548388395 -0.00020775155666699705 -2.9874548292248897e-19 translation -10.052079249302796 2.4814946123187727 0.5595498875102384 rotation -0.2751145870612611 -0.6601107052655576 0.6989748355841717 -2.8437234726044736 name "oil barrel(1)" @@ -81,8 +81,8 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -5.212826231745309e-88 -1.8248345492965266e-87 5.223797835316658e-17 - hidden angularVelocity_0 -1.0432866981083728e-88 -1.6729326937581797e-88 9.860375637312023e-89 + linearVelocity_0 -5.212826231745309e-88 -1.8248345492965266e-87 5.223797835316658e-17 + angularVelocity_0 -1.0432866981083728e-88 -1.6729326937581797e-88 9.860375637312023e-89 translation -9.806804324970415 -3.2705951440882433 0.5595498919704249 rotation 0.9914248557443196 0.04559709558681102 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" @@ -100,8 +100,8 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 2.5943440363533626e-87 1.1910877956457172e-85 -8.529020641187841e-08 - hidden angularVelocity_0 -0.00025822010093208856 -0.0008147286344160733 1.19113218552358e-19 + linearVelocity_0 2.5943440363533626e-87 1.1910877956457172e-85 -8.529020641187841e-08 + angularVelocity_0 -0.00025822010093208856 -0.0008147286344160733 1.19113218552358e-19 translation -9.046348837161165 3.2463636605243056 0.5595498964941401 rotation 0.737839555282382 0.14393292832237511 -0.6594513650036995 -2.4506597166551938 name "oil barrel(3)" diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index cbf5a0b040b..f2782f50837 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -38,7 +38,7 @@ DEF WATER Fluid { locked TRUE } OilBarrel { - hidden linearVelocity_0 0 0 1.8552471457039977e-15 + linearVelocity_0 0 0 1.8552471457039977e-15 translation -5.769041604986175 5.7137363726152754 0.5595498919704249 rotation -0.16995723822816233 -0.9045642485178795 0.39099623716493703 1.751439322141487 physics Physics { @@ -55,7 +55,7 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 0 0 7.783035268975111e-16 + linearVelocity_0 0 0 7.783035268975111e-16 translation -10.052079249302796 2.4814946123187727 0.5595498919704248 rotation -0.2750758106273439 -0.660017664982181 0.6990779501022608 -2.8436801772670055 name "oil barrel(1)" @@ -73,7 +73,7 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 0 0 1.4387456326881762e-15 + linearVelocity_0 0 0 1.4387456326881762e-15 translation -9.806804324970415 -3.2705951440882433 0.5595498919704248 rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" @@ -91,8 +91,8 @@ OilBarrel { ] } OilBarrel { - hidden linearVelocity_0 -1.3776584555502088e-101 1.811777718183081e-101 -2.7052356205586808e-08 - hidden angularVelocity_0 0.000498525820226693 0.0010315029799719921 3.1009352794512243e-19 + linearVelocity_0 -1.3776584555502088e-101 1.811777718183081e-101 -2.7052356205586808e-08 + angularVelocity_0 0.000498525820226693 0.0010315029799719921 3.1009352794512243e-19 translation -9.210530377900385 3.4633481997220334 0.5595498864740154 rotation 0.7706881417390529 0.22496315694279187 -0.5961806489656792 -2.154322256155228 name "oil barrel(3)" @@ -110,28 +110,28 @@ OilBarrel { ] } Heron { - hidden linearVelocity_0 -9.519433960685579e-37 3.948304381170926e-36 -1.5056277249684206e-06 - hidden angularVelocity_0 -7.239191923238156e-06 -0.00021174756862201745 -1.1106399831068014e-19 + linearVelocity_0 -9.519433960685579e-37 3.948304381170926e-36 -1.5056277249684206e-06 + angularVelocity_0 -7.239191923238156e-06 -0.00021174756862201745 -1.1106399831068014e-19 translation -6.615901389647778 -0.10311821791702494 0.4607076736909942 rotation -4.6247733909052664e-05 -0.002706298153373231 -0.9999963368990169 0.03417465445606993 } Heron { - hidden linearVelocity_0 0 0 -1.0151432774149316e-06 - hidden angularVelocity_0 7.400626743357978e-05 0.002327912135507144 -1.3299491844686045e-18 + linearVelocity_0 0 0 -1.0151432774149316e-06 + angularVelocity_0 7.400626743357978e-05 0.002327912135507144 -1.3299491844686045e-18 translation -6.52386 -1.44172 0.46070752315447433 rotation 0.00048045640364142506 0.030233731683355424 -0.9995427407720706 0.031794666209612875 name "heron(3)" } Heron { - hidden linearVelocity_0 6.569495885609102e-40 -1.6111318075786925e-39 3.2995540951991776e-07 - hidden angularVelocity_0 -2.8864401058822247e-06 -5.9032846432403795e-05 -2.4951642163401363e-20 + linearVelocity_0 6.569495885609102e-40 -1.6111318075786925e-39 3.2995540951991776e-07 + angularVelocity_0 -2.8864401058822247e-06 -5.9032846432403795e-05 -2.4951642163401363e-20 translation -6.432764992739735 1.126054508316503 0.46070790263066325 rotation -2.9648308687466188e-05 -0.001213445947895377 -0.9999992633346834 0.04885661841190292 name "heron(1)" } Heron { - hidden linearVelocity_0 0 0 -9.84075373541886e-07 - hidden angularVelocity_0 -6.412674563313873e-05 -0.0023487113917357583 -7.440245815017312e-19 + linearVelocity_0 0 0 -9.84075373541886e-07 + angularVelocity_0 -6.412674563313873e-05 -0.0023487113917357583 -7.440245815017312e-19 translation -6.32039 2.49159 0.4607075538980211 rotation -0.00040473384668264804 -0.029653153639982166 -0.9995601666081523 0.027308176523216297 name "heron(2)" From 95c3a1e8e0cbae1e897bff3a172b0232e0c97bea Mon Sep 17 00:00:00 2001 From: harunkurtdev <50794236+harunkurtdev@users.noreply.github.com> Date: Thu, 10 Oct 2024 13:13:31 +0000 Subject: [PATCH 35/40] changed linear and angular velocity nae --- .../robots/clearpath/heron/worlds/ocean.wbt | 20 +++++++------- .../robots/clearpath/heron/worlds/swarm.wbt | 26 +++++++++---------- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt index ef7cff5fd21..8c4e897c40d 100644 --- a/projects/robots/clearpath/heron/worlds/ocean.wbt +++ b/projects/robots/clearpath/heron/worlds/ocean.wbt @@ -38,14 +38,14 @@ DEF WATER Fluid { locked TRUE } Heron { - linearVelocity_0 7.738948701030327e-55 -4.450876199231589e-55 2.819335278757325e-06 - angularVelocity_0 -0.0010746087365596433 -0.0018872241483721332 -8.299049855187801e-20 + linearVelocity 7.738948701030327e-55 -4.450876199231589e-55 2.819335278757325e-06 + angularVelocity -0.0010746087365596433 -0.0018872241483721332 -8.299049855187801e-20 translation -6.6784157308512615 -0.49028637658352825 0.46070759689397855 rotation 0.0001714429217129001 0.0006475645044607216 -0.9999997756337433 0.5176249841363672 } OilBarrel { - linearVelocity_0 4.3841001267829204e-92 1.3799131852722908e-91 2.7336586825455718e-08 - angularVelocity_0 0.00017175073340307308 -0.000665095095048527 -3.525679610207082e-19 + linearVelocity 4.3841001267829204e-92 1.3799131852722908e-91 2.7336586825455718e-08 + angularVelocity 0.00017175073340307308 -0.000665095095048527 -3.525679610207082e-19 translation -5.769041604986175 5.7137363726152754 0.5595498936504114 rotation -0.17000006110990545 -0.9047921649529347 0.3904498911030834 1.7528146915175131 physics Physics { @@ -62,8 +62,8 @@ OilBarrel { ] } OilBarrel { - linearVelocity_0 -1.8068802905954023e-86 2.8256866587785812e-86 -3.103144703687781e-08 - angularVelocity_0 0.0011199040548388395 -0.00020775155666699705 -2.9874548292248897e-19 + linearVelocity -1.8068802905954023e-86 2.8256866587785812e-86 -3.103144703687781e-08 + angularVelocity 0.0011199040548388395 -0.00020775155666699705 -2.9874548292248897e-19 translation -10.052079249302796 2.4814946123187727 0.5595498875102384 rotation -0.2751145870612611 -0.6601107052655576 0.6989748355841717 -2.8437234726044736 name "oil barrel(1)" @@ -81,8 +81,8 @@ OilBarrel { ] } OilBarrel { - linearVelocity_0 -5.212826231745309e-88 -1.8248345492965266e-87 5.223797835316658e-17 - angularVelocity_0 -1.0432866981083728e-88 -1.6729326937581797e-88 9.860375637312023e-89 + linearVelocity -5.212826231745309e-88 -1.8248345492965266e-87 5.223797835316658e-17 + angularVelocity -1.0432866981083728e-88 -1.6729326937581797e-88 9.860375637312023e-89 translation -9.806804324970415 -3.2705951440882433 0.5595498919704249 rotation 0.9914248557443196 0.04559709558681102 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" @@ -100,8 +100,8 @@ OilBarrel { ] } OilBarrel { - linearVelocity_0 2.5943440363533626e-87 1.1910877956457172e-85 -8.529020641187841e-08 - angularVelocity_0 -0.00025822010093208856 -0.0008147286344160733 1.19113218552358e-19 + linearVelocity 2.5943440363533626e-87 1.1910877956457172e-85 -8.529020641187841e-08 + angularVelocity -0.00025822010093208856 -0.0008147286344160733 1.19113218552358e-19 translation -9.046348837161165 3.2463636605243056 0.5595498964941401 rotation 0.737839555282382 0.14393292832237511 -0.6594513650036995 -2.4506597166551938 name "oil barrel(3)" diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index f2782f50837..1d42e6234e8 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -38,7 +38,7 @@ DEF WATER Fluid { locked TRUE } OilBarrel { - linearVelocity_0 0 0 1.8552471457039977e-15 + linearVelocity 0 0 1.8552471457039977e-15 translation -5.769041604986175 5.7137363726152754 0.5595498919704249 rotation -0.16995723822816233 -0.9045642485178795 0.39099623716493703 1.751439322141487 physics Physics { @@ -55,7 +55,7 @@ OilBarrel { ] } OilBarrel { - linearVelocity_0 0 0 7.783035268975111e-16 + linearVelocity 0 0 7.783035268975111e-16 translation -10.052079249302796 2.4814946123187727 0.5595498919704248 rotation -0.2750758106273439 -0.660017664982181 0.6990779501022608 -2.8436801772670055 name "oil barrel(1)" @@ -73,7 +73,7 @@ OilBarrel { ] } OilBarrel { - linearVelocity_0 0 0 1.4387456326881762e-15 + linearVelocity 0 0 1.4387456326881762e-15 translation -9.806804324970415 -3.2705951440882433 0.5595498919704248 rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" @@ -91,8 +91,8 @@ OilBarrel { ] } OilBarrel { - linearVelocity_0 -1.3776584555502088e-101 1.811777718183081e-101 -2.7052356205586808e-08 - angularVelocity_0 0.000498525820226693 0.0010315029799719921 3.1009352794512243e-19 + linearVelocity -1.3776584555502088e-101 1.811777718183081e-101 -2.7052356205586808e-08 + angularVelocity 0.000498525820226693 0.0010315029799719921 3.1009352794512243e-19 translation -9.210530377900385 3.4633481997220334 0.5595498864740154 rotation 0.7706881417390529 0.22496315694279187 -0.5961806489656792 -2.154322256155228 name "oil barrel(3)" @@ -110,28 +110,28 @@ OilBarrel { ] } Heron { - linearVelocity_0 -9.519433960685579e-37 3.948304381170926e-36 -1.5056277249684206e-06 - angularVelocity_0 -7.239191923238156e-06 -0.00021174756862201745 -1.1106399831068014e-19 + linearVelocity -9.519433960685579e-37 3.948304381170926e-36 -1.5056277249684206e-06 + angularVelocity -7.239191923238156e-06 -0.00021174756862201745 -1.1106399831068014e-19 translation -6.615901389647778 -0.10311821791702494 0.4607076736909942 rotation -4.6247733909052664e-05 -0.002706298153373231 -0.9999963368990169 0.03417465445606993 } Heron { - linearVelocity_0 0 0 -1.0151432774149316e-06 - angularVelocity_0 7.400626743357978e-05 0.002327912135507144 -1.3299491844686045e-18 + linearVelocity 0 0 -1.0151432774149316e-06 + angularVelocity 7.400626743357978e-05 0.002327912135507144 -1.3299491844686045e-18 translation -6.52386 -1.44172 0.46070752315447433 rotation 0.00048045640364142506 0.030233731683355424 -0.9995427407720706 0.031794666209612875 name "heron(3)" } Heron { - linearVelocity_0 6.569495885609102e-40 -1.6111318075786925e-39 3.2995540951991776e-07 - angularVelocity_0 -2.8864401058822247e-06 -5.9032846432403795e-05 -2.4951642163401363e-20 + linearVelocity 6.569495885609102e-40 -1.6111318075786925e-39 3.2995540951991776e-07 + angularVelocity -2.8864401058822247e-06 -5.9032846432403795e-05 -2.4951642163401363e-20 translation -6.432764992739735 1.126054508316503 0.46070790263066325 rotation -2.9648308687466188e-05 -0.001213445947895377 -0.9999992633346834 0.04885661841190292 name "heron(1)" } Heron { - linearVelocity_0 0 0 -9.84075373541886e-07 - angularVelocity_0 -6.412674563313873e-05 -0.0023487113917357583 -7.440245815017312e-19 + linearVelocity 0 0 -9.84075373541886e-07 + angularVelocity -6.412674563313873e-05 -0.0023487113917357583 -7.440245815017312e-19 translation -6.32039 2.49159 0.4607075538980211 rotation -0.00040473384668264804 -0.029653153639982166 -0.9995601666081523 0.027308176523216297 name "heron(2)" From e557537a9a91035b22d0e3a1dd52f33ff61c2d83 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Fri, 15 Nov 2024 15:07:02 +0300 Subject: [PATCH 36/40] clearpath heron usv changed icon --- .../clearpath/heron/protos/icons/Heron.png | Bin 3338 -> 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z70i;`7=vzu_th$O^xb|P&6LOAa^gfoLoHoY*GL7wKL8fh2t(lV?pYkE#e)`y+Fbcv z9K+h}74n40t3Hw2B*Rrp#e_{<8WUCd@9WYwlyKfU2$Y= zSaW9t?IsugL;|YQU14_qhK?KEA*&l@Je(>%w->z!V;^E-*AsSL2BVa8;4#fh2GD5v zksq>YeliUrXRnV5^4t>ic!_;|>)1!b2Qjg-@*WHQVjMH!8j|J5zyBlJXi!Ub9$=h| z8d`+_tF+fcvg}sAop=14PW8i0+fywI!|K||5|GFnRq03qPdUGoJHT>C@!80dF6``_ zyN#&uH|wBHkg~0s9*#76rgJ6vXGCNN*CWhf{-LsB;m9l{T zbvt~Uyfq7FULRrM;W1b51qC=$-X+dCIn`d(8XH@X=Zi|p|G}+_;-9qBO&yYd?H>^N m{~>2usQ9S%zqt9~55YRuTkh{+;QXJ#zrBx}SCg8m;Kx`cZG From a1e9bf6db0c6fbfd0bfee783d1d76ee6350bd2c3 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Tue, 19 Nov 2024 12:59:41 +0300 Subject: [PATCH 38/40] removed angularVelocity and lineerVelocity --- projects/robots/clearpath/heron/protos/Heron.proto | 2 -- 1 file changed, 2 deletions(-) diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto index 74052a5585f..c297c2fc0ef 100644 --- a/projects/robots/clearpath/heron/protos/Heron.proto +++ b/projects/robots/clearpath/heron/protos/Heron.proto @@ -178,7 +178,5 @@ PROTO Heron [ angular 0.5 } } - linearVelocity 0.0 0.0 0.0 - angularVelocity 0.0 0.0 0.0 } } From de052c600506ce596fd2273ee99910e317479a70 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Tue, 19 Nov 2024 13:01:54 +0300 Subject: [PATCH 39/40] removed angularVelocity and lineerVelocity from swarm and ocean world.. --- projects/robots/clearpath/heron/worlds/ocean.wbt | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt index 8c4e897c40d..c1369503bbc 100644 --- a/projects/robots/clearpath/heron/worlds/ocean.wbt +++ b/projects/robots/clearpath/heron/worlds/ocean.wbt @@ -38,14 +38,10 @@ DEF WATER Fluid { locked TRUE } Heron { - linearVelocity 7.738948701030327e-55 -4.450876199231589e-55 2.819335278757325e-06 - angularVelocity -0.0010746087365596433 -0.0018872241483721332 -8.299049855187801e-20 translation -6.6784157308512615 -0.49028637658352825 0.46070759689397855 rotation 0.0001714429217129001 0.0006475645044607216 -0.9999997756337433 0.5176249841363672 } OilBarrel { - linearVelocity 4.3841001267829204e-92 1.3799131852722908e-91 2.7336586825455718e-08 - angularVelocity 0.00017175073340307308 -0.000665095095048527 -3.525679610207082e-19 translation -5.769041604986175 5.7137363726152754 0.5595498936504114 rotation -0.17000006110990545 -0.9047921649529347 0.3904498911030834 1.7528146915175131 physics Physics { @@ -62,8 +58,6 @@ OilBarrel { ] } OilBarrel { - linearVelocity -1.8068802905954023e-86 2.8256866587785812e-86 -3.103144703687781e-08 - angularVelocity 0.0011199040548388395 -0.00020775155666699705 -2.9874548292248897e-19 translation -10.052079249302796 2.4814946123187727 0.5595498875102384 rotation -0.2751145870612611 -0.6601107052655576 0.6989748355841717 -2.8437234726044736 name "oil barrel(1)" @@ -81,8 +75,6 @@ OilBarrel { ] } OilBarrel { - linearVelocity -5.212826231745309e-88 -1.8248345492965266e-87 5.223797835316658e-17 - angularVelocity -1.0432866981083728e-88 -1.6729326937581797e-88 9.860375637312023e-89 translation -9.806804324970415 -3.2705951440882433 0.5595498919704249 rotation 0.9914248557443196 0.04559709558681102 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" @@ -100,8 +92,6 @@ OilBarrel { ] } OilBarrel { - linearVelocity 2.5943440363533626e-87 1.1910877956457172e-85 -8.529020641187841e-08 - angularVelocity -0.00025822010093208856 -0.0008147286344160733 1.19113218552358e-19 translation -9.046348837161165 3.2463636605243056 0.5595498964941401 rotation 0.737839555282382 0.14393292832237511 -0.6594513650036995 -2.4506597166551938 name "oil barrel(3)" From 765afc0ae4e22551c06ddbd2f01b9e88f8231649 Mon Sep 17 00:00:00 2001 From: harunkurtdev Date: Tue, 19 Nov 2024 13:04:10 +0300 Subject: [PATCH 40/40] removed angularVelocity and lineerVelocity from swarm and ocean world.. --- projects/robots/clearpath/heron/worlds/swarm.wbt | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt index 1d42e6234e8..7b77f9a385f 100644 --- a/projects/robots/clearpath/heron/worlds/swarm.wbt +++ b/projects/robots/clearpath/heron/worlds/swarm.wbt @@ -38,7 +38,6 @@ DEF WATER Fluid { locked TRUE } OilBarrel { - linearVelocity 0 0 1.8552471457039977e-15 translation -5.769041604986175 5.7137363726152754 0.5595498919704249 rotation -0.16995723822816233 -0.9045642485178795 0.39099623716493703 1.751439322141487 physics Physics { @@ -55,7 +54,6 @@ OilBarrel { ] } OilBarrel { - linearVelocity 0 0 7.783035268975111e-16 translation -10.052079249302796 2.4814946123187727 0.5595498919704248 rotation -0.2750758106273439 -0.660017664982181 0.6990779501022608 -2.8436801772670055 name "oil barrel(1)" @@ -73,7 +71,6 @@ OilBarrel { ] } OilBarrel { - linearVelocity 0 0 1.4387456326881762e-15 translation -9.806804324970415 -3.2705951440882433 0.5595498919704248 rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565 name "oil barrel(2)" @@ -91,8 +88,6 @@ OilBarrel { ] } OilBarrel { - linearVelocity -1.3776584555502088e-101 1.811777718183081e-101 -2.7052356205586808e-08 - angularVelocity 0.000498525820226693 0.0010315029799719921 3.1009352794512243e-19 translation -9.210530377900385 3.4633481997220334 0.5595498864740154 rotation 0.7706881417390529 0.22496315694279187 -0.5961806489656792 -2.154322256155228 name "oil barrel(3)" @@ -110,28 +105,20 @@ OilBarrel { ] } Heron { - linearVelocity -9.519433960685579e-37 3.948304381170926e-36 -1.5056277249684206e-06 - angularVelocity -7.239191923238156e-06 -0.00021174756862201745 -1.1106399831068014e-19 translation -6.615901389647778 -0.10311821791702494 0.4607076736909942 rotation -4.6247733909052664e-05 -0.002706298153373231 -0.9999963368990169 0.03417465445606993 } Heron { - linearVelocity 0 0 -1.0151432774149316e-06 - angularVelocity 7.400626743357978e-05 0.002327912135507144 -1.3299491844686045e-18 translation -6.52386 -1.44172 0.46070752315447433 rotation 0.00048045640364142506 0.030233731683355424 -0.9995427407720706 0.031794666209612875 name "heron(3)" } Heron { - linearVelocity 6.569495885609102e-40 -1.6111318075786925e-39 3.2995540951991776e-07 - angularVelocity -2.8864401058822247e-06 -5.9032846432403795e-05 -2.4951642163401363e-20 translation -6.432764992739735 1.126054508316503 0.46070790263066325 rotation -2.9648308687466188e-05 -0.001213445947895377 -0.9999992633346834 0.04885661841190292 name "heron(1)" } Heron { - linearVelocity 0 0 -9.84075373541886e-07 - angularVelocity -6.412674563313873e-05 -0.0023487113917357583 -7.440245815017312e-19 translation -6.32039 2.49159 0.4607075538980211 rotation -0.00040473384668264804 -0.029653153639982166 -0.9995601666081523 0.027308176523216297 name "heron(2)"

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