From dd6aa2ea2e81070389439fa5f4ecf3947da5ded1 Mon Sep 17 00:00:00 2001 From: Matias Mattamala Date: Tue, 9 Apr 2024 17:32:46 +0100 Subject: [PATCH] Ongoing fixes to visualize world in RViz --- wild_visual_navigation_jackal/CMakeLists.txt | 9 +- .../Media/models/OliveTree1.dae | 4065 ---------------- .../Media/models/OliveTree2.dae | 4263 ----------------- .../Media/models/PineTree.dae | 1250 ----- .../Media/models/outdoor.dae | 121 + .../Media/models/scenario.dae | 131 - .../Media/models/terrain_texture.jpg | Bin 0 -> 502854 bytes .../textures/Vegetation_Grass1 (copy).jpg | Bin 13259 -> 0 bytes .../models/textures/Vegetation_Grass1.jpg | Bin 26150 -> 0 bytes .../Media/models/textures/mtt.png | Bin 492293 -> 0 bytes .../Media/models/textures/texture0.jpg | Bin 800 -> 0 bytes .../Media/models/textures/texture0.png | Bin 13096 -> 0 bytes .../config/rviz/open_source.rviz | 29 +- .../launch/sim.launch | 3 + .../scripts/gazebo_world_publisher.py | 46 + .../worlds/outdoor.world | 315 +- .../worlds/scenario.world | 282 -- 17 files changed, 214 insertions(+), 10300 deletions(-) delete mode 100644 wild_visual_navigation_jackal/Media/models/OliveTree1.dae delete mode 100644 wild_visual_navigation_jackal/Media/models/OliveTree2.dae delete mode 100644 wild_visual_navigation_jackal/Media/models/PineTree.dae create mode 100644 wild_visual_navigation_jackal/Media/models/outdoor.dae delete mode 100644 wild_visual_navigation_jackal/Media/models/scenario.dae create mode 100644 wild_visual_navigation_jackal/Media/models/terrain_texture.jpg delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/Vegetation_Grass1 (copy).jpg delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/Vegetation_Grass1.jpg delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/mtt.png delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/texture0.jpg delete mode 100644 wild_visual_navigation_jackal/Media/models/textures/texture0.png create mode 100644 wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py delete mode 100644 wild_visual_navigation_jackal/worlds/scenario.world diff --git a/wild_visual_navigation_jackal/CMakeLists.txt b/wild_visual_navigation_jackal/CMakeLists.txt index b3d3d189..b303635d 100644 --- a/wild_visual_navigation_jackal/CMakeLists.txt +++ b/wild_visual_navigation_jackal/CMakeLists.txt @@ -13,14 +13,6 @@ catkin_package( CATKIN_DEPENDS ) -# catkin_python_setup() -# catkin_install_python(PROGRAMS scripts/wvn_feature_extractor_node.py -# scripts/wvn_learning_node.py -# scripts/overlay_images.py -# scripts/smart_carrot.py -# scripts/rosbag_play.sh -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - message(${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY launch Media worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} @@ -30,4 +22,5 @@ install(DIRECTORY launch Media worlds ## Python ## ############ catkin_install_python(PROGRAMS scripts/jackal_state_converter_node.py + scripts/gazebo_world_publisher.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/wild_visual_navigation_jackal/Media/models/OliveTree1.dae b/wild_visual_navigation_jackal/Media/models/OliveTree1.dae deleted file mode 100644 index 6583bc3e..00000000 --- a/wild_visual_navigation_jackal/Media/models/OliveTree1.dae +++ /dev/null @@ -1,4065 +0,0 @@ - - - - - Google SketchUp 7.0.8657 - - 2010-03-16T17:45:56Z - 2010-03-16T17:45:56Z - - Z_UP - - - - textures/texture0.jpg - - - textures/texture0.png - - - - - - - - - - - - - - - - material_0_1_0-image - - - - - material_0_1_0-image-surface - - - - - - 0.000000 0.000000 0.000000 1 - - - 0.000000 0.000000 0.000000 1 - - - - - - 1 1 1 1 - - - 0.050000 - - - - - - 1 - - - - - - - - - material_1_2_0-image - - - - - material_1_2_0-image-surface - - - - - - 0.000000 0.000000 0.000000 1 - - - 0.000000 0.000000 0.000000 1 - - - - - - 1 1 1 1 - - - 0.010000 - - - - - - 1 - - - - - - - - - - 60.510791 32.918764 68.437903 61.241531 44.984435 54.582557 60.592489 45.240710 55.022876 60.646860 44.968439 54.000801 - - - - - - - - - - -0.402852 -0.768615 -0.496932 0.998781 -0.041493 -0.026754 -0.422988 0.441994 0.791026 -0.402852 -0.768615 -0.496932 -0.382975 -0.490402 -0.782838 -0.402852 -0.768615 -0.496932 - - - - - - - - - - -39.720115 12.765230 -1.736267 0.259387 -0.035743 0.832450 -31.484872 15.003045 -1.503014 0.031632 -0.114239 0.687616 48.508210 8.992771 0.731048 0.777517 1.064867 -0.011546 - - - - - - - - - - - - - - -

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4.900972 1050 630 5.689189 1050 630 5.689189 1050 600 6.647724 1050 600 6.647724 1050 570 7.772603 1050 570 7.772603 1050 540 9.554898 1050 540 9.554898 1050 510 11.94859 1050 510 11.94859 1050 480 14.85725 1050 480 14.85725 1050 450 18.1637 1050 450 18.1637 1050 420 21.73452 1050 420 21.73452 240 810 63.76751 240 810 63.76751 240 840 57.6982 240 840 57.6982 240 870 51.60288 240 870 51.60288 240 900 45.72719 240 900 45.72719 240 930 40.3089 240 930 40.3089 240 960 35.56866 240 960 35.56866 240 990 31.70133 240 990 31.70133 240 1020 28.86828 240 1020 28.86828 240 1050 27.19084 240 1050 27.19084 240 1080 26.74534 240 1080 26.74534 240 1110 27.43555 240 1110 27.43555 240 1140 28.51954 240 1140 28.51954 240 1170 29.83815 240 1170 29.83815 660 390 59.95279 660 390 59.95279 690 390 66.84312 690 390 66.84312 720 390 74.4528 720 390 74.4528 750 390 81.41394 750 390 81.41394 780 390 86.316 780 390 86.316 810 390 87.51821 810 390 87.51821 840 390 84.48605 840 390 84.48605 870 390 77.57743 870 390 77.57743 900 390 67.7269 900 390 67.7269 930 390 56.3418 930 390 56.3418 960 390 45.00275 960 390 45.00275 990 390 35.27752 990 390 35.27752 1020 390 28.49504 1020 390 28.49504 240 1200 31.33935 240 1200 31.33935 660 1200 42.91062 660 1200 42.91062 690 1170 43.9806 690 1170 43.9806 720 1140 47.44552 720 1140 47.44552 750 1110 53.27648 750 1110 53.27648 780 1080 60.83369 780 1080 60.83369 810 1050 68.338 810 1050 68.338 840 1020 74.40621 840 1020 74.40621 870 990 77.68336 870 990 77.68336 900 960 76.22981 900 960 76.22981 930 930 71.28427 930 930 71.28427 960 900 63.9323 960 900 63.9323 990 870 54.87149 990 870 54.87149 1020 840 45.14836 1020 840 45.14836 1050 810 35.42167 1050 810 35.42167 1050 390 25.42533 1050 390 25.42533 240 780 69.56688 240 780 69.56688 270 750 78.46563 270 750 78.46563 300 720 86.04328 300 720 86.04328 330 690 91.71017 330 690 91.71017 360 660 95.02192 360 660 95.02192 390 630 95.70617 390 630 95.70617 420 600 93.77491 420 600 93.77491 450 570 89.88439 450 570 89.88439 480 540 84.43 480 540 84.43 510 510 77.82991 510 510 77.82991 540 480 70.59006 540 480 70.59006 570 450 63.15011 570 450 63.15011 600 420 57.69396 600 420 57.69396 630 390 55.11619 630 390 55.11619 1080 780 25.98549 1080 780 25.98549 1080 750 16.10557 1080 750 16.10557 1080 720 9.017711 1080 720 9.017711 1080 690 4.861352 1080 690 4.861352 1080 660 3.5771 1080 660 3.5771 1080 630 3.605434 1080 630 3.605434 1080 600 4.020609 1080 600 4.020609 1080 570 5.172964 1080 570 5.172964 1080 540 7.042416 1080 540 7.042416 1080 510 9.554898 1080 510 9.554898 1080 480 12.61118 1080 480 12.61118 1080 450 16.09067 1080 450 16.09067 1080 420 19.85604 1080 420 19.85604 1080 390 23.75852 1080 390 23.75852 210 810 60.03718 210 810 60.03718 210 840 54.20751 210 840 54.20751 210 870 48.38496 210 870 48.38496 210 900 42.80904 210 900 42.80904 210 930 37.71089 210 930 37.71089 210 960 33.30422 210 960 33.30422 210 990 29.7769 210 990 29.7769 210 1020 27.28358 210 1020 27.28358 210 1050 25.93903 210 1050 25.93903 210 1080 25.81303 210 1080 25.81303 210 1110 26.62899 210 1110 26.62899 210 1140 27.75058 210 1140 27.75058 210 1170 29.11586 210 1170 29.11586 210 1200 30.67173 210 1200 30.67173 660 360 53.59819 660 360 53.59819 690 360 59.53424 690 360 59.53424 720 360 66.35981 720 360 66.35981 750 360 72.81788 750 360 72.81788 780 360 77.58941 780 360 77.58941 810 360 79.05938 810 360 79.05938 840 360 76.80065 840 360 76.80065 870 360 71.13463 870 360 71.13463 900 360 62.8961 900 360 62.8961 930 360 53.31695 930 360 53.31695 960 360 43.90894 960 360 43.90894 990 360 36.11303 990 360 36.11303 1020 360 31.11776 1020 360 31.11776 1050 360 29.08639 1050 360 29.08639 690 1200 43.77228 690 1200 43.77228 720 1170 47.2872 720 1170 47.2872 750 1140 52.95104 750 1140 52.95104 780 1110 60.18205 780 1110 60.18205 810 1080 68.34431 810 1080 68.34431 840 1050 75.97388 840 1050 75.97388 870 1020 82.023 870 1020 82.023 900 990 84.98143 900 990 84.98143 930 960 83.51103 930 960 83.51103 960 930 78.19131 960 930 78.19131 990 900 70.01068 990 900 70.01068 1020 870 60.10287 1020 870 60.10287 1050 840 49.35154 1050 840 49.35154 1080 810 38.31818 1080 810 38.31818 1080 360 27.64367 1080 360 27.64367 210 780 65.63558 210 780 65.63558 240 750 74.86365 240 750 74.86365 270 720 83.09535 270 720 83.09535 300 690 89.6884 300 690 89.6884 330 660 94.12519 330 660 94.12519 360 630 96.05278 360 630 96.05278 390 600 95.28977 390 600 95.28977 420 570 92.29127 420 570 92.29127 450 540 87.5574 450 540 87.5574 480 510 81.45046 480 510 81.45046 510 480 74.43785 510 480 74.43785 540 450 66.96341 540 450 66.96341 570 420 59.39901 570 420 59.39901 600 390 53.41372 600 390 53.41372 630 360 49.76463 630 360 49.76463 1110 780 27.3351 1110 780 27.3351 1110 750 16.9518 1110 750 16.9518 1110 720 9.179739 1110 720 9.179739 1110 690 4.203458 1110 690 4.203458 1110 660 2.047406 1110 660 2.047406 1110 630 1.644623 1110 630 1.644623 1110 600 2.047406 1110 600 2.047406 1110 570 3.23933 1110 570 3.23933 1110 540 5.172964 1110 540 5.172964 1110 510 7.772603 1110 510 7.772603 1110 480 10.93704 1110 480 10.93704 1110 450 14.54326 1110 450 14.54326 1110 420 18.45111 1110 420 18.45111 1110 390 22.50866 1110 390 22.50866 1110 360 26.55803 1110 360 26.55803 180 810 56.12859 180 810 56.12859 180 840 50.61422 180 840 50.61422 180 870 45.14175 180 870 45.14175 180 900 39.94266 180 900 39.94266 180 930 35.23957 180 930 35.23957 180 960 31.23744 180 960 31.23744 180 990 28.11534 180 990 28.11534 180 1020 26.01983 180 1020 26.01983 180 1050 25.05854 180 1050 25.05854 180 1080 25.28049 180 1080 25.28049 180 1110 26.13181 180 1110 26.13181 180 1140 27.27642 180 1140 27.27642 180 1170 28.67018 180 1170 28.67018 180 1200 30.25942 180 1200 30.25942 660 330 47.10303 660 330 47.10303 690 330 51.70267 690 330 51.70267 720 330 57.39434 720 330 57.39434 750 330 62.98643 750 330 62.98643 780 330 67.01031 780 330 67.01031 810 330 68.62599 810 330 68.62599 840 330 67.21588 840 330 67.21588 870 330 62.99195 870 330 62.99195 900 330 56.68956 900 330 56.68956 930 330 49.38576 930 330 49.38576 960 330 42.33849 960 330 42.33849 990 330 36.87064 990 330 36.87064 1020 330 34.00767 1020 330 34.00767 1050 330 32.56846 1050 330 32.56846 1080 330 31.35733 1080 330 31.35733 720 1200 46.83077 720 1200 46.83077 750 1170 52.70285 750 1170 52.70285 780 1140 60.36053 780 1140 60.36053 810 1110 68.94959 810 1110 68.94959 840 1080 77.60854 840 1080 77.60854 870 1050 85.38519 870 1050 85.38519 900 1020 91.49625 900 1020 91.49625 930 990 93.83227 930 990 93.83227 960 960 91.35965 960 960 91.35965 990 930 84.9683 990 930 84.9683 1020 900 75.73964 1020 900 75.73964 1050 870 64.6794 1050 870 64.6794 1080 840 52.56901 1080 840 52.56901 1110 810 39.96919 1110 810 39.96919 1110 330 30.44153 1110 330 30.44153 180 780 61.45378 180 780 61.45378 210 750 70.77471 210 750 70.77471 240 720 79.44542 240 720 79.44542 270 690 86.7858 270 690 86.7858 300 660 92.21641 300 660 92.21641 330 630 95.30262 330 630 95.30262 360 600 95.78096 360 600 95.78096 390 570 93.77491 390 570 93.77491 420 540 89.88439 420 540 89.88439 450 510 84.44534 450 510 84.44534 480 480 77.85726 480 480 77.85726 510 450 70.54434 510 450 70.54434 540 420 62.84293 540 420 62.84293 570 390 55.36224 570 390 55.36224 600 360 48.99586 600 360 48.99586 630 330 44.64707 630 330 44.64707 1140 780 27.35395 1140 780 27.35395 1140 750 16.714 1140 750 16.714 1140 720 8.555513 1140 720 8.555513 1140 690 3.192118 1140 690 3.192118 1140 660 0.8304025 1140 660 0.8304025 1140 630 0.418504 1140 630 0.418504 1140 600 0.8304025 1140 600 0.8304025 1140 570 2.047406 1140 570 2.047406 1140 540 4.020609 1140 540 4.020609 1140 510 6.673576 1140 510 6.673576 1140 480 9.904043 1140 480 9.904043 1140 450 13.58759 1140 450 13.58759 1140 420 17.58236 1140 420 17.58236 1140 390 21.73452 1140 390 21.73452 1140 360 25.88412 1140 360 25.88412 1140 330 29.87131 1140 330 29.87131 150 810 52.21092 150 810 52.21092 150 840 47.08007 150 840 47.08007 150 870 42.02653 150 870 42.02653 150 900 37.27202 150 900 37.27202 150 930 33.02898 150 930 33.02898 150 960 29.49198 150 960 29.49198 150 990 26.82968 150 990 26.82968 150 1020 25.17794 150 1020 25.17794 150 1050 24.6398 150 1050 24.6398 150 1080 25.10671 150 1080 25.10671 150 1110 25.96384 150 1110 25.96384 150 1140 27.1162 150 1140 27.1162 150 1170 28.51954 150 1170 28.51954 150 1200 30.11999 150 1200 30.11999 660 300 41.59899 660 300 41.59899 690 300 44.65469 690 300 44.65469 720 300 48.96977 720 300 48.96977 750 300 53.18696 750 300 53.18696 780 300 56.32395 780 300 56.32395 810 300 61.76778 810 300 61.76778 840 300 67.34968 840 300 67.34968 870 300 58.53529 870 300 58.53529 900 300 50.339 900 300 50.339 930 300 45.52262 930 300 45.52262 960 300 41.13489 960 300 41.13489 990 300 38.19938 990 300 38.19938 1020 300 36.87767 1020 300 36.87767 1050 300 36.13717 1050 300 36.13717 1080 300 36.17876 1080 300 36.17876 1110 300 36.37339 1110 300 36.37339 750 1200 51.97951 750 1200 51.97951 780 1170 60.01786 780 1170 60.01786 810 1140 69.38953 810 1140 69.38953 840 1110 79.15337 840 1110 79.15337 870 1080 88.3626 870 1080 88.3626 900 1050 96.14384 900 1050 96.14384 930 1020 101.5463 930 1020 101.5463 960 990 102.5394 960 990 102.5394 990 960 98.75945 990 960 98.75945 1020 930 91.094 1020 930 91.094 1050 900 80.547 1050 900 80.547 1080 870 68.03724 1080 870 68.03724 1110 840 54.32405 1110 840 54.32405 1140 810 40.06649 1140 810 40.06649 1140 300 36.27911 1140 300 36.27911 150 780 57.19703 150 780 57.19703 180 750 66.36828 180 750 66.36828 210 720 75.24601 210 720 75.24601 240 690 83.12838 240 690 83.12838 270 660 89.38832 270 660 89.38832 300 630 93.52175 300 630 93.52175 330 600 95.18471 330 600 95.18471 360 570 94.32818 360 570 94.32818 390 540 91.54913 390 540 91.54913 420 510 87.07115 420 510 87.07115 450 480 81.16715 450 480 81.16715 480 450 74.22768 480 450 74.22768 510 420 66.52198 510 420 66.52198 540 390 58.63514 540 390 58.63514 570 360 51.27459 570 360 51.27459 600 330 45.13308 600 330 45.13308 630 300 40.7051 630 300 40.7051 1170 780 26.66214 1170 780 26.66214 1170 750 16.09446 1170 750 16.09446 1170 720 8.007869 1170 720 8.007869 1170 690 2.7146 1170 690 2.7146 1170 660 0.418504 1170 660 0.418504 1170 630 0 1170 630 0 1170 600 0.418504 1170 600 0.418504 1170 570 1.644623 1170 570 1.644623 1170 540 3.631286 1170 540 3.631286 1170 510 6.302224 1170 510 6.302224 1170 480 9.554898 1170 480 9.554898 1170 450 13.26443 1170 450 13.26443 1170 420 17.28842 1170 420 17.28842 1170 390 21.47238 1170 390 21.47238 1170 360 25.65568 1170 360 25.65568 1170 330 29.67773 1170 330 29.67773 1170 300 35.74983 1170 300 35.74983 120 810 48.45451 120 810 48.45451 120 840 43.7664 120 840 43.7664 120 870 39.19061 120 870 39.19061 120 900 34.93757 120 900 34.93757 120 930 31.20806 120 930 31.20806 120 960 28.18492 120 960 28.18492 120 990 26.02551 120 990 26.02551 120 1020 24.85556 120 1020 24.85556 120 1050 24.75542 120 1050 24.75542 120 1080 25.28049 120 1080 25.28049 120 1110 26.13181 120 1110 26.13181 120 1140 27.27642 120 1140 27.27642 120 1170 28.67018 120 1170 28.67018 120 1200 30.25942 120 1200 30.25942 660 270 38.16046 660 270 38.16046 690 270 39.6142 690 270 39.6142 720 270 42.14758 720 270 42.14758 750 270 44.88641 750 270 44.88641 780 270 47.11303 780 270 47.11303 810 270 58.46037 810 270 58.46037 840 270 68.60725 840 270 68.60725 870 270 57.30749 870 270 57.30749 900 270 45.091 900 270 45.091 930 270 42.7759 930 270 42.7759 960 270 41.0525 960 270 41.0525 990 270 40.3067 990 270 40.3067 1020 270 41.00982 1020 270 41.00982 1050 270 42.96388 1050 270 42.96388 1080 270 45.19611 1080 270 45.19611 1110 270 46.83496 1110 270 46.83496 1140 270 47.28645 1140 270 47.28645 780 1200 59.01376 780 1200 59.01376 810 1170 68.94959 810 1170 68.94959 840 1140 79.69141 840 1140 79.69141 870 1110 90.23573 870 1110 90.23573 900 1080 99.61783 900 1080 99.61783 930 1050 106.9908 930 1050 106.9908 960 1020 111.0674 960 1020 111.0674 990 990 110.5053 990 990 110.5053 1020 960 105.2182 1020 960 105.2182 1050 930 96.03559 1050 930 96.03559 1080 900 83.90737 1080 900 83.90737 1110 870 69.72792 1110 870 69.72792 1140 840 54.36315 1140 840 54.36315 1170 810 39.3034 1170 810 39.3034 1170 270 46.35043 1170 270 46.35043 120 780 53.04346 120 780 53.04346 150 750 61.82496 150 750 61.82496 180 720 70.66891 180 720 70.66891 210 690 78.86847 210 690 78.86847 240 660 85.76449 240 660 85.76449 270 630 90.79667 270 630 90.79667 300 600 93.6085 300 600 93.6085 330 570 94.17024 330 570 94.17024 360 540 92.6687 360 540 92.6687 390 510 89.3361 390 510 89.3361 420 480 84.35085 420 480 84.35085 450 450 78.04707 450 450 78.04707 480 420 70.65587 480 420 70.65587 510 390 62.64433 510 390 62.64433 540 360 54.70665 540 360 54.70665 570 330 47.56472 570 330 47.56472 600 300 41.91282 600 300 41.91282 630 270 38.32275 630 270 38.32275 1200 780 26.00718 1200 780 26.00718 1200 750 15.74247 1200 750 15.74247 1200 720 7.940756 1200 720 7.940756 1200 690 2.909063 1200 690 2.909063 1200 660 0.8304025 1200 660 0.8304025 1200 630 0.418504 1200 630 0.418504 1200 600 0.8304025 1200 600 0.8304025 1200 570 2.047406 1200 570 2.047406 1200 540 4.020609 1200 540 4.020609 1200 510 6.673576 1200 510 6.673576 1200 480 9.904043 1200 480 9.904043 1200 450 13.58759 1200 450 13.58759 1200 420 17.58236 1200 420 17.58236 1200 390 21.73452 1200 390 21.73452 1200 360 25.88412 1200 360 25.88412 1200 330 29.87131 1200 330 29.87131 1200 300 34.96949 1200 300 34.96949 1200 270 44.26106 1200 270 44.26106 90 810 45.02399 90 810 45.02399 90 840 40.82755 90 840 40.82755 90 870 36.77701 90 870 36.77701 90 900 33.07016 90 900 33.07016 90 930 29.89482 90 930 29.89482 90 960 27.42087 90 960 27.42087 90 990 25.79313 90 990 25.79313 90 1020 25.12501 90 1020 25.12501 90 1050 25.28049 90 1050 25.28049 90 1080 25.79474 90 1080 25.79474 90 1110 26.62899 90 1110 26.62899 90 1140 27.75058 90 1140 27.75058 90 1170 29.11586 90 1170 29.11586 90 1200 30.67173 90 1200 30.67173 660 240 36.79895 660 240 36.79895 690 240 37.17336 690 240 37.17336 720 240 37.97745 720 240 37.97745 750 240 39.33806 750 240 39.33806 780 240 40.71164 780 240 40.71164 810 240 45.69826 810 240 45.69826 840 240 52.28063 840 240 52.28063 870 240 46.128 870 240 46.128 900 240 41.97903 900 240 41.97903 930 240 41.98842 930 240 41.98842 960 240 42.07745 960 240 42.07745 990 240 44.05091 990 240 44.05091 1020 240 48.00231 1020 240 48.00231 1050 240 52.85049 1050 240 52.85049 1080 240 57.40407 1080 240 57.40407 1110 240 60.56305 1110 240 60.56305 1140 240 61.58398 1140 240 61.58398 1170 240 60.21352 1170 240 60.21352 810 1200 67.65635 810 1200 67.65635 840 1170 79.15337 840 1170 79.15337 870 1140 90.87068 870 1140 90.87068 900 1110 101.7696 900 1110 101.7696 930 1080 110.8958 930 1080 110.8958 960 1050 117.4067 960 1050 117.4067 990 1020 119.7263 990 1020 119.7263 1020 990 117.2726 1020 990 117.2726 1050 960 110.2488 1050 960 110.2488 1080 930 99.31663 1080 930 99.31663 1110 900 85.41697 1110 900 85.41697 1140 870 69.69458 1140 870 69.69458 1170 840 53.53117 1170 840 53.53117 1200 810 38.33332 1200 810 38.33332 1200 240 56.73516 1200 240 56.73516 90 780 49.16681 90 780 49.16681 120 750 57.3294 120 750 57.3294 150 720 65.89847 150 720 65.89847 180 690 74.1789 180 690 74.1789 210 660 81.49582 210 660 81.49582 240 630 87.25118 240 630 87.25118 270 600 91.27073 270 600 91.27073 300 570 93.27594 300 570 93.27594 330 540 93.13499 330 540 93.13499 360 510 91.09118 360 510 91.09118 390 480 87.22658 390 480 87.22658 420 450 81.78841 420 450 81.78841 450 420 75.01687 450 420 75.01687 480 390 67.20755 480 390 67.20755 510 360 59.01787 510 360 59.01787 540 330 51.1676 540 330 51.1676 570 300 44.38081 570 300 44.38081 600 270 39.33079 600 270 39.33079 630 240 36.58916 630 240 36.58916 60 810 42.07165 60 810 42.07165 60 840 38.40449 60 840 38.40449 60 870 34.9144 60 870 34.9144 60 900 31.78537 60 900 31.78537 60 930 29.19111 60 930 29.19111 60 960 27.28753 60 960 27.28753 60 990 26.20585 60 990 26.20585 60 1020 25.96384 60 1020 25.96384 60 1050 26.13181 60 1050 26.13181 60 1080 26.62899 60 1080 26.62899 60 1110 27.43555 60 1110 27.43555 60 1140 28.51954 60 1140 28.51954 60 1170 29.83815 60 1170 29.83815 60 1200 31.33935 60 1200 31.33935 660 210 35.58346 660 210 35.58346 690 210 36.00432 690 210 36.00432 720 210 36.56705 720 210 36.56705 750 210 37.24645 750 210 37.24645 780 210 38.01199 780 210 38.01199 810 210 38.82897 810 210 38.82897 840 210 39.66 840 210 39.66 870 210 40.4665 870 210 40.4665 900 210 41.21031 900 210 41.21031 930 210 41.85525 930 210 41.85525 960 210 44.03029 960 210 44.03029 990 210 49.31972 990 210 49.31972 1020 210 56.54349 1020 210 56.54349 1050 210 64.2562 1050 210 64.2562 1080 210 71.08126 1080 210 71.08126 1110 210 75.72177 1110 210 75.72177 1140 210 77.29577 1140 210 77.29577 1170 210 75.5006 1170 210 75.5006 1200 210 70.66523 1200 210 70.66523 840 1200 77.56844 840 1200 77.56844 870 1170 90.23573 870 1170 90.23573 900 1140 102.4982 900 1140 102.4982 930 1110 113.3105 930 1110 113.3105 960 1080 121.7576 960 1080 121.7576 990 1050 126.8843 990 1050 126.8843 1020 1020 127.2207 1020 1020 127.2207 1050 990 122.6534 1050 990 122.6534 1080 960 113.5987 1080 960 113.5987 1110 930 100.8414 1110 930 100.8414 1140 900 85.47166 1140 900 85.47166 1170 870 68.79749 1170 870 68.79749 1200 840 52.24018 1200 840 52.24018 60 780 45.72949 60 780 45.72949 90 750 53.06306 90 750 53.06306 120 720 61.12439 120 720 61.12439 150 690 69.24634 150 690 69.24634 180 660 76.75488 180 660 76.75488 210 630 83.10669 210 630 83.10669 240 600 88.22825 240 600 88.22825 270 570 91.6009 270 570 91.6009 300 540 92.87514 300 540 92.87514 330 510 92.21739 330 510 92.21739 360 480 89.63579 360 480 89.63579 390 450 85.27714 390 450 85.27714 420 420 79.38055 420 420 79.38055 450 390 72.09303 450 390 72.09303 480 360 63.98369 480 360 63.98369 510 330 55.74929 510 330 55.74929 540 300 48.12304 540 300 48.12304 570 270 41.81893 570 270 41.81893 600 240 37.47797 600 240 37.47797 630 210 35.40761 630 210 35.40761 30 810 39.73129 30 810 39.73129 30 840 36.61901 30 840 36.61901 30 870 33.71164 30 870 33.71164 30 900 31.17842 30 900 31.17842 30 930 29.17809 30 930 29.17809 30 960 27.85174 30 960 27.85174 30 990 27.27642 30 990 27.27642 30 1020 27.1162 30 1020 27.1162 30 1050 27.27642 30 1050 27.27642 30 1080 27.75058 30 1080 27.75058 30 1110 28.51954 30 1110 28.51954 30 1140 29.55228 30 1140 29.55228 30 1170 30.8072 30 1170 30.8072 30 1200 32.23374 30 1200 32.23374 660 180 34.41281 660 180 34.41281 690 180 34.87636 690 180 34.87636 720 180 35.49736 720 180 35.49736 750 180 36.24923 750 180 36.24923 780 180 37.09968 780 180 37.09968 810 180 38.01199 810 180 38.01199 840 180 38.94654 840 180 38.94654 870 180 39.86234 870 180 39.86234 900 180 40.71873 900 180 40.71873 930 180 41.88548 930 180 41.88548 960 180 46.6297 960 180 46.6297 990 180 54.83678 990 180 54.83678 1020 180 65.01935 1020 180 65.01935 1050 180 75.35479 1050 180 75.35479 1080 180 84.2164 1080 180 84.2164 1110 180 90.18302 1110 180 90.18302 1140 180 92.25313 1140 180 92.25313 1170 180 90.08118 1170 180 90.08118 1200 180 84.03528 1200 180 84.03528 870 1200 88.3626 870 1200 88.3626 900 1170 101.7696 900 1170 101.7696 930 1140 114.1275 930 1140 114.1275 960 1110 124.4139 960 1110 124.4139 990 1080 131.7811 990 1080 131.7811 1020 1050 135.0937 1020 1050 135.0937 1050 1020 133.2894 1050 1020 133.2894 1080 990 126.5614 1080 990 126.5614 1110 960 115.511 1110 960 115.511 1140 930 101.0881 1140 930 101.0881 1170 900 84.51462 1170 900 84.51462 1200 870 67.1865 1200 870 67.1865 30 780 42.8762 30 780 42.8762 60 750 49.19716 60 750 49.19716 90 720 56.53439 90 720 56.53439 120 690 64.26401 120 690 64.26401 150 660 71.72922 150 660 71.72922 180 630 78.52294 180 630 78.52294 210 600 84.55958 210 600 84.55958 240 570 89.17299 240 570 89.17299 270 540 91.85341 270 540 91.85341 300 510 92.6298 300 510 92.6298 330 480 91.44859 330 480 91.44859 360 450 88.34991 360 450 88.34991 390 420 83.53398 390 420 83.53398 420 390 77.06988 420 390 77.06988 450 360 69.36932 450 360 69.36932 480 330 61.08573 480 330 61.08573 510 300 52.94046 510 300 52.94046 540 270 45.66793 540 270 45.66793 570 240 39.96027 570 240 39.96027 600 210 36.40784 600 210 36.40784 630 180 34.35688 630 180 34.35688 0 810 38.11278 0 810 38.11278 0 840 35.56859 0 840 35.56859 0 870 33.25302 0 870 33.25302 0 900 31.31984 0 900 31.31984 0 930 29.91218 0 930 29.91218 0 960 29.11586 0 960 29.11586 0 990 28.67018 0 990 28.67018 0 1020 28.51954 0 1020 28.51954 0 1050 28.67018 0 1050 28.67018 0 1080 29.11586 0 1080 29.11586 0 1110 29.83815 0 1110 29.83815 0 1140 30.8072 0 1140 30.8072 0 1170 31.98293 0 1170 31.98293 0 1200 33.31662 0 1200 33.31662 660 150 33.33252 660 150 33.33252 690 150 33.83403 690 150 33.83403 720 150 34.50687 720 150 34.50687 750 150 35.32321 750 150 35.32321 780 150 36.24923 780 150 36.24923 810 150 37.24645 810 150 37.24645 840 150 38.27328 840 150 38.27328 870 150 39.28662 870 150 39.28662 900 150 40.24363 900 150 40.24363 930 150 42.53047 930 150 42.53047 960 150 49.33374 960 150 49.33374 990 150 59.7343 990 150 59.7343 1020 150 72.08134 1020 150 72.08134 1050 150 84.41583 1050 150 84.41583 1080 150 94.84523 1080 150 94.84523 1110 150 101.8499 1110 150 101.8499 1140 150 104.3162 1140 150 104.3162 1170 150 101.8499 1170 150 101.8499 1200 150 94.84523 1200 150 94.84523 900 1200 99.61783 900 1200 99.61783 930 1170 113.3105 930 1170 113.3105 960 1140 125.3121 960 1140 125.3121 990 1110 134.6523 990 1110 134.6523 1020 1080 140.562 1020 1080 140.562 1050 1050 141.7554 1050 1050 141.7554 1080 1020 137.7226 1080 1020 137.7226 1110 990 128.8588 1110 990 128.8588 1140 960 115.9439 1140 960 115.9439 1170 930 100.0776 1170 930 100.0776 1200 900 82.59134 1200 900 82.59134 0 780 40.72814 0 780 40.72814 30 750 45.88593 30 750 45.88593 60 720 52.30694 60 720 52.30694 90 690 59.42431 90 690 59.42431 120 660 66.61403 120 660 66.61403 150 630 73.64055 150 630 73.64055 180 600 80.37224 180 600 80.37224 210 570 86.05766 210 570 86.05766 240 540 90.07156 240 540 90.07156 270 510 92.27995 270 510 92.27995 300 480 92.56803 300 480 92.56803 330 450 90.86622 330 450 90.86622 360 420 87.28525 360 420 87.28525 390 390 81.91637 390 390 81.91637 420 360 74.93835 420 360 74.93835 450 330 66.94016 450 330 66.94016 480 300 58.61061 480 300 58.61061 510 270 50.68357 510 270 50.68357 540 240 43.88263 540 240 43.88263 570 210 38.86713 570 210 38.86713 600 180 35.67099 600 180 35.67099 630 150 33.41841 630 150 33.41841 660 120 32.38458 660 120 32.38458 690 120 32.91849 690 120 32.91849 720 120 33.63555 720 120 33.63555 750 120 34.50687 750 120 34.50687 780 120 35.49736 780 120 35.49736 810 120 36.56705 810 120 36.56705 840 120 37.67268 840 120 37.67268 870 120 38.76939 870 120 38.76939 900 120 39.81249 900 120 39.81249 930 120 43.1249 930 120 43.1249 960 120 51.28813 960 120 51.28813 990 120 63.12685 990 120 63.12685 1020 120 76.87728 1020 120 76.87728 1050 120 90.46502 1050 120 90.46502 1080 120 101.8499 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73.07167 420 330 73.07167 450 300 64.8958 450 300 64.8958 480 270 56.64594 480 270 56.64594 510 240 49.05649 510 240 49.05649 540 210 42.82883 540 210 42.82883 570 180 38.42255 570 180 38.42255 600 150 34.98283 600 150 34.98283 630 120 32.59679 630 120 32.59679 660 90 31.60582 660 90 31.60582 690 90 32.16584 690 90 32.16584 720 90 32.91849 720 90 32.91849 750 90 33.83403 750 90 33.83403 780 90 34.87636 780 90 34.87636 810 90 36.00432 810 90 36.00432 840 90 37.17336 840 90 37.17336 870 90 38.33721 870 90 38.33721 900 90 39.44968 900 90 39.44968 930 90 43.20321 930 90 43.20321 960 90 51.87761 960 90 51.87761 990 90 64.25201 990 90 64.25201 1020 90 78.5233 1020 90 78.5233 1050 90 92.57702 1050 90 92.57702 1080 90 104.3162 1080 90 104.3162 1110 90 112.1287 1110 90 112.1287 1140 90 114.8874 1140 90 114.8874 1170 90 112.1287 1170 90 112.1287 1200 90 104.3162 1200 90 104.3162 960 1200 121.7576 960 1200 121.7576 990 1170 134.6523 990 1170 134.6523 1020 1140 144.6636 1020 1140 144.6636 1050 1110 151.0053 1050 1110 151.0053 1080 1080 152.9731 1080 1080 152.9731 1110 1050 149.5949 1110 1050 149.5949 1140 1020 141.1406 1140 1020 141.1406 1170 990 128.3743 1170 990 128.3743 1200 960 112.3894 1200 960 112.3894 0 720 45.56675 0 720 45.56675 30 690 50.89394 30 690 50.89394 60 660 56.88922 60 660 56.88922 90 630 63.62154 90 630 63.62154 120 600 70.98885 120 600 70.98885 150 570 78.174 150 570 78.174 180 540 84.4156 180 540 84.4156 210 510 89.2858 210 510 89.2858 240 480 92.51822 240 480 92.51822 270 450 93.82822 270 450 93.82822 300 420 93.10742 300 420 93.10742 330 390 90.42266 330 390 90.42266 360 360 85.72235 360 360 85.72235 390 330 79.24346 390 330 79.24346 420 300 71.55158 420 300 71.55158 450 270 63.31746 450 270 63.31746 480 240 55.26542 480 240 55.26542 510 210 48.11876 510 210 48.11876 540 180 42.53378 540 180 42.53378 570 150 38.01829 570 150 38.01829 600 120 34.34283 600 120 34.34283 630 90 31.90124 630 90 31.90124 660 60 31.02658 660 60 31.02658 690 60 31.60582 690 60 31.60582 720 60 32.38458 720 60 32.38458 750 60 33.33252 750 60 33.33252 780 60 34.41281 780 60 34.41281 810 60 35.58346 810 60 35.58346 840 60 36.79895 840 60 36.79895 870 60 38.01199 870 60 38.01199 900 60 39.17534 900 60 39.17534 930 60 42.60935 930 60 42.60935 960 60 50.89297 960 60 50.89297 990 60 62.84843 990 60 62.84843 1020 60 76.70965 1020 60 76.70965 1050 60 90.40016 1050 60 90.40016 1080 60 101.8499 1080 60 101.8499 1110 60 109.4538 1110 60 109.4538 1140 60 112.1287 1140 60 112.1287 1170 60 109.4538 1170 60 109.4538 1200 60 101.8499 1200 60 101.8499 990 1200 131.7811 990 1200 131.7811 1020 1170 143.6314 1020 1170 143.6314 1050 1140 152.0874 1050 1140 152.0874 1080 1110 156.4898 1080 1110 156.4898 1110 1080 156.1798 1110 1080 156.1798 1140 1050 150.5129 1140 1050 150.5129 1170 1020 140.0191 1170 1020 140.0191 1200 990 125.6263 1200 990 125.6263 0 690 47.51923 0 690 47.51923 30 660 52.64122 30 660 52.64122 60 630 58.82643 60 630 58.82643 90 600 66.1082 90 600 66.1082 120 570 73.67056 120 570 73.67056 150 540 80.71878 150 540 80.71878 180 510 86.72784 180 510 86.72784 210 480 91.33663 210 480 91.33663 240 450 94.16126 240 450 94.16126 270 420 94.9851 270 420 94.9851 300 390 93.76959 300 390 93.76959 330 360 90.52855 330 360 90.52855 360 330 85.23086 360 330 85.23086 390 300 78.33509 390 300 78.33509 420 270 70.45122 420 270 70.45122 450 240 62.27295 450 240 62.27295 480 210 54.52485 480 210 54.52485 510 180 47.90826 510 180 47.90826 540 150 42.4436 540 150 42.4436 570 120 37.58613 570 120 37.58613 600 90 33.75642 600 90 33.75642 630 60 31.34514 630 60 31.34514 660 30 30.66952 660 30 30.66952 690 30 31.26062 690 30 31.26062 720 30 32.05535 720 30 32.05535 750 30 33.02308 750 30 33.02308 780 30 34.12653 780 30 34.12653 810 30 35.32321 810 30 35.32321 840 30 36.56705 840 30 36.56705 870 30 37.81011 870 30 37.81011 900 30 39.00453 900 30 39.00453 930 30 41.53134 930 30 41.53134 960 30 48.57211 960 30 48.57211 990 30 59.20282 990 30 59.20282 1020 30 71.76814 1020 30 71.76814 1050 30 84.30492 1050 30 84.30492 1080 30 94.84523 1080 30 94.84523 1110 30 101.8499 1110 30 101.8499 1140 30 104.3162 1140 30 104.3162 1170 30 101.8499 1170 30 101.8499 1200 30 94.84523 1200 30 94.84523 1020 1200 140.5767 1020 1200 140.5767 1050 1170 151.0053 1050 1170 151.0053 1080 1140 157.6094 1080 1140 157.6094 1110 1110 159.8725 1110 1110 159.8725 1140 1080 157.2244 1140 1080 157.2244 1170 1050 149.3738 1170 1050 149.3738 1200 1020 137.0536 1200 1020 137.0536 0 660 49.01326 0 660 49.01326 30 630 54.40261 30 630 54.40261 60 600 61.32726 60 600 61.32726 90 570 68.99849 90 570 68.99849 120 540 76.60855 120 540 76.60855 150 510 83.57535 150 510 83.57535 180 480 89.43519 180 480 89.43519 210 450 93.71421 210 450 93.71421 240 420 96.0924 240 420 96.0924 270 390 96.42176 270 390 96.42176 300 360 94.7136 300 360 94.7136 330 330 90.82842 330 330 90.82842 360 300 85.01302 360 300 85.01302 390 270 77.79931 390 270 77.79931 420 240 69.8308 420 240 69.8308 450 210 61.81273 450 210 61.81273 480 180 54.45885 480 180 54.45885 510 150 48.13991 510 150 48.13991 540 120 42.24302 540 120 42.24302 570 90 37.12743 570 90 37.12743 600 60 33.23473 600 60 33.23473 630 30 30.94557 630 30 30.94557 660 0 30.54886 660 0 30.54886 690 0 31.14399 690 0 31.14399 720 0 31.94411 720 0 31.94411 750 0 32.91849 750 0 32.91849 780 0 34.02972 780 0 34.02972 810 0 35.23516 810 0 35.23516 840 0 36.48852 840 0 36.48852 870 0 37.74168 870 0 37.74168 900 0 38.94654 900 0 38.94654 930 0 40.46531 930 0 40.46531 960 0 45.55762 960 0 45.55762 990 0 54.10173 990 0 54.10173 1020 0 64.61825 1020 0 64.61825 1050 0 75.32489 1050 0 75.32489 1080 0 84.42024 1080 0 84.42024 1110 0 90.49303 1110 0 90.49303 1140 0 92.63808 1140 0 92.63808 1170 0 90.49303 1170 0 90.49303 1200 0 84.42024 1200 0 84.42024 1050 1200 147.8024 1050 1200 147.8024 1080 1170 156.4898 1080 1170 156.4898 1110 1140 161.0174 1110 1140 161.0174 1140 1110 161.0174 1140 1110 161.0174 1170 1080 156.078 1170 1080 156.078 1200 1050 146.2278 1200 1050 146.2278 0 630 50.51215 0 630 50.51215 30 600 56.81704 30 600 56.81704 60 570 64.32482 60 570 64.32482 90 540 72.23727 90 540 72.23727 120 510 79.94845 120 510 79.94845 150 480 86.89342 150 480 86.89342 180 450 92.52001 180 450 92.52001 210 420 96.41263 210 420 96.41263 240 390 98.31716 240 390 98.31716 270 360 98.15341 270 360 98.15341 300 330 95.85619 300 330 95.85619 330 300 91.36893 330 300 91.36893 360 270 85.1208 360 270 85.1208 390 240 77.68707 390 240 77.68707 420 210 69.73379 420 210 69.73379 450 180 61.96668 450 180 61.96668 480 150 54.9539 480 150 54.9539 510 120 48.19159 510 120 48.19159 540 90 41.929 540 90 41.929 570 60 36.65082 570 60 36.65082 600 30 32.79399 600 30 32.79399 630 0 30.72301 630 0 30.72301 1080 1200 153.1769 1080 1200 153.1769 1110 1170 159.8725 1110 1170 159.8725 1140 1140 162.1806 1140 1140 162.1806 1170 1110 159.8725 1170 1110 159.8725 1200 1080 152.7919 1200 1080 152.7919 0 600 52.74223 0 600 52.74223 30 570 59.81901 30 570 59.81901 60 540 67.77236 60 540 67.77236 90 510 75.98964 90 510 75.98964 120 480 83.81912 120 480 83.81912 150 450 90.6441 150 450 90.6441 180 420 95.96376 180 420 95.96376 210 390 99.42412 210 390 99.42412 240 360 100.8374 240 360 100.8374 270 330 100.1648 270 330 100.1648 300 300 97.2097 300 300 97.2097 330 270 92.1892 330 270 92.1892 360 240 85.59434 360 240 85.59434 390 210 78.03334 390 210 78.03334 420 180 70.18389 420 180 70.18389 450 150 62.70189 450 150 62.70189 480 120 55.27494 480 120 55.27494 510 90 48.03721 510 90 48.03721 540 60 41.50741 540 60 41.50741 570 30 36.17177 570 30 36.17177 600 0 32.45491 600 0 32.45491 1110 1200 156.4898 1110 1200 156.4898 1140 1170 161.0174 1140 1170 161.0174 1170 1140 161.0174 1170 1140 161.0174 1200 1110 156.4898 1200 1110 156.4898 0 570 55.64655 0 570 55.64655 30 540 63.38962 30 540 63.38962 60 510 71.85778 60 510 71.85778 90 480 80.34344 90 480 80.34344 120 450 88.18078 120 450 88.18078 150 420 94.79633 150 420 94.79633 180 390 99.74518 180 390 99.74518 210 360 102.7368 210 360 102.7368 240 330 103.649 240 330 103.649 270 300 102.3709 270 300 102.3709 300 270 98.79909 300 270 98.79909 330 240 93.31714 330 240 93.31714 360 210 86.45859 360 210 86.45859 390 180 78.85414 390 180 78.85414 420 150 71.17486 420 150 71.17486 450 120 63.30546 450 120 63.30546 480 90 55.29285 480 90 55.29285 510 60 47.67963 510 60 47.67963 540 30 40.9927 540 30 40.9927 570 0 35.71234 570 0 35.71234 1140 1200 157.6094 1140 1200 157.6094 1170 1170 159.8725 1170 1170 159.8725 1200 1140 157.6094 1200 1140 157.6094 0 540 59.26631 0 540 59.26631 30 510 67.72166 30 510 67.72166 60 480 76.61517 60 480 76.61517 90 450 85.24852 90 450 85.24852 120 420 92.99006 120 420 92.99006 150 390 99.31526 150 390 99.31526 180 360 103.8382 180 360 103.8382 210 330 106.3323 210 330 106.3323 240 300 106.7209 240 300 106.7209 270 270 104.7718 270 270 104.7718 300 240 100.6388 300 240 100.6388 330 210 94.76629 330 210 94.76629 360 180 87.72056 360 180 87.72056 390 150 80.14411 390 150 80.14411 420 120 72.06981 420 120 72.06981 450 90 63.50569 450 90 63.50569 480 60 55.00722 480 60 55.00722 510 30 47.13199 510 30 47.13199 540 0 40.40731 540 0 40.40731 1170 1200 156.4898 1170 1200 156.4898 1200 1170 156.4898 1200 1170 156.4898 0 510 63.75323 0 510 63.75323 30 480 72.79447 30 480 72.79447 60 450 81.98461 60 450 81.98461 90 420 90.64965 90 420 90.64965 120 390 98.19877 120 390 98.19877 150 360 104.1607 150 360 104.1607 180 330 108.2102 180 330 108.2102 210 300 110.1839 210 300 110.1839 240 270 109.9597 240 270 109.9597 270 240 107.3672 270 240 107.3672 300 210 102.7296 300 210 102.7296 330 180 96.53338 330 180 96.53338 360 150 89.36752 360 150 89.36752 390 120 81.33476 390 120 81.33476 420 90 72.45958 420 90 72.45958 450 60 63.29876 450 60 63.29876 480 30 54.42971 480 30 54.42971 510 0 46.41709 510 0 46.41709 1200 1200 153.1769 1200 1200 153.1769 0 480 69.04643 0 480 69.04643 30 450 78.53922 30 450 78.53922 60 420 87.89971 60 420 87.89971 90 390 96.48569 90 390 96.48569 120 360 103.7526 120 360 103.7526 150 330 109.2853 150 330 109.2853 180 300 112.82 180 300 112.82 210 270 114.2497 210 270 114.2497 240 240 113.3398 240 240 113.3398 270 210 110.1444 270 210 110.1444 300 180 105.057 300 180 105.057 330 150 98.59619 330 150 98.59619 360 120 90.85349 360 120 90.85349 390 90 81.91824 390 90 81.91824 420 60 72.33676 420 60 72.33676 450 30 62.69473 450 30 62.69473 480 0 53.5835 480 0 53.5835 0 450 75.06912 0 450 75.06912 30 420 84.8791 30 420 84.8791 60 390 94.28691 60 390 94.28691 90 360 102.6885 90 360 102.6885 120 330 109.5898 120 330 109.5898 150 300 114.6335 150 300 114.6335 180 270 117.6162 180 270 117.6162 210 240 118.427 210 240 118.427 240 210 116.8341 240 210 116.8341 270 180 113.0764 270 180 113.0764 300 150 107.5812 300 150 107.5812 330 120 100.3723 330 120 100.3723 360 90 91.6317 360 90 91.6317 390 60 81.8835 390 60 81.8835 420 30 71.70975 420 30 71.70975 450 0 61.71707 450 0 61.71707 0 420 81.73504 0 420 81.73504 30 390 91.72897 30 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+++ b/wild_visual_navigation_jackal/scripts/gazebo_world_publisher.py @@ -0,0 +1,46 @@ +#!/usr/bin/python3 +# +# Copyright (c) 2022-2024, ETH Zurich, Matias Mattamala, Jonas Frey. +# All rights reserved. Licensed under the MIT license. +# See LICENSE file in the project root for details. +# + +from visualization_msgs.msg import Marker +import rospkg +import rospy + + +def callback(event): + pub.publish(marker) + + +if __name__ == "__main__": + rospy.init_node("gazebo_world_publisher") + + # Default variables + rospack = rospkg.RosPack() + pkg_path = rospack.get_path("wild_visual_navigation_jackal") + default_model_file = f"{pkg_path}/Media/models/outdoor.dae" + + marker = Marker() + marker.header.frame_id = "odom" + marker.header.stamp = rospy.Time.now() + marker.id = 0 + marker.ns = "world" + marker.action = Marker.ADD + marker.scale.x = 1.0 + marker.scale.y = 1.0 + marker.scale.z = 1.0 + marker.color.a = 1.0 + marker.pose.orientation.w = 1.0 + marker.mesh_use_embedded_materials = True + marker.type = Marker.MESH_RESOURCE + marker.mesh_resource = f"file://{default_model_file}" + + # Set publisher + pub = rospy.Publisher("/wild_visual_navigation_jackal/simulation_world", Marker, queue_size=10) + + # Set timer to publish + rospy.Timer(rospy.Duration(5), callback) + rospy.loginfo("[gazebo_world_publisher] Published world!") + rospy.spin() diff --git a/wild_visual_navigation_jackal/worlds/outdoor.world b/wild_visual_navigation_jackal/worlds/outdoor.world index 209372f8..baa0a315 100644 --- a/wild_visual_navigation_jackal/worlds/outdoor.world +++ b/wild_visual_navigation_jackal/worlds/outdoor.world @@ -1,6 +1,6 @@ - + 0.2 0.2 0.2 1 1 @@ -20,295 +20,28 @@ 0.2 0.2 -0.9 - - 1 - - - - - - file://heightmap.png - 30 30 12 - 0 0 -1 - - 10 - __default__ - __default__ - - - 0 - 0 - - - - 10 - - - - - - - - - - - - - - - - - - file://media/materials/textures/dirt_diffusespecular.png - file://media/materials/textures/flat_normal.png - 7 - - - file://media/materials/textures/grass_diffusespecular.png - file://media/materials/textures/flat_normal.png - 3 - - - file://media/materials/textures/fungus_diffusespecular.png - file://media/materials/textures/flat_normal.png - 4 - - - 0 - 0.05 - - - -1 - 7 - - - file://heightmap.png - 30 30 12 - 0 0 -1 - - - - 0 - 0 - 0 - - - - - - true - - 3 3 -1 0 0 0 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - 5 6 -1.0 0.0 0 0.3 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - 1 8 -0.2 0.0 0 0 - - - - file://OliveTree2.dae - 1 1 1 - - - - - - - file://OliveTree2.dae - 1 1 1 - - - false - - - - - - true - - -5 4 -1.0 0 0.1 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - -10 -3 -1.0 0 0 0.3 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - -6 -1 -0.8 0 0 0.5 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - -1 1 -1.0 0.0 0 0.2 - - - - file://OliveTree2.dae - 1 1 1 - - - - - - - file://OliveTree2.dae - 1 1 1 - - - false - - - - - - true - - 9 -4 -1.0 0 0 0.5 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - 6 -0.5 -1.0 0 0 0.5 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - + + true + + 3 3 -1 0 0 0 + + + + file://outdoor.dae + 1 1 1 + + + + + + + file://outdoor.dae + 1 1 1 + + + false + + + \ No newline at end of file diff --git a/wild_visual_navigation_jackal/worlds/scenario.world b/wild_visual_navigation_jackal/worlds/scenario.world deleted file mode 100644 index 46cfec7b..00000000 --- a/wild_visual_navigation_jackal/worlds/scenario.world +++ /dev/null @@ -1,282 +0,0 @@ - - - - - - 0.5 0.5 0.5 1 - 0.5 0.5 0.5 1 - false - - - 0 0 -9.81 - - - quick - 10 - 1.3 - - - 0.0 - 0.2 - 10 - 0.001 - - - 0.001 - - - 0 20 20 0.1 0.1 0 - 1 1 1 1 - 1 1 1 1 - - 300 - - 0.1 0.1 -1 - false - - - - -15.0 -15.0 0.5 0 0 0 - - - - file://scenario.dae - 1 1 0.4 - - - - - - - file://scenario.dae - 1 1 0.4 - - - false - - - true - - - - - true - - 3 3 0.6 0 0 0 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - 5 6 0.7 0 0 0.3 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - 1 8 0.9 0 0 0 - - - - file://OliveTree2.dae - 1 1 1 - - - - - - - file://OliveTree2.dae - 1 1 1 - - - false - - - - - - true - - -5 4 0.8 0 0 0.1 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - -10 -3 1.1 0 0 0.3 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - -6 -7 1.02 0 0 0.5 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - -1 -6 0.8 0 0 0.2 - - - - file://OliveTree2.dae - 1 1 1 - - - - - - - file://OliveTree2.dae - 1 1 1 - - - false - - - - - - true - - 9 -4 0.5 0 0 0.5 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - true - - 6 -10 0.8 0 0 0.5 - - - - file://OliveTree1.dae - 1 1 1 - - - - - - - file://OliveTree1.dae - 1 1 1 - - - false - - - - - - \ No newline at end of file

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