From 877518df38cac802586cb8eb08c7dad6a964ba61 Mon Sep 17 00:00:00 2001 From: vortexuser Date: Sun, 19 Apr 2026 10:21:08 +0000 Subject: [PATCH 1/9] refactor: valve obj are now correctly aligned --- .../data/object_files/valve_base.obj | 580881 ++++++++------- .../data/object_files/valve_base_mesh.obj | 4392 +- .../data/object_files/valve_turnable.obj | 169523 +++-- .../data/object_files/valve_turnable_mesh.obj | 266 +- stonefish_sim/objects/structure.scn | 8 +- 5 files changed, 421347 insertions(+), 333723 deletions(-) diff --git a/stonefish_sim/data/object_files/valve_base.obj b/stonefish_sim/data/object_files/valve_base.obj index 4d69158..d6a9592 100644 --- a/stonefish_sim/data/object_files/valve_base.obj +++ b/stonefish_sim/data/object_files/valve_base.obj @@ -1,102 +1,7 @@ -# Blender 4.2.2 LTS +# Blender v3.0.1 OBJ File: '' # www.blender.org +mtllib valve_base.mtl o Subsea_Valve_Bucket-1_-_Part -v -0.042000 0.104100 0.004105 -v 0.005000 0.103516 0.004219 -v 0.004991 0.103419 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0.331062 @@ -233273,10 +264839,14 @@ vt 0.794667 0.211869 vt 0.749089 0.356339 vt 0.798938 0.213638 vt 0.762758 0.383195 +vt 0.762758 0.383195 +vt 0.798938 0.213638 vt 0.773541 0.411334 vt 0.803522 0.214242 vt 0.781319 0.440446 +vt 0.887129 0.453015 vt 0.885880 0.450000 +vt 0.917325 0.408975 vt 0.883894 0.447411 vt 0.907588 0.372264 vt 0.881305 0.445425 @@ -233287,50 +264857,89 @@ vt 0.556727 0.783513 vt 0.557234 0.782717 vt 0.556412 0.784403 vt 0.557908 0.782056 +vt 0.556305 0.785341 vt 0.558713 0.781563 +vt 0.559608 0.781264 vt 0.210718 0.814141 vt 0.211924 0.812321 +vt 0.238345 0.837503 +vt 0.336617 0.894574 +vt 0.302208 0.878493 +vt 0.211924 0.812321 +vt 0.213693 0.808050 vt 0.336617 0.894574 +vt 0.444231 0.878235 vt 0.372318 0.907534 vt 0.445480 0.881250 +vt 0.409030 0.917271 vt 0.447466 0.883839 +vt 0.450055 0.885825 vt 0.627791 0.907534 vt 0.591080 0.917271 +vt 0.553648 0.923707 vt 0.557234 0.217283 +vt 0.559608 0.218736 vt 0.557908 0.217944 vt 0.558713 0.218437 +vt 0.446461 0.076293 vt 0.482516 0.073277 vt 0.482950 0.075417 vt 0.517594 0.073277 vt 0.553648 0.076293 vt 0.517160 0.075417 +vt 0.591080 0.082729 vt 0.515391 0.079687 vt 0.286387 0.307640 vt 0.267426 0.331062 vt 0.205442 0.211869 +vt 0.088596 0.500000 +vt 0.112555 0.456250 vt 0.087993 0.504583 vt 0.112555 0.543750 vt 0.086224 0.508854 vt 0.730745 0.140581 vt 0.761765 0.162497 vt 0.697901 0.121507 +vt 0.663493 0.105426 +vt 0.556305 0.125000 +vt 0.555879 0.121765 +vt 0.786417 0.191950 +vt 0.663493 0.105426 vt 0.788186 0.187679 +vt 0.761765 0.162497 vt 0.789392 0.185859 +vt 0.557234 0.217283 vt 0.556727 0.216487 +vt 0.559608 0.218736 vt 0.556412 0.215597 +vt 0.556305 0.214659 +vt 0.446461 0.076293 +vt 0.482950 0.075417 +vt 0.453070 0.112926 vt 0.484719 0.079687 +vt 0.456305 0.112500 vt 0.487533 0.083355 +vt 0.491201 0.086169 +vt 0.504638 0.087938 vt 0.508909 0.086169 +vt 0.543805 0.112500 vt 0.512577 0.083355 vt 0.547040 0.112926 +vt 0.515391 0.079687 vt 0.550055 0.114175 +vt 0.591080 0.082729 vt 0.552644 0.116161 +vt 0.554630 0.118750 +vt 0.205442 0.211869 +vt 0.267426 0.331062 vt 0.201171 0.213638 vt 0.121562 0.697846 vt 0.209110 0.790945 vt 0.140636 0.730690 vt 0.205442 0.788131 +vt 0.162552 0.761710 vt 0.201171 0.786362 +vt 0.196588 0.785758 vt 0.073332 0.482461 vt 0.076347 0.446407 vt 0.075471 0.482895 @@ -233340,17 +264949,34 @@ vt 0.784458 0.443643 vt 0.783568 0.443328 vt 0.782772 0.442820 vt 0.812376 0.211869 +vt 0.894628 0.336562 vt 0.808105 0.213638 +vt 0.875055 0.443750 +vt 0.803522 0.214242 vt 0.785396 0.443750 +vt 0.781319 0.440446 vt 0.781618 0.441342 +vt 0.812376 0.211869 vt 0.814196 0.210663 vt 0.837558 0.238290 +vt 0.812376 0.211869 +vt 0.837558 0.238290 +vt 0.894628 0.336562 vt 0.859474 0.269309 vt 0.878548 0.302154 vt 0.218492 0.558658 vt 0.218791 0.559554 vt 0.214714 0.556250 +vt 0.125055 0.556250 +vt 0.547040 0.887074 +vt 0.794667 0.788131 +vt 0.515391 0.920313 +vt 0.791000 0.790945 +vt 0.517160 0.924583 +vt 0.697901 0.878493 +vt 0.553648 0.923707 vt 0.663493 0.894574 +vt 0.627791 0.907534 vt 0.121562 0.302154 vt 0.140636 0.269309 vt 0.162552 0.238290 @@ -233359,10 +264985,16 @@ vt 0.214714 0.443750 vt 0.192005 0.213638 vt 0.125055 0.443750 vt 0.121820 0.444176 +vt 0.267426 0.331062 vt 0.251021 0.356339 +vt 0.201171 0.213638 vt 0.237352 0.383195 +vt 0.196588 0.214242 vt 0.226569 0.411334 +vt 0.214714 0.443750 +vt 0.453070 0.112926 vt 0.450055 0.114175 +vt 0.409030 0.082729 vt 0.447466 0.116161 vt 0.372318 0.092466 vt 0.445480 0.118750 @@ -233371,12 +265003,22 @@ vt 0.444231 0.121765 vt 0.443805 0.125000 vt 0.112981 0.546985 vt 0.079742 0.515336 +vt 0.112555 0.543750 vt 0.083410 0.512522 +vt 0.086224 0.508854 +vt 0.087993 0.495417 vt 0.086224 0.491146 +vt 0.112555 0.456250 vt 0.083410 0.487478 vt 0.112981 0.453015 +vt 0.079742 0.484664 vt 0.114230 0.450000 +vt 0.082784 0.408975 +vt 0.784458 0.443643 +vt 0.782772 0.442820 +vt 0.785396 0.443750 vt 0.782111 0.442147 +vt 0.781618 0.441342 vt 0.443383 0.783513 vt 0.440501 0.781264 vt 0.442875 0.782717 @@ -233384,24 +265026,45 @@ vt 0.441397 0.781563 vt 0.442202 0.782056 vt 0.267426 0.668938 vt 0.286387 0.692360 +vt 0.213693 0.798883 vt 0.307695 0.713668 vt 0.331116 0.732629 +vt 0.443383 0.783513 vt 0.443698 0.784403 +vt 0.440501 0.781264 +vt 0.443805 0.785341 vt 0.411388 0.773486 +vt 0.214297 0.803467 vt 0.383249 0.762703 +vt 0.213693 0.798883 vt 0.356394 0.749034 +vt 0.331116 0.732629 vt 0.185914 0.210663 vt 0.187734 0.211869 +vt 0.162552 0.238290 +vt 0.105481 0.336562 +vt 0.121562 0.302154 +vt 0.187734 0.211869 +vt 0.192005 0.213638 vt 0.105481 0.336562 +vt 0.121820 0.444176 vt 0.092521 0.372264 vt 0.118805 0.445425 +vt 0.082784 0.408975 vt 0.116216 0.447411 +vt 0.114230 0.450000 vt 0.215652 0.556357 vt 0.216542 0.556672 vt 0.217338 0.557180 +vt 0.218791 0.559554 vt 0.226569 0.588667 +vt 0.125055 0.556250 vt 0.237352 0.616805 +vt 0.213693 0.798883 vt 0.251021 0.643661 +vt 0.267426 0.668938 +vt 0.286387 0.307640 +vt 0.205442 0.211869 vt 0.307695 0.286332 vt 0.209110 0.209055 vt 0.331116 0.267371 @@ -233409,26 +265072,50 @@ vt 0.211924 0.205387 vt 0.356394 0.250966 vt 0.213693 0.201117 vt 0.383249 0.237297 +vt 0.383249 0.237297 +vt 0.213693 0.201117 vt 0.411388 0.226514 vt 0.214297 0.196533 vt 0.440501 0.218736 vt 0.302208 0.121507 +vt 0.336617 0.105426 vt 0.269364 0.140581 vt 0.238345 0.162497 +vt 0.121562 0.697846 vt 0.075471 0.517105 +vt 0.209110 0.790945 +vt 0.079742 0.515336 +vt 0.211924 0.794613 +vt 0.112981 0.546985 +vt 0.114230 0.550000 +vt 0.215652 0.556357 +vt 0.217338 0.557180 +vt 0.214714 0.556250 vt 0.217999 0.557853 +vt 0.218492 0.558658 +vt 0.226569 0.411334 vt 0.218791 0.440446 +vt 0.214714 0.443750 vt 0.218492 0.441342 vt 0.217999 0.442147 +vt 0.217999 0.442147 vt 0.217338 0.442820 +vt 0.214714 0.443750 vt 0.216542 0.443328 vt 0.215652 0.443643 vt 0.210718 0.185859 +vt 0.238345 0.162497 vt 0.211924 0.187679 +vt 0.336617 0.105426 vt 0.213693 0.191950 +vt 0.443805 0.125000 +vt 0.214297 0.196533 vt 0.443805 0.214659 +vt 0.440501 0.218736 vt 0.073332 0.517539 +vt 0.075471 0.517105 vt 0.076347 0.553594 +vt 0.121562 0.697846 vt 0.082784 0.591025 vt 0.105481 0.663438 vt 0.092521 0.627737 @@ -233436,7 +265123,9 @@ vt 0.443383 0.216487 vt 0.442875 0.217283 vt 0.443698 0.215597 vt 0.442202 0.217944 +vt 0.443805 0.214659 vt 0.441397 0.218437 +vt 0.440501 0.218736 vt 0.816043 0.815988 vt 0.818857 0.812321 vt 0.823554 0.830536 @@ -233448,7 +265137,11 @@ vt 0.820626 0.201117 vt 0.812376 0.181197 vt 0.809034 0.155852 vt 0.816043 0.184012 +vt 0.837475 0.183687 vt 0.818857 0.187679 +vt 0.820626 0.191950 +vt 0.823554 0.830536 +vt 0.818857 0.812321 vt 0.850771 0.801503 vt 0.944557 0.508854 vt 0.946326 0.504583 @@ -233459,6 +265152,8 @@ vt 0.946326 0.495417 vt 0.923848 0.567700 vt 0.928856 0.517705 vt 0.929222 0.517708 +vt 0.944557 0.508854 +vt 0.962448 0.509951 vt 0.941743 0.512522 vt 0.959881 0.549664 vt 0.938076 0.515336 @@ -233467,9 +265162,14 @@ vt 0.162634 0.183687 vt 0.187734 0.181197 vt 0.191075 0.155852 vt 0.192005 0.179428 +vt 0.938076 0.515336 +vt 0.959881 0.549664 vt 0.933805 0.517105 vt 0.953909 0.589009 +vt 0.929222 0.517708 +vt 0.946326 0.495417 vt 0.944557 0.491146 +vt 0.961592 0.470165 vt 0.941743 0.487478 vt 0.957318 0.430599 vt 0.938076 0.484664 @@ -233477,12 +265177,16 @@ vt 0.949660 0.391548 vt 0.933805 0.482895 vt 0.938672 0.353299 vt 0.929222 0.482292 +vt 0.820626 0.201117 +vt 0.863418 0.213864 vt 0.818857 0.205387 vt 0.886670 0.246160 vt 0.816043 0.209055 vt 0.907061 0.280335 vt 0.924437 0.316136 +vt 0.818857 0.812321 vt 0.820626 0.808050 +vt 0.850771 0.801503 vt 0.821230 0.803467 vt 0.875392 0.770238 vt 0.820626 0.798883 @@ -233501,18 +265205,26 @@ vt 0.500055 0.037500 vt 0.500055 0.053125 vt 0.480157 0.037928 vt 0.495472 0.053728 +vt 0.184066 0.184012 vt 0.181252 0.187679 +vt 0.162634 0.183687 vt 0.179483 0.191950 vt 0.136692 0.213864 vt 0.913031 0.616768 +vt 0.923848 0.567700 vt 0.931955 0.665435 +vt 0.929222 0.517708 vt 0.944577 0.627695 +vt 0.953909 0.589009 vt 0.248259 0.152462 vt 0.209366 0.184273 vt 0.209110 0.184012 vt 0.896553 0.335765 +vt 0.924437 0.316136 vt 0.913031 0.383232 +vt 0.938672 0.353299 vt 0.923848 0.432300 +vt 0.929222 0.482292 vt 0.928856 0.482296 vt 0.053180 0.500000 vt 0.037662 0.509951 @@ -233520,7 +265232,9 @@ vt 0.053783 0.495417 vt 0.038518 0.470165 vt 0.055552 0.491146 vt 0.058366 0.487478 +vt 0.053180 0.500000 vt 0.053783 0.504583 +vt 0.037662 0.509951 vt 0.055552 0.508854 vt 0.040229 0.549664 vt 0.181252 0.812321 @@ -233528,17 +265242,27 @@ vt 0.176555 0.830536 vt 0.179483 0.808050 vt 0.149338 0.801503 vt 0.178880 0.803467 +vt 0.816043 0.790945 vt 0.815782 0.790689 vt 0.847593 0.751796 vt 0.815782 0.209311 +vt 0.816043 0.209055 vt 0.847593 0.248204 +vt 0.924437 0.316136 vt 0.874641 0.290549 +vt 0.896553 0.335765 +vt 0.512577 0.058312 +vt 0.519953 0.037928 vt 0.515391 0.061979 vt 0.559601 0.041349 vt 0.517160 0.066250 vt 0.598808 0.048166 +vt 0.517763 0.070833 vt 0.637285 0.058328 +vt 0.567755 0.076207 +vt 0.495472 0.053728 vt 0.491201 0.055497 +vt 0.480157 0.037928 vt 0.487533 0.058312 vt 0.440509 0.041349 vt 0.484719 0.061979 @@ -233550,9 +265274,16 @@ vt 0.482350 0.071199 vt 0.076262 0.432300 vt 0.071253 0.482296 vt 0.070888 0.482292 +vt 0.816043 0.790945 +vt 0.847593 0.751796 +vt 0.916134 0.701951 vt 0.874641 0.709451 +vt 0.931955 0.665435 vt 0.896553 0.664235 +vt 0.913031 0.616768 +vt 0.812376 0.181197 vt 0.808105 0.179428 +vt 0.809034 0.155852 vt 0.803522 0.178825 vt 0.778306 0.130564 vt 0.798938 0.179428 @@ -233564,11 +265295,15 @@ vt 0.790744 0.184273 vt 0.152516 0.751796 vt 0.184327 0.790689 vt 0.184066 0.790945 +vt 0.181252 0.812321 vt 0.184066 0.815988 +vt 0.176555 0.830536 vt 0.187734 0.818803 vt 0.206167 0.857122 vt 0.192005 0.820572 +vt 0.055552 0.508854 vt 0.058366 0.512522 +vt 0.040229 0.549664 vt 0.062034 0.515336 vt 0.046201 0.589009 vt 0.066305 0.517105 @@ -233583,19 +265318,29 @@ vt 0.798938 0.820572 vt 0.803522 0.821175 vt 0.793942 0.857122 vt 0.808105 0.820572 +vt 0.823554 0.830536 vt 0.812376 0.818803 +vt 0.816043 0.815988 +vt 0.790744 0.184273 vt 0.751851 0.152462 +vt 0.710912 0.088362 vt 0.709506 0.125414 vt 0.674745 0.071760 vt 0.664290 0.103502 +vt 0.637285 0.058328 vt 0.616823 0.087024 +vt 0.567755 0.076207 +vt 0.482350 0.071199 vt 0.432355 0.076207 +vt 0.362825 0.058328 vt 0.383287 0.087024 vt 0.325365 0.071760 vt 0.335820 0.103502 vt 0.289198 0.088362 vt 0.290604 0.125414 +vt 0.179483 0.191950 vt 0.178880 0.196533 +vt 0.136692 0.213864 vt 0.179483 0.201117 vt 0.113439 0.246160 vt 0.181252 0.205387 @@ -233604,40 +265349,74 @@ vt 0.184066 0.209055 vt 0.075672 0.316136 vt 0.125469 0.290549 vt 0.103556 0.335765 +vt 0.075672 0.316136 +vt 0.058366 0.487478 +vt 0.038518 0.470165 vt 0.062034 0.484664 vt 0.042791 0.430599 vt 0.066305 0.482895 vt 0.050450 0.391548 +vt 0.070888 0.482292 vt 0.061438 0.353299 +vt 0.076262 0.432300 vt 0.071253 0.517705 vt 0.076262 0.567700 +vt 0.070888 0.517708 vt 0.068155 0.665435 +vt 0.055532 0.627695 vt 0.508909 0.944503 vt 0.539814 0.960788 vt 0.504638 0.946272 +vt 0.500055 0.962500 vt 0.500055 0.946875 +vt 0.495472 0.946272 +vt 0.290604 0.125414 +vt 0.248259 0.152462 +vt 0.289198 0.088362 +vt 0.209110 0.184012 vt 0.254592 0.108012 vt 0.205442 0.181197 vt 0.221804 0.130564 vt 0.201171 0.179428 +vt 0.191075 0.155852 vt 0.196588 0.178825 +vt 0.192005 0.179428 +vt 0.075672 0.316136 +vt 0.103556 0.335765 +vt 0.061438 0.353299 vt 0.087079 0.383232 +vt 0.076262 0.432300 +vt 0.178880 0.803467 +vt 0.149338 0.801503 vt 0.179483 0.798883 vt 0.124718 0.770238 vt 0.181252 0.794613 vt 0.102876 0.736972 +vt 0.184066 0.790945 vt 0.083975 0.701951 +vt 0.152516 0.751796 vt 0.381954 0.947167 vt 0.482347 0.929167 vt 0.420832 0.955664 vt 0.482950 0.933750 +vt 0.460296 0.960788 vt 0.484719 0.938021 +vt 0.487533 0.941688 +vt 0.125469 0.290549 +vt 0.075672 0.316136 vt 0.152516 0.248204 +vt 0.184066 0.209055 vt 0.184327 0.209311 +vt 0.076262 0.567700 vt 0.087079 0.616768 +vt 0.068155 0.665435 vt 0.103556 0.664235 +vt 0.083975 0.701951 vt 0.125469 0.709451 +vt 0.152516 0.751796 +vt 0.192005 0.820572 vt 0.196588 0.821175 +vt 0.206167 0.857122 vt 0.201171 0.820572 vt 0.237955 0.881064 vt 0.205442 0.818803 @@ -233646,34 +265425,56 @@ vt 0.209110 0.815988 vt 0.307103 0.920328 vt 0.290604 0.874586 vt 0.335820 0.896498 +vt 0.307103 0.920328 +vt 0.381954 0.947167 vt 0.343951 0.935359 +vt 0.482347 0.929167 vt 0.432355 0.923793 vt 0.482350 0.928801 +vt 0.798938 0.820572 +vt 0.793942 0.857122 vt 0.794667 0.818803 vt 0.762155 0.881064 vt 0.791000 0.815988 vt 0.728426 0.902185 vt 0.693007 0.920328 +vt 0.307103 0.920328 +vt 0.335820 0.896498 +vt 0.343951 0.935359 vt 0.383287 0.912976 +vt 0.432355 0.923793 +vt 0.508909 0.944503 vt 0.512577 0.941688 +vt 0.539814 0.960788 vt 0.515391 0.938021 vt 0.579278 0.955664 vt 0.517160 0.933750 vt 0.618156 0.947167 vt 0.517763 0.929167 vt 0.656159 0.935359 +vt 0.290604 0.874586 +vt 0.307103 0.920328 vt 0.248259 0.847538 +vt 0.209110 0.815988 vt 0.209366 0.815727 vt 0.664290 0.896498 +vt 0.693007 0.920328 vt 0.616823 0.912976 +vt 0.656159 0.935359 vt 0.567755 0.923793 +vt 0.517763 0.929167 vt 0.517759 0.928801 vt 0.790744 0.815727 +vt 0.791000 0.815988 vt 0.751851 0.847538 +vt 0.693007 0.920328 vt 0.709506 0.874586 +vt 0.664290 0.896498 vt 0.537500 0.418029 vt 0.541667 0.418029 vt 0.541667 0.418473 +vt 0.537500 0.418029 +vt 0.541667 0.418473 vt 0.537500 0.418473 vt 0.541667 0.418984 vt 0.537500 0.418984 @@ -233693,9 +265494,13 @@ vt 0.458333 0.870564 vt 0.462500 0.870564 vt 0.458333 0.861826 vt 0.462500 0.861826 +vt 0.458333 0.870564 +vt 0.462500 0.870564 vt 0.458333 0.420195 vt 0.462500 0.420195 vt 0.462500 0.420474 +vt 0.458333 0.420195 +vt 0.462500 0.420474 vt 0.458333 0.420474 vt 0.462500 0.860420 vt 0.458333 0.860420 @@ -233703,13 +265508,21 @@ vt 0.462500 0.860834 vt 0.458333 0.860834 vt 0.462500 0.861312 vt 0.458333 0.861312 +vt 0.462500 0.861826 +vt 0.458333 0.861826 vt 0.458333 0.394058 vt 0.462500 0.394058 vt 0.462500 0.407215 +vt 0.458333 0.394058 +vt 0.462500 0.407215 vt 0.458333 0.407215 +vt 0.462500 0.420195 +vt 0.458333 0.420195 vt 0.462500 0.371301 vt 0.458333 0.371301 vt 0.458333 0.370860 +vt 0.462500 0.371301 +vt 0.458333 0.370860 vt 0.462500 0.370860 vt 0.458333 0.370346 vt 0.462500 0.370346 @@ -233729,9 +265542,13 @@ vt 0.541667 0.925408 vt 0.537500 0.925408 vt 0.541667 0.933608 vt 0.537500 0.933608 +vt 0.541667 0.925408 +vt 0.537500 0.925408 vt 0.541667 0.369206 vt 0.537500 0.369206 vt 0.537500 0.368925 +vt 0.541667 0.369206 +vt 0.537500 0.368925 vt 0.541667 0.368925 vt 0.537500 0.935015 vt 0.541667 0.935015 @@ -233739,14 +265556,20 @@ vt 0.537500 0.934600 vt 0.541667 0.934600 vt 0.537500 0.934122 vt 0.541667 0.934122 +vt 0.537500 0.933608 +vt 0.541667 0.933608 vt 0.541667 0.392775 vt 0.537500 0.392775 vt 0.541667 0.385060 vt 0.537500 0.380242 vt 0.541667 0.380242 +vt 0.537500 0.369206 +vt 0.541667 0.369206 vt 0.458333 0.640173 vt 0.462500 0.640173 vt 0.462500 0.868920 +vt 0.458333 0.640173 +vt 0.462500 0.868920 vt 0.458333 0.868920 vt 0.462500 0.873267 vt 0.458333 0.873267 @@ -233754,6 +265577,10 @@ vt 0.462500 0.878016 vt 0.458333 0.878016 vt 0.462500 0.884819 vt 0.458333 0.884819 +vt 0.458333 0.884819 +vt 0.462500 0.884819 +vt 0.462500 0.890296 +vt 0.458333 0.884819 vt 0.462500 0.890296 vt 0.458333 0.890296 vt 0.462500 0.895078 @@ -233762,12 +265589,20 @@ vt 0.462500 0.899067 vt 0.458333 0.899067 vt 0.537500 0.640173 vt 0.541667 0.640173 +vt 0.541667 0.640173 +vt 0.537500 0.640173 +vt 0.537500 0.636344 +vt 0.541667 0.640173 vt 0.537500 0.636344 vt 0.541667 0.636344 vt 0.537500 0.629284 vt 0.541667 0.629284 vt 0.537500 0.614984 vt 0.541667 0.614984 +vt 0.541667 0.614984 +vt 0.537500 0.614984 +vt 0.537500 0.607737 +vt 0.541667 0.614984 vt 0.537500 0.607737 vt 0.541667 0.607737 vt 0.537500 0.597676 @@ -233782,6 +265617,10 @@ vt 0.537500 0.891483 vt 0.541667 0.891483 vt 0.537500 0.884819 vt 0.541667 0.884819 +vt 0.541667 0.884819 +vt 0.537500 0.884819 +vt 0.537500 0.880096 +vt 0.541667 0.884819 vt 0.537500 0.880096 vt 0.541667 0.880096 vt 0.537500 0.874995 @@ -233796,13 +265635,21 @@ vt 0.462500 0.601957 vt 0.458333 0.601957 vt 0.462500 0.614984 vt 0.458333 0.614984 +vt 0.458333 0.614984 +vt 0.462500 0.614984 +vt 0.462500 0.625732 +vt 0.458333 0.614984 vt 0.462500 0.625732 vt 0.458333 0.625732 vt 0.462500 0.634882 vt 0.458333 0.634882 +vt 0.462500 0.640173 +vt 0.458333 0.640173 vt 0.541667 0.884887 vt 0.537500 0.884887 vt 0.537500 0.876138 +vt 0.541667 0.884887 +vt 0.537500 0.876138 vt 0.541667 0.876138 vt 0.537500 0.868365 vt 0.541667 0.868365 @@ -233813,16 +265660,28 @@ vt 0.541667 0.647129 vt 0.458333 0.647129 vt 0.462500 0.647129 vt 0.537500 0.906096 +vt 0.458333 0.647129 +vt 0.537500 0.906096 vt 0.541667 0.906096 vt 0.537500 0.899049 vt 0.541667 0.899049 vt 0.537500 0.890919 vt 0.541667 0.890919 +vt 0.537500 0.884887 +vt 0.541667 0.884887 +vt 0.458333 0.614984 +vt 0.462500 0.614984 +vt 0.462500 0.629641 +vt 0.458333 0.614984 vt 0.462500 0.629641 vt 0.458333 0.629641 vt 0.462500 0.639696 vt 0.458333 0.639696 +vt 0.462500 0.647129 +vt 0.458333 0.647129 +vt 0.462500 0.639696 vt 0.458333 0.643202 +vt 0.458333 0.639696 vt 0.458333 0.582907 vt 0.462500 0.582907 vt 0.458333 0.586552 @@ -233832,52 +265691,86 @@ vt 0.462500 0.597768 vt 0.458333 0.597768 vt 0.462500 0.609692 vt 0.458333 0.609692 +vt 0.462500 0.614984 +vt 0.458333 0.614984 vt 0.458333 0.884887 vt 0.462500 0.884887 vt 0.462500 0.895256 +vt 0.458333 0.884887 +vt 0.462500 0.895256 vt 0.458333 0.895256 vt 0.462500 0.902589 vt 0.458333 0.902589 vt 0.462500 0.909223 vt 0.458333 0.909223 +vt 0.462500 0.582907 +vt 0.458333 0.582907 vt 0.541667 0.582907 vt 0.537500 0.582907 vt 0.462500 0.863778 +vt 0.541667 0.582907 +vt 0.462500 0.863778 vt 0.458333 0.863778 vt 0.462500 0.870929 vt 0.458333 0.870929 vt 0.462500 0.878675 vt 0.458333 0.878675 +vt 0.462500 0.884887 +vt 0.458333 0.884887 +vt 0.541667 0.614984 +vt 0.537500 0.614984 +vt 0.537500 0.598739 +vt 0.541667 0.614984 vt 0.537500 0.598739 vt 0.541667 0.598739 vt 0.537500 0.589386 vt 0.541667 0.589386 +vt 0.537500 0.582907 +vt 0.541667 0.582907 +vt 0.541667 0.647129 +vt 0.537500 0.647129 +vt 0.537500 0.640707 +vt 0.541667 0.647129 vt 0.537500 0.640707 vt 0.541667 0.640707 vt 0.537500 0.631773 vt 0.541667 0.631773 vt 0.537500 0.619275 vt 0.541667 0.619275 +vt 0.537500 0.614984 +vt 0.541667 0.614984 vt 0.458333 0.372313 vt 0.462500 0.372313 vt 0.462500 0.378074 +vt 0.458333 0.372313 +vt 0.462500 0.378074 vt 0.458333 0.378074 vt 0.462500 0.383891 vt 0.458333 0.383891 +vt 0.458333 0.383891 +vt 0.462500 0.383891 vt 0.458333 0.385060 vt 0.462500 0.391679 vt 0.458333 0.391679 +vt 0.462500 0.394058 +vt 0.458333 0.394058 vt 0.541667 0.879278 vt 0.537500 0.879278 vt 0.537500 0.873381 +vt 0.541667 0.879278 +vt 0.537500 0.873381 vt 0.541667 0.873381 vt 0.537500 0.867633 vt 0.541667 0.867633 vt 0.537500 0.863204 vt 0.541667 0.863204 +vt 0.462500 0.372313 +vt 0.458333 0.372313 vt 0.541667 0.381295 vt 0.537500 0.381295 vt 0.537500 0.374195 +vt 0.541667 0.381295 +vt 0.537500 0.374195 vt 0.541667 0.374195 vt 0.537500 0.370443 vt 0.541667 0.370443 @@ -233887,13 +265780,22 @@ vt 0.537500 0.886985 vt 0.541667 0.886985 vt 0.537500 0.882097 vt 0.541667 0.882097 +vt 0.537500 0.879278 +vt 0.541667 0.879278 vt 0.541667 0.389770 vt 0.541667 0.398380 vt 0.537500 0.389770 vt 0.537500 0.398380 +vt 0.541667 0.389770 +vt 0.537500 0.389770 +vt 0.541667 0.385060 +vt 0.537500 0.381295 +vt 0.541667 0.381295 vt 0.541667 0.917636 vt 0.537500 0.917636 vt 0.537500 0.913622 +vt 0.541667 0.917636 +vt 0.537500 0.913622 vt 0.541667 0.913622 vt 0.537500 0.911175 vt 0.541667 0.911175 @@ -233903,9 +265805,13 @@ vt 0.537500 0.404092 vt 0.541667 0.404092 vt 0.537500 0.401035 vt 0.541667 0.401035 +vt 0.537500 0.398380 +vt 0.541667 0.398380 vt 0.458333 0.392032 vt 0.462500 0.392032 vt 0.462500 0.397990 +vt 0.458333 0.392032 +vt 0.462500 0.397990 vt 0.458333 0.397990 vt 0.462500 0.401991 vt 0.458333 0.401991 @@ -233917,13 +265823,24 @@ vt 0.537500 0.922206 vt 0.541667 0.922206 vt 0.537500 0.919583 vt 0.541667 0.919583 +vt 0.537500 0.917636 +vt 0.541667 0.917636 +vt 0.458333 0.380002 +vt 0.458333 0.371301 +vt 0.462500 0.380002 +vt 0.462500 0.371301 vt 0.458333 0.380002 vt 0.462500 0.380002 +vt 0.458333 0.385060 vt 0.462500 0.387482 vt 0.458333 0.387482 +vt 0.462500 0.392032 +vt 0.458333 0.392032 vt 0.458333 0.916488 vt 0.462500 0.916488 vt 0.462500 0.922291 +vt 0.458333 0.916488 +vt 0.462500 0.922291 vt 0.458333 0.922291 vt 0.462500 0.926815 vt 0.458333 0.926815 @@ -233935,25 +265852,41 @@ vt 0.537500 0.404475 vt 0.541667 0.404475 vt 0.537500 0.397642 vt 0.541667 0.397642 +vt 0.537500 0.392775 +vt 0.541667 0.392775 vt 0.458333 0.901428 vt 0.462500 0.901428 vt 0.462500 0.905270 +vt 0.458333 0.901428 +vt 0.462500 0.905270 vt 0.458333 0.905270 vt 0.462500 0.909936 vt 0.458333 0.909936 +vt 0.462500 0.916488 +vt 0.458333 0.916488 vt 0.458333 0.401621 vt 0.462500 0.401621 vt 0.462500 0.409354 +vt 0.458333 0.401621 +vt 0.462500 0.409354 vt 0.458333 0.409354 vt 0.462500 0.413708 vt 0.458333 0.413708 +vt 0.462500 0.901428 +vt 0.458333 0.901428 vt 0.458333 0.386562 vt 0.462500 0.386562 vt 0.462500 0.393619 +vt 0.458333 0.386562 +vt 0.462500 0.393619 vt 0.458333 0.393619 +vt 0.462500 0.401621 +vt 0.458333 0.401621 vt 0.458333 0.877522 vt 0.462500 0.877522 vt 0.462500 0.881625 +vt 0.458333 0.877522 +vt 0.462500 0.881625 vt 0.458333 0.881625 vt 0.462500 0.884108 vt 0.458333 0.884108 @@ -233963,10 +265896,18 @@ vt 0.462500 0.381242 vt 0.458333 0.381242 vt 0.462500 0.384842 vt 0.458333 0.384842 +vt 0.458333 0.384842 +vt 0.462500 0.384842 +vt 0.458333 0.385060 +vt 0.462500 0.386562 +vt 0.458333 0.386562 vt 0.541667 0.387096 vt 0.541667 0.394868 vt 0.537500 0.387096 vt 0.537500 0.394868 +vt 0.541667 0.387096 +vt 0.537500 0.387096 +vt 0.541667 0.385060 vt 0.537500 0.383336 vt 0.541667 0.383336 vt 0.537500 0.380558 @@ -233977,10 +265918,18 @@ vt 0.462500 0.872620 vt 0.458333 0.872620 vt 0.462500 0.875525 vt 0.458333 0.875525 +vt 0.462500 0.877522 +vt 0.458333 0.877522 +vt 0.541667 0.418029 +vt 0.537500 0.418029 +vt 0.537500 0.410951 +vt 0.541667 0.418029 vt 0.537500 0.410951 vt 0.541667 0.410951 vt 0.537500 0.401792 vt 0.541667 0.401792 +vt 0.537500 0.394868 +vt 0.541667 0.394868 vt 0.022377 0.633339 vt 0.013077 0.593687 vt 0.143654 0.593687 @@ -234002,43 +265951,74 @@ vt 0.586552 0.914252 vt 0.518695 0.896691 vt 0.509651 0.892945 vt 0.582907 0.911764 +vt 0.518695 0.896691 +vt 0.582907 0.911764 vt 0.526462 0.902650 vt 0.558129 0.883333 vt 0.572802 0.895256 vt 0.555480 0.886785 vt 0.575625 0.902589 +vt 0.575625 0.902589 vt 0.580310 0.909223 +vt 0.555480 0.886785 +vt 0.582907 0.911764 vt 0.552028 0.889434 vt 0.559794 0.879314 vt 0.582907 0.858010 vt 0.577700 0.863778 +vt 0.586552 0.914252 +vt 0.534010 0.914252 +vt 0.582907 0.911764 vt 0.532421 0.910417 +vt 0.526462 0.902650 vt 0.614984 0.848015 vt 0.598739 0.849977 vt 0.560362 0.844491 +vt 0.500337 0.891718 +vt 0.500337 0.891667 +vt 0.509651 0.892945 vt 0.543695 0.891667 +vt 0.582907 0.911764 vt 0.548009 0.891099 +vt 0.552028 0.889434 +vt 0.577700 0.863778 vt 0.573940 0.870929 +vt 0.559794 0.879314 vt 0.571990 0.878675 +vt 0.558129 0.883333 vt 0.571562 0.884887 +vt 0.572802 0.895256 vt 0.657529 0.876138 vt 0.654890 0.868365 vt 0.712159 0.844491 +vt 0.598739 0.849977 vt 0.589386 0.853574 +vt 0.560362 0.844491 +vt 0.582907 0.858010 vt 0.560362 0.875000 +vt 0.559794 0.879314 +vt 0.657529 0.876138 +vt 0.712159 0.844491 vt 0.658406 0.884887 vt 0.652184 0.906096 vt 0.655940 0.899049 vt 0.712159 0.914252 vt 0.658006 0.890919 +vt 0.658406 0.884887 vt 0.640707 0.853676 vt 0.631773 0.850128 +vt 0.712159 0.844491 vt 0.619275 0.848132 +vt 0.654890 0.868365 vt 0.650497 0.861482 +vt 0.712159 0.844491 vt 0.647129 0.858010 +vt 0.640707 0.853676 vt 0.639696 0.916533 vt 0.643202 0.914252 +vt 0.712159 0.914252 vt 0.647129 0.911697 +vt 0.652184 0.906096 vt 0.536167 0.938873 vt 0.643257 0.974671 vt 0.532421 0.947917 @@ -234046,14 +266026,24 @@ vt 0.603035 0.984998 vt 0.526462 0.955683 vt 0.562090 0.991924 vt 0.518695 0.961643 +vt 0.536167 0.919461 +vt 0.586552 0.914252 vt 0.537445 0.929167 vt 0.589200 0.916059 vt 0.597768 0.919482 +vt 0.536167 0.938873 +vt 0.537445 0.929167 +vt 0.643257 0.974671 +vt 0.712159 0.914252 vt 0.682474 0.961014 vt 0.712159 0.947797 +vt 0.597768 0.919482 vt 0.609692 0.921511 +vt 0.537445 0.929167 vt 0.614984 0.921691 +vt 0.712159 0.914252 vt 0.629641 0.920146 +vt 0.639696 0.916533 vt 0.934122 0.368057 vt 0.953469 0.362882 vt 0.934600 0.368243 @@ -234073,9 +266063,15 @@ vt 0.894292 0.370443 vt 0.890977 0.367797 vt 0.939094 0.380242 vt 0.935502 0.369206 +vt 0.953469 0.362882 vt 0.935346 0.368925 +vt 0.935015 0.368537 +vt 0.923713 0.368867 vt 0.923467 0.369320 +vt 0.882097 0.364889 +vt 0.923344 0.369818 vt 0.886985 0.365924 +vt 0.890977 0.367797 vt 0.879278 0.364750 vt 0.873381 0.365480 vt 0.847467 0.362882 @@ -234083,12 +266079,22 @@ vt 0.867633 0.367683 vt 0.855166 0.383891 vt 0.847467 0.385060 vt 0.857490 0.378074 +vt 0.847467 0.362882 +vt 0.934122 0.368057 vt 0.933608 0.367991 +vt 0.953469 0.362882 vt 0.925408 0.367991 +vt 0.882097 0.364889 vt 0.924892 0.368057 +vt 0.924415 0.368244 +vt 0.867633 0.367683 vt 0.863204 0.370731 +vt 0.847467 0.362882 vt 0.861585 0.372313 +vt 0.857490 0.378074 +vt 0.923724 0.371301 vt 0.928452 0.380002 +vt 0.901270 0.385060 vt 0.929788 0.385060 vt 0.902509 0.389770 vt 0.930427 0.387482 @@ -234097,22 +266103,32 @@ vt 0.930737 0.392032 vt 0.905557 0.401035 vt 0.913622 0.408768 vt 0.911175 0.407812 +vt 0.930737 0.392032 +vt 0.911175 0.407812 vt 0.909228 0.406450 +vt 0.930737 0.392032 vt 0.907176 0.404092 +vt 0.905557 0.401035 vt 0.924430 0.407161 vt 0.930097 0.397990 vt 0.926538 0.405216 vt 0.928673 0.401991 +vt 0.924430 0.407161 vt 0.922206 0.408399 +vt 0.930097 0.397990 vt 0.919583 0.409113 +vt 0.930737 0.392032 vt 0.917636 0.409252 +vt 0.913622 0.408768 vt 0.891612 0.456250 vt 0.891044 0.451936 vt 0.909936 0.420028 vt 0.889379 0.447917 vt 0.886730 0.444465 vt 0.891612 0.500000 +vt 0.891612 0.456250 vt 0.892890 0.490294 +vt 0.909936 0.420028 vt 0.896636 0.481250 vt 0.902595 0.473484 vt 0.940326 0.392775 @@ -234120,63 +266136,102 @@ vt 0.939567 0.385060 vt 0.953469 0.385060 vt 0.883278 0.441816 vt 0.901428 0.415398 +vt 0.886730 0.444465 vt 0.905270 0.418164 +vt 0.909936 0.420028 vt 0.892109 0.393619 vt 0.894067 0.401621 vt 0.879259 0.440151 vt 0.896937 0.409354 +vt 0.883278 0.441816 vt 0.899827 0.413708 +vt 0.901428 0.415398 vt 0.872613 0.418984 vt 0.872462 0.418473 +vt 0.892109 0.393619 vt 0.872195 0.418029 vt 0.922291 0.420084 vt 0.926815 0.418318 vt 0.929112 0.462500 vt 0.931098 0.415312 vt 0.938818 0.463778 +vt 0.922291 0.420084 +vt 0.929112 0.462500 vt 0.916488 0.420800 vt 0.919406 0.463778 +vt 0.909936 0.420028 vt 0.910362 0.467524 +vt 0.902595 0.473484 +vt 0.855166 0.383891 vt 0.855002 0.385060 +vt 0.847467 0.385060 vt 0.854072 0.391679 vt 0.854021 0.394058 +vt 0.854021 0.394058 vt 0.855323 0.407215 vt 0.847467 0.439583 vt 0.859933 0.420195 +vt 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0.844491 vt 0.160256 0.813172 vt 0.164003 0.822217 +vt 0.196478 0.840967 vt 0.206184 0.839689 vt 0.254030 0.844491 vt 0.215228 0.835943 vt 0.222995 0.829983 +vt 0.164003 0.822217 vt 0.169962 0.829983 +vt 0.151580 0.844491 vt 0.177728 0.835943 +vt 0.186773 0.839689 +vt 0.222995 0.829983 vt 0.228954 0.822217 +vt 0.254030 0.844491 vt 0.232701 0.813172 +vt 0.254030 0.800229 vt 0.233979 0.803467 +vt 0.233552 0.800229 vt 0.254030 0.190962 vt 0.233245 0.190962 vt 0.232701 0.186828 @@ -234223,8 +266294,14 @@ vt 0.160256 0.186828 vt 0.151580 0.190962 vt 0.222995 0.170017 vt 0.215228 0.164057 +vt 0.254030 0.126092 vt 0.206184 0.160311 +vt 0.254030 0.190962 +vt 0.232701 0.186828 +vt 0.254030 0.126092 vt 0.228954 0.177783 +vt 0.222995 0.170017 +vt 0.206184 0.160311 vt 0.196478 0.159033 vt 0.174960 0.126092 vt 0.186773 0.160311 @@ -234239,59 +266316,93 @@ vt 0.206184 0.232755 vt 0.215228 0.229009 vt 0.254030 0.244651 vt 0.222995 0.223050 +vt 0.160256 0.186828 vt 0.159712 0.190962 +vt 0.151580 0.190962 vt 0.158978 0.196533 +vt 0.151580 0.244651 vt 0.160256 0.206239 vt 0.164003 0.215283 +vt 0.222995 0.223050 vt 0.228954 0.215283 +vt 0.254030 0.244651 vt 0.232701 0.206239 +vt 0.254030 0.190962 vt 0.233979 0.196533 +vt 0.233245 0.190962 +vt 0.164003 0.215283 vt 0.169962 0.223050 +vt 0.151580 0.244651 vt 0.177728 0.229009 +vt 0.186773 0.232755 vt 0.776895 0.170017 vt 0.770936 0.177783 vt 0.712159 0.126092 +vt 0.712159 0.126092 +vt 0.770936 0.177783 vt 0.712159 0.190962 vt 0.847467 0.190962 vt 0.840178 0.190962 vt 0.839634 0.186828 vt 0.803412 0.159033 vt 0.793706 0.160311 +vt 0.712159 0.126092 vt 0.784662 0.164057 +vt 0.776895 0.170017 +vt 0.847467 0.190962 +vt 0.839634 0.186828 vt 0.847467 0.146825 +vt 0.839634 0.186828 vt 0.835888 0.177783 +vt 0.847467 0.146825 vt 0.829928 0.170017 vt 0.839366 0.138553 vt 0.822162 0.164057 vt 0.824930 0.126092 vt 0.813118 0.160311 +vt 0.770936 0.177783 vt 0.767190 0.186828 +vt 0.712159 0.190962 vt 0.766645 0.190962 vt 0.765912 0.196533 +vt 0.765912 0.196533 vt 0.767190 0.206239 vt 0.712159 0.222628 vt 0.737970 0.244651 vt 0.784662 0.229009 vt 0.793706 0.232755 +vt 0.712159 0.222628 +vt 0.767190 0.206239 vt 0.729554 0.236789 vt 0.770936 0.215283 +vt 0.737970 0.244651 vt 0.776895 0.223050 +vt 0.784662 0.229009 vt 0.803412 0.234033 vt 0.813118 0.232755 +vt 0.847467 0.244651 vt 0.822162 0.229009 vt 0.829928 0.223050 +vt 0.829928 0.223050 vt 0.835888 0.215283 +vt 0.847467 0.244651 vt 0.839634 0.206239 +vt 0.847467 0.190962 vt 0.840912 0.196533 +vt 0.840178 0.190962 vt 0.712159 0.777372 vt 0.729554 0.763211 vt 0.770936 0.784717 vt 0.847467 0.800229 vt 0.840486 0.800229 vt 0.839634 0.793761 +vt 0.847467 0.800229 +vt 0.839634 0.793761 vt 0.847467 0.593687 vt 0.835888 0.784717 vt 0.829928 0.776950 +vt 0.770936 0.784717 +vt 0.729554 0.763211 vt 0.776895 0.776950 vt 0.746927 0.746982 vt 0.784662 0.770991 @@ -234299,13 +266410,20 @@ vt 0.763156 0.729609 vt 0.793706 0.767245 vt 0.778166 0.711172 vt 0.803412 0.765967 +vt 0.778166 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0.138685 0.257728 vt 0.140292 0.270938 vt 0.137729 0.257551 +vt 0.141434 0.256924 vt 0.142143 0.256260 +vt 0.141225 0.271388 vt 0.142680 0.255449 +vt 0.143014 0.254536 +vt 0.094459 0.255487 +vt 0.115697 0.244651 +vt 0.140292 0.270938 vt 0.136840 0.257157 +vt 0.137729 0.257551 vt 0.141939 0.225567 vt 0.142584 0.224710 +vt 0.143654 0.244651 vt 0.142990 0.223717 vt 0.090181 0.232819 vt 0.089519 0.233682 vt 0.081299 0.234319 vt 0.089103 0.239322 vt 0.089519 0.240327 +vt 0.075334 0.244651 vt 0.090181 0.241190 vt 0.091044 0.241852 +vt 0.136291 0.244651 vt 0.123137 0.236947 +vt 0.143654 0.244651 vt 0.141096 0.226231 +vt 0.141939 0.225567 +vt 0.090181 0.232819 +vt 0.081299 0.234319 vt 0.091044 0.232157 vt 0.104999 0.200220 vt 0.092049 0.231741 +vt 0.089519 0.233682 vt 0.089103 0.234687 +vt 0.081299 0.234319 vt 0.088961 0.235765 +vt 0.075334 0.244651 vt 0.088961 0.238244 +vt 0.089103 0.239322 vt 0.111909 0.242410 +vt 0.115697 0.244651 vt 0.093128 0.242410 +vt 0.075334 0.244651 vt 0.092049 0.242268 +vt 0.091044 0.241852 +vt 0.142990 0.223717 vt 0.143128 0.222653 +vt 0.143654 0.244651 vt 0.143128 0.220484 vt 0.143654 0.190962 vt 0.143013 0.219514 vt 0.142676 0.218597 vt 0.140566 0.216639 vt 0.139626 0.216371 +vt 0.143654 0.190962 vt 0.138650 0.216330 vt 0.136801 0.216921 vt 0.112585 0.231599 vt 0.093128 0.231599 +vt 0.142676 0.218597 vt 0.142134 0.217784 +vt 0.143654 0.190962 vt 0.141417 0.217119 +vt 0.140566 0.216639 +vt 0.138650 0.216330 vt 0.137691 0.216516 vt 0.112658 0.190962 +vt 0.136801 0.216921 +vt 0.104999 0.200220 +vt 0.093128 0.231599 +vt 0.092049 0.231741 vt 0.143654 0.385060 vt 0.098922 0.386015 vt 0.088961 0.386015 vt 0.140040 0.392968 vt 0.138983 0.391790 +vt 0.143654 0.385060 vt 0.137583 0.390842 vt 0.135937 0.389728 vt 0.129949 0.419016 @@ -234416,29 +266599,49 @@ vt 0.130256 0.419963 vt 0.110511 0.447917 vt 0.143182 0.398621 vt 0.142756 0.397156 +vt 0.143654 0.385060 vt 0.122660 0.388834 vt 0.122125 0.388918 +vt 0.098922 0.386015 vt 0.119977 0.389825 vt 0.088961 0.421017 vt 0.004220 0.510384 vt 0.005090 0.468866 +vt 0.142756 0.397156 vt 0.141908 0.395618 +vt 0.143654 0.385060 vt 0.141096 0.394143 +vt 0.140040 0.392968 +vt 0.005090 0.468866 vt 0.009431 0.427567 +vt 0.088961 0.421017 vt 0.017212 0.386776 +vt 0.088961 0.386015 vt 0.017691 0.385060 +vt 0.143654 0.385060 vt 0.070778 0.462500 vt 0.061073 0.463778 +vt 0.088961 0.421017 +vt 0.135937 0.389728 vt 0.134728 0.389293 +vt 0.143654 0.385060 vt 0.132693 0.388562 vt 0.131606 0.388441 +vt 0.131606 0.388441 vt 0.128362 0.388082 +vt 0.143654 0.385060 vt 0.127318 0.388102 +vt 0.098922 0.386015 vt 0.125505 0.388387 +vt 0.122660 0.388834 +vt 0.119977 0.389825 vt 0.117328 0.390945 +vt 0.098922 0.386015 vt 0.112649 0.394165 vt 0.112644 0.394169 +vt 0.112644 0.394169 vt 0.108386 0.397918 +vt 0.098922 0.386015 vt 0.103564 0.402567 vt 0.098922 0.407397 vt 0.108278 0.456250 @@ -234446,11 +266649,17 @@ vt 0.108278 0.500000 vt 0.107001 0.490294 vt 0.140398 0.419963 vt 0.143654 0.439583 +vt 0.130256 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0.131352 vt 0.533333 0.131361 +vt 0.539583 0.131257 +vt 0.533333 0.128362 +vt 0.539583 0.128362 vt 0.466667 0.091044 vt 0.466667 0.098135 +vt 0.460417 0.091044 +vt 0.460417 0.098135 vt 0.466667 0.388099 vt 0.466667 0.418933 +vt 0.460417 0.388099 +vt 0.460417 0.418933 +vt 0.533333 0.139627 +vt 0.533333 0.093793 +vt 0.539583 0.139627 +vt 0.539583 0.093793 +vt 0.533333 0.140014 +vt 0.533333 0.122084 +vt 0.539583 0.140014 +vt 0.539583 0.122084 vt 0.541667 0.883742 vt 0.533333 0.883742 vt 0.533333 0.883730 +vt 0.541667 0.883742 +vt 0.533333 0.883730 vt 0.541667 0.883730 vt 0.533333 0.883718 vt 0.541667 0.883718 +vt 0.533333 0.883742 +vt 0.541667 0.883742 +vt 0.541667 0.883830 +vt 0.533333 0.883742 vt 0.541667 0.883830 vt 0.533333 0.883830 vt 0.541667 0.883916 @@ -244602,24 +293304,34 @@ vt 0.533333 0.883916 vt 0.458333 0.283505 vt 0.466667 0.283505 vt 0.466667 0.283541 +vt 0.458333 0.283505 +vt 0.466667 0.283541 vt 0.458333 0.283541 vt 0.466667 0.283577 vt 0.458333 0.283577 vt 0.458333 0.875055 vt 0.466667 0.875055 vt 0.466667 0.882586 +vt 0.458333 0.875055 +vt 0.466667 0.882586 vt 0.458333 0.882586 vt 0.466667 0.889414 vt 0.458333 0.889414 +vt 0.466667 0.283505 +vt 0.458333 0.283505 vt 0.541667 0.905008 vt 0.533333 0.905008 vt 0.533333 0.904823 +vt 0.541667 0.905008 +vt 0.533333 0.904823 vt 0.541667 0.904823 vt 0.466667 0.401721 vt 0.458333 0.401721 vt 0.458333 0.891215 vt 0.466667 0.891215 vt 0.466667 0.896662 +vt 0.458333 0.891215 +vt 0.466667 0.896662 vt 0.458333 0.896662 vt 0.466667 0.899341 vt 0.458333 0.899341 @@ -244647,25 +293359,37 @@ vt 0.466667 0.399483 vt 0.458333 0.399483 vt 0.466667 0.400556 vt 0.458333 0.400556 +vt 0.533333 0.905008 +vt 0.541667 0.905008 vt 0.541667 0.401721 vt 0.533333 0.401721 vt 0.533333 0.095177 +vt 0.541667 0.401721 +vt 0.533333 0.095177 vt 0.541667 0.095177 vt 0.533333 0.094992 vt 0.541667 0.094992 vt 0.533333 0.414155 +vt 0.533333 0.401721 +vt 0.541667 0.401721 +vt 0.533333 0.414155 +vt 0.541667 0.401721 vt 0.533333 0.420123 vt 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0.466667 0.119828 +vt 0.466667 0.120711 +vt 0.458333 0.119828 vt 0.466667 0.120711 vt 0.458333 0.120711 vt 0.466667 0.121829 @@ -244721,6 +293457,8 @@ vt 0.533333 0.398124 vt 0.541667 0.398124 vt 0.533333 0.397072 vt 0.541667 0.397072 +vt 0.541667 0.397072 +vt 0.533333 0.397072 vt 0.541667 0.396531 vt 0.533333 0.395855 vt 0.541667 0.395855 @@ -244728,9 +293466,15 @@ vt 0.533333 0.394616 vt 0.541667 0.394616 vt 0.533333 0.392988 vt 0.541667 0.392988 +vt 0.541667 0.392988 +vt 0.533333 0.392988 vt 0.541667 0.392121 vt 0.533333 0.391128 vt 0.541667 0.391128 +vt 0.541667 0.391128 +vt 0.533333 0.391128 +vt 0.533333 0.389421 +vt 0.541667 0.391128 vt 0.533333 0.389421 vt 0.541667 0.389421 vt 0.533333 0.386854 @@ -244739,6 +293483,10 @@ vt 0.533333 0.383240 vt 0.541667 0.383240 vt 0.533333 0.376047 vt 0.541667 0.376047 +vt 0.541667 0.376047 +vt 0.533333 0.376047 +vt 0.533333 0.372477 +vt 0.541667 0.376047 vt 0.533333 0.372477 vt 0.541667 0.372477 vt 0.533333 0.364513 @@ -244755,6 +293503,8 @@ vt 0.466667 0.116937 vt 0.458333 0.116937 vt 0.466667 0.124198 vt 0.458333 0.124198 +vt 0.458333 0.124198 +vt 0.466667 0.124198 vt 0.458333 0.126092 vt 0.466667 0.131612 vt 0.458333 0.131612 @@ -244768,6 +293518,10 @@ vt 0.533333 0.300970 vt 0.541667 0.300970 vt 0.533333 0.294998 vt 0.541667 0.294998 +vt 0.541667 0.294998 +vt 0.533333 0.294998 +vt 0.533333 0.291994 +vt 0.541667 0.294998 vt 0.533333 0.291994 vt 0.541667 0.291994 vt 0.533333 0.137870 @@ -244778,11 +293532,19 @@ vt 0.533333 0.131208 vt 0.541667 0.131208 vt 0.533333 0.127497 vt 0.541667 0.127497 +vt 0.541667 0.127497 +vt 0.533333 0.127497 vt 0.541667 0.126092 vt 0.533333 0.123875 vt 0.541667 0.123875 vt 0.533333 0.120135 vt 0.541667 0.120135 +vt 0.533333 0.116268 +vt 0.541667 0.116268 +vt 0.541667 0.116084 +vt 0.533333 0.116084 +vt 0.533333 0.115536 +vt 0.541667 0.116084 vt 0.533333 0.115536 vt 0.541667 0.115536 vt 0.533333 0.114403 @@ -244811,12 +293573,19 @@ vt 0.533333 0.284659 vt 0.541667 0.284659 vt 0.533333 0.283544 vt 0.541667 0.283544 +vt 0.541667 0.283544 +vt 0.533333 0.283544 +vt 0.466667 0.110586 +vt 0.541667 0.283544 vt 0.466667 0.110586 vt 0.458333 0.110586 vt 0.466667 0.117414 vt 0.458333 0.117414 vt 0.466667 0.124945 vt 0.458333 0.124945 +vt 0.458333 0.124945 +vt 0.466667 0.124945 +vt 0.458333 0.126092 vt 0.466667 0.132335 vt 0.458333 0.132335 vt 0.466667 0.139631 @@ -244831,6 +293600,10 @@ vt 0.466667 0.293174 vt 0.458333 0.293174 vt 0.466667 0.301428 vt 0.458333 0.301428 +vt 0.458333 0.301428 +vt 0.466667 0.301428 +vt 0.466667 0.307605 +vt 0.458333 0.301428 vt 0.466667 0.307605 vt 0.458333 0.307605 vt 0.466667 0.316804 @@ -244843,6 +293616,10 @@ vt 0.466667 0.348858 vt 0.458333 0.348858 vt 0.466667 0.354215 vt 0.458333 0.354215 +vt 0.458333 0.354215 +vt 0.466667 0.354215 +vt 0.466667 0.355897 +vt 0.458333 0.354215 vt 0.466667 0.355897 vt 0.458333 0.355897 vt 0.466667 0.359452 @@ -244853,6 +293630,10 @@ vt 0.466667 0.379202 vt 0.458333 0.379202 vt 0.466667 0.387612 vt 0.458333 0.387612 +vt 0.458333 0.387612 +vt 0.466667 0.387612 +vt 0.466667 0.389491 +vt 0.458333 0.387612 vt 0.466667 0.389491 vt 0.458333 0.389491 vt 0.466667 0.395289 @@ -244865,19 +293646,34 @@ vt 0.533333 0.152289 vt 0.541667 0.152289 vt 0.533333 0.143115 vt 0.541667 0.143115 +vt 0.541667 0.143115 +vt 0.533333 0.143115 +vt 0.533333 0.139863 +vt 0.541667 0.143115 vt 0.533333 0.139863 vt 0.541667 0.130608 vt 0.533333 0.136861 vt 0.533333 0.130608 +vt 0.541667 0.130608 +vt 0.533333 0.130608 +vt 0.533333 0.128647 +vt 0.541667 0.130608 vt 0.533333 0.128647 vt 0.541667 0.128647 vt 0.533333 0.126587 vt 0.541667 0.126587 +vt 0.541667 0.126587 +vt 0.533333 0.126587 +vt 0.541667 0.126092 vt 0.533333 0.125355 vt 0.541667 0.125355 +vt 0.533333 0.124124 +vt 0.541667 0.124124 vt 0.541667 0.879845 vt 0.533333 0.879845 vt 0.533333 0.878030 +vt 0.541667 0.879845 +vt 0.533333 0.878030 vt 0.541667 0.878030 vt 0.533333 0.877036 vt 0.541667 0.877036 @@ -244885,6 +293681,10 @@ vt 0.533333 0.876331 vt 0.541667 0.876331 vt 0.533333 0.875876 vt 0.541667 0.875876 +vt 0.458333 0.401721 +vt 0.466667 0.401721 +vt 0.466667 0.414155 +vt 0.458333 0.401721 vt 0.466667 0.414155 vt 0.458333 0.426589 vt 0.466667 0.420123 @@ -244892,12 +293692,18 @@ vt 0.466667 0.426589 vt 0.458333 0.880172 vt 0.466667 0.880172 vt 0.466667 0.885698 +vt 0.458333 0.880172 +vt 0.466667 0.885698 vt 0.458333 0.885698 vt 0.466667 0.888347 vt 0.458333 0.888347 +vt 0.466667 0.891215 +vt 0.458333 0.891215 vt 0.458333 0.391128 vt 0.466667 0.391128 vt 0.466667 0.392988 +vt 0.458333 0.391128 +vt 0.466667 0.392988 vt 0.458333 0.392988 vt 0.466667 0.394616 vt 0.458333 0.394616 @@ -244915,17 +293721,25 @@ vt 0.466667 0.878171 vt 0.458333 0.878171 vt 0.466667 0.879289 vt 0.458333 0.879289 +vt 0.466667 0.880172 +vt 0.458333 0.880172 vt 0.458333 0.376047 vt 0.466667 0.376047 vt 0.466667 0.383240 +vt 0.458333 0.376047 +vt 0.466667 0.383240 vt 0.458333 0.383240 vt 0.466667 0.386854 vt 0.458333 0.386854 vt 0.466667 0.389421 vt 0.458333 0.389421 +vt 0.466667 0.391128 +vt 0.458333 0.391128 vt 0.458333 0.875802 vt 0.466667 0.875802 vt 0.466667 0.883063 +vt 0.458333 0.875802 +vt 0.466667 0.883063 vt 0.458333 0.883063 vt 0.466667 0.339622 vt 0.458333 0.339622 @@ -244939,9 +293753,13 @@ vt 0.466667 0.364513 vt 0.458333 0.364513 vt 0.466667 0.372477 vt 0.458333 0.372477 +vt 0.466667 0.376047 +vt 0.458333 0.376047 vt 0.458333 0.294998 vt 0.466667 0.294998 vt 0.466667 0.300970 +vt 0.458333 0.294998 +vt 0.466667 0.300970 vt 0.458333 0.300970 vt 0.466667 0.305816 vt 0.458333 0.305816 @@ -244951,6 +293769,12 @@ vt 0.466667 0.316260 vt 0.458333 0.316260 vt 0.466667 0.868388 vt 0.458333 0.868388 +vt 0.466667 0.875802 +vt 0.458333 0.875802 +vt 0.541667 0.883718 +vt 0.533333 0.883718 +vt 0.533333 0.879854 +vt 0.541667 0.883718 vt 0.533333 0.879854 vt 0.541667 0.879854 vt 0.533333 0.876114 @@ -244965,6 +293789,12 @@ vt 0.533333 0.862122 vt 0.541667 0.862122 vt 0.466667 0.292001 vt 0.458333 0.292001 +vt 0.466667 0.294998 +vt 0.458333 0.294998 +vt 0.458333 0.283577 +vt 0.466667 0.283577 +vt 0.466667 0.284685 +vt 0.458333 0.283577 vt 0.466667 0.284685 vt 0.458333 0.284685 vt 0.466667 0.285826 @@ -244991,10 +293821,14 @@ vt 0.533333 0.885600 vt 0.541667 0.885600 vt 0.533333 0.884467 vt 0.541667 0.884467 +vt 0.533333 0.883916 +vt 0.541667 0.883916 vt 0.541667 0.293174 vt 0.541667 0.301428 vt 0.533333 0.293174 vt 0.533333 0.301428 +vt 0.541667 0.293174 +vt 0.533333 0.293174 vt 0.541667 0.288047 vt 0.533333 0.286646 vt 0.541667 0.286646 @@ -245006,19 +293840,27 @@ vt 0.466667 0.860369 vt 0.458333 0.860369 vt 0.466667 0.867665 vt 0.458333 0.867665 +vt 0.466667 0.875055 +vt 0.458333 0.875055 vt 0.541667 0.354215 vt 0.533333 0.354215 vt 0.533333 0.348858 +vt 0.541667 0.354215 +vt 0.533333 0.348858 vt 0.541667 0.348858 vt 0.533333 0.343310 vt 0.541667 0.343310 vt 0.533333 0.330255 vt 0.541667 0.330255 +vt 0.541667 0.330255 +vt 0.533333 0.330255 vt 0.541667 0.326074 vt 0.533333 0.316804 vt 0.541667 0.316804 vt 0.533333 0.307605 vt 0.541667 0.307605 +vt 0.533333 0.301428 +vt 0.541667 0.301428 vt 0.533333 0.372260 vt 0.541667 0.379202 vt 0.533333 0.379202 @@ -245026,14 +293868,22 @@ vt 0.541667 0.387612 vt 0.533333 0.387612 vt 0.541667 0.359452 vt 0.541667 0.366870 +vt 0.533333 0.372260 vt 0.541667 0.372260 +vt 0.541667 0.379202 +vt 0.533333 0.372260 vt 0.533333 0.359452 +vt 0.541667 0.359452 vt 0.533333 0.355897 vt 0.541667 0.355897 +vt 0.533333 0.354215 +vt 0.541667 0.354215 vt 0.541667 0.847711 vt 0.541667 0.856885 vt 0.533333 0.847711 vt 0.533333 0.856885 +vt 0.541667 0.847711 +vt 0.533333 0.847711 vt 0.541667 0.411377 vt 0.533333 0.407415 vt 0.541667 0.407415 @@ -245043,16 +293893,32 @@ vt 0.533333 0.395289 vt 0.541667 0.395289 vt 0.533333 0.389491 vt 0.541667 0.389491 +vt 0.533333 0.387612 +vt 0.541667 0.387612 vt 0.541667 0.869392 vt 0.533333 0.869392 vt 0.533333 0.863139 +vt 0.541667 0.869392 +vt 0.533333 0.863139 +vt 0.541667 0.856885 vt 0.533333 0.860137 +vt 0.533333 0.856885 vt 0.541667 0.873413 vt 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0.413756 0.332231 +vt 0.422269 0.229912 vt 0.360903 0.241422 vt 0.356440 0.235499 +vt 0.380941 0.397904 vt 0.392792 0.384465 +vt 0.422269 0.414064 vt 0.406148 0.372521 +vt 0.411383 0.367244 vt 0.238828 0.343456 vt 0.243575 0.349155 vt 0.234387 0.414064 +vt 0.238828 0.343456 +vt 0.234387 0.414064 vt 0.235554 0.336801 vt 0.188869 0.332162 vt 0.233937 0.329562 vt 0.234387 0.331578 +vt 0.235554 0.336801 +vt 0.234387 0.414064 +vt 0.234387 0.331578 vt 0.182279 0.345968 +vt 0.188869 0.332162 vt 0.207145 0.302018 vt 0.234387 0.320921 +vt 0.188869 0.332162 vt 0.234067 0.322146 +vt 0.233937 0.329562 +vt 0.207145 0.302018 vt 0.228332 0.273844 +vt 0.234387 0.320921 vt 0.234387 0.267272 vt 0.235938 0.314969 vt 0.239445 0.308434 @@ -51158,67 +33640,131 @@ vt 0.272480 0.229912 vt 0.294236 0.248333 vt 0.252218 0.247919 vt 0.274282 0.266781 +vt 0.234387 0.267272 vt 0.255974 0.286863 +vt 0.239445 0.308434 +vt 0.322202 0.228101 +vt 0.312490 0.200697 +vt 0.325088 0.227327 +vt 0.307117 0.203824 +vt 0.322202 0.228101 vt 0.278567 0.224502 vt 0.318883 0.229912 +vt 0.272480 0.229912 vt 0.315691 0.231653 +vt 0.294236 0.248333 +vt 0.356440 0.235499 vt 0.350708 0.230791 +vt 0.422269 0.229912 vt 0.348889 0.229912 +vt 0.422269 0.200697 vt 0.344030 0.227564 +vt 0.325088 0.200697 vt 0.336780 0.225997 +vt 0.329365 0.226180 vt 0.234387 0.465914 vt 0.231805 0.467910 vt 0.182279 0.453215 vt 0.219806 0.513325 vt 0.182279 0.559543 vt 0.218163 0.501173 +vt 0.182279 0.453215 +vt 0.231805 0.467910 vt 0.224374 0.477664 +vt 0.182279 0.453215 vt 0.219721 0.489010 +vt 0.218163 0.501173 vt 0.288764 0.541606 vt 0.298467 0.534108 +vt 0.325088 0.559543 vt 0.305897 0.524353 +vt 0.219806 0.513325 vt 0.224538 0.524637 +vt 0.182279 0.559543 vt 0.232037 0.534340 vt 0.234387 0.559543 vt 0.234387 0.536130 vt 0.241791 0.541771 +vt 0.305897 0.524353 vt 0.310551 0.513008 +vt 0.325088 0.559543 vt 0.312109 0.500845 +vt 0.325088 0.453215 vt 0.310466 0.488693 vt 0.305733 0.477380 vt 0.264972 0.454036 vt 0.252820 0.455679 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38/52/4 36/50/4 diff --git a/stonefish_sim/objects/structure.scn b/stonefish_sim/objects/structure.scn index 371516a..5e96e6d 100644 --- a/stonefish_sim/objects/structure.scn +++ b/stonefish_sim/objects/structure.scn @@ -46,11 +46,11 @@ - + - + @@ -98,11 +98,11 @@ - + - + From fe227784ca84b8a4de58d7b13665017eb5f90572 Mon Sep 17 00:00:00 2001 From: vortexuser Date: Sun, 19 Apr 2026 11:43:30 +0000 Subject: [PATCH 2/9] refactor: restructure valve components and update joint references --- stonefish_sim/objects/structure.scn | 76 ++++++++++++----------------- 1 file changed, 32 insertions(+), 44 deletions(-) diff --git a/stonefish_sim/objects/structure.scn b/stonefish_sim/objects/structure.scn index 5e96e6d..dc41a84 100644 --- a/stonefish_sim/objects/structure.scn +++ b/stonefish_sim/objects/structure.scn @@ -16,6 +16,34 @@ rpy="$(param structure_orientation)"/> + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -23,26 +51,6 @@ - - - - - - - - - - - - - - - - - - @@ -56,11 +64,11 @@ - + - + - - - - - - - - - - - - - - - - - - @@ -108,11 +96,11 @@ - + - + Date: Sun, 19 Apr 2026 12:09:48 +0000 Subject: [PATCH 3/9] refactor: valve_base_mesh.obj: 1152 to 192 faces (96 verts), for faster calculations --- .../data/object_files/valve_base_mesh.obj | 3299 ++--------------- 1 file changed, 290 insertions(+), 3009 deletions(-) diff --git a/stonefish_sim/data/object_files/valve_base_mesh.obj b/stonefish_sim/data/object_files/valve_base_mesh.obj index 24b4f41..559c981 100644 --- a/stonefish_sim/data/object_files/valve_base_mesh.obj +++ b/stonefish_sim/data/object_files/valve_base_mesh.obj @@ -1,3009 +1,290 @@ -# Blender v3.0.1 OBJ File: '' -# www.blender.org -mtllib torus.mtl -o Torus -v 0.014072 0.015870 -0.119313 -v 0.016981 -0.000000 -0.117118 -v 0.014072 -0.000000 -0.120343 -v 0.019111 0.014283 -0.107382 -v 0.019111 -0.000000 -0.108309 -v 0.019890 -0.000000 -0.096274 -v 0.019890 0.012696 -0.095451 -v 0.019111 -0.000000 -0.084240 -v 0.019111 0.011109 -0.083519 -v 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28 +f 3 28 4 +f 4 28 29 +f 4 29 5 +f 5 29 30 +f 5 30 6 +f 6 30 31 +f 6 31 7 +f 7 31 32 +f 7 32 8 +f 8 32 33 +f 8 33 9 +f 9 33 34 +f 9 34 10 +f 10 34 35 +f 10 35 11 +f 11 35 36 +f 11 36 12 +f 12 36 37 +f 12 37 13 +f 13 37 38 +f 13 38 14 +f 14 38 39 +f 14 39 15 +f 15 39 40 +f 15 40 16 +f 16 40 41 +f 16 41 17 +f 17 41 42 +f 17 42 18 +f 18 42 43 +f 18 43 19 +f 19 43 44 +f 19 44 20 +f 20 44 45 +f 20 45 21 +f 21 45 46 +f 21 46 22 +f 22 46 47 +f 22 47 23 +f 23 47 48 +f 23 48 24 +f 24 48 25 +f 24 25 1 +f 49 74 73 +f 49 50 74 +f 50 75 74 +f 50 51 75 +f 51 76 75 +f 51 52 76 +f 52 77 76 +f 52 53 77 +f 53 78 77 +f 53 54 78 +f 54 79 78 +f 54 55 79 +f 55 80 79 +f 55 56 80 +f 56 81 80 +f 56 57 81 +f 57 82 81 +f 57 58 82 +f 58 83 82 +f 58 59 83 +f 59 84 83 +f 59 60 84 +f 60 85 84 +f 60 61 85 +f 61 86 85 +f 61 62 86 +f 62 87 86 +f 62 63 87 +f 63 88 87 +f 63 64 88 +f 64 89 88 +f 64 65 89 +f 65 90 89 +f 65 66 90 +f 66 91 90 +f 66 67 91 +f 67 92 91 +f 67 68 92 +f 68 93 92 +f 68 69 93 +f 69 94 93 +f 69 70 94 +f 70 95 94 +f 70 71 95 +f 71 96 95 +f 71 72 96 +f 72 73 96 +f 72 49 73 +f 1 49 50 +f 1 50 2 +f 2 50 51 +f 2 51 3 +f 3 51 52 +f 3 52 4 +f 4 52 53 +f 4 53 5 +f 5 53 54 +f 5 54 6 +f 6 54 55 +f 6 55 7 +f 7 55 56 +f 7 56 8 +f 8 56 57 +f 8 57 9 +f 9 57 58 +f 9 58 10 +f 10 58 59 +f 10 59 11 +f 11 59 60 +f 11 60 12 +f 12 60 61 +f 12 61 13 +f 13 61 62 +f 13 62 14 +f 14 62 63 +f 14 63 15 +f 15 63 64 +f 15 64 16 +f 16 64 65 +f 16 65 17 +f 17 65 66 +f 17 66 18 +f 18 66 67 +f 18 67 19 +f 19 67 68 +f 19 68 20 +f 20 68 69 +f 20 69 21 +f 21 69 70 +f 21 70 22 +f 22 70 71 +f 22 71 23 +f 23 71 72 +f 23 72 24 +f 24 72 49 +f 24 49 1 +f 25 74 73 +f 25 26 74 +f 26 75 74 +f 26 27 75 +f 27 76 75 +f 27 28 76 +f 28 77 76 +f 28 29 77 +f 29 78 77 +f 29 30 78 +f 30 79 78 +f 30 31 79 +f 31 80 79 +f 31 32 80 +f 32 81 80 +f 32 33 81 +f 33 82 81 +f 33 34 82 +f 34 83 82 +f 34 35 83 +f 35 84 83 +f 35 36 84 +f 36 85 84 +f 36 37 85 +f 37 86 85 +f 37 38 86 +f 38 87 86 +f 38 39 87 +f 39 88 87 +f 39 40 88 +f 40 89 88 +f 40 41 89 +f 41 90 89 +f 41 42 90 +f 42 91 90 +f 42 43 91 +f 43 92 91 +f 43 44 92 +f 44 93 92 +f 44 45 93 +f 45 94 93 +f 45 46 94 +f 46 95 94 +f 46 47 95 +f 47 96 95 +f 47 48 96 +f 48 73 96 +f 48 25 73 From 625d6c570284e468d16377dfea102293691a07f6 Mon Sep 17 00:00:00 2001 From: vortexuser Date: Sun, 19 Apr 2026 19:35:48 +0000 Subject: [PATCH 4/9] chore: split valve object into front face and back, add orange square object to valve handel for segmentation --- .../data/object_files/valve_base.obj | 558285 ++++++--------- .../data/object_files/valve_front.obj | 106595 +++ .../drones/nautilus_segmentation_camera.scn | 369 + stonefish_sim/objects/structure.scn | 54 + 4 files changed, 331708 insertions(+), 333595 deletions(-) create mode 100644 stonefish_sim/data/object_files/valve_front.obj create mode 100644 stonefish_sim/drones/nautilus_segmentation_camera.scn diff --git a/stonefish_sim/data/object_files/valve_base.obj b/stonefish_sim/data/object_files/valve_base.obj index d6a9592..82ac1a1 100644 --- a/stonefish_sim/data/object_files/valve_base.obj +++ b/stonefish_sim/data/object_files/valve_base.obj @@ -2,6 +2,102 @@ # www.blender.org mtllib valve_base.mtl o Subsea_Valve_Bucket-1_-_Part +v -0.042000 0.104100 0.004105 +v 0.005000 0.103516 0.004219 +v 0.004991 0.103419 0.004229 +v 0.004991 0.103419 0.004229 +v 0.004986 0.103404 0.004230 +v -0.042000 0.104100 0.004105 +v 0.004952 0.103302 0.004239 +v 0.004950 0.103298 0.004239 +v 0.004950 0.103298 0.004239 +v 0.004887 0.103198 0.004245 +v -0.042000 0.104100 0.004105 +v 0.004842 0.103150 0.004247 +v 0.004810 0.103126 0.004248 +v 0.004810 0.103126 0.004248 +v 0.004743 0.103077 0.004249 +v 0.004710 0.103077 0.004249 +v 0.004628 0.103031 0.004250 +v 0.004628 0.103031 0.004250 +v 0.004611 0.103028 0.004250 +v 0.004710 0.103077 0.004249 +v 0.004500 0.103014 0.004250 +v 0.000000 0.103014 0.004250 +v 0.004611 0.103027 -0.004250 +v 0.004717 0.103065 -0.004249 +v -0.042000 0.104100 -0.004105 +v 0.004726 0.103068 -0.004249 +v 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a/stonefish_sim/drones/nautilus_segmentation_camera.scn b/stonefish_sim/drones/nautilus_segmentation_camera.scn new file mode 100644 index 0000000..78fc3ce --- /dev/null +++ b/stonefish_sim/drones/nautilus_segmentation_camera.scn @@ -0,0 +1,369 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stonefish_sim/objects/structure.scn b/stonefish_sim/objects/structure.scn index dc41a84..fd6d506 100644 --- a/stonefish_sim/objects/structure.scn +++ b/stonefish_sim/objects/structure.scn @@ -30,6 +30,20 @@ + + + + + + + + + + + + + + @@ -44,6 +58,20 @@ + + + + + + + + + + + + + + @@ -63,6 +91,19 @@ + + + + + + + + + + + + + @@ -95,6 +136,19 @@ + + + + + + + + + + + + + From 7df9d3fe4dd0fa7f8b062145e4fe0aae8ae4f35e Mon Sep 17 00:00:00 2001 From: vortexuser Date: Mon, 20 Apr 2026 01:47:58 +0000 Subject: [PATCH 5/9] feat: add structure .scn file for rotating valves with service calls --- .../objects/structure_valve_servo.scn | 219 ++++++++++++++++++ 1 file changed, 219 insertions(+) create mode 100644 stonefish_sim/objects/structure_valve_servo.scn diff --git a/stonefish_sim/objects/structure_valve_servo.scn b/stonefish_sim/objects/structure_valve_servo.scn new file mode 100644 index 0000000..e4667fd --- /dev/null +++ b/stonefish_sim/objects/structure_valve_servo.scn @@ -0,0 +1,219 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 2aa324bc3480d5a6a3f53f7ee27b3e10be334a5b Mon Sep 17 00:00:00 2001 From: vortexuser Date: Thu, 23 Apr 2026 11:52:53 +0000 Subject: [PATCH 6/9] sonar config --- stonefish_sim/config/default_config.yaml | 14 ++++ stonefish_sim/config/defaults/fls.yaml | 9 +++ stonefish_sim/config/docking_config.yaml | 10 +++ stonefish_sim/drones/nautilus.scn | 8 +- .../drones/nautilus_segmentation_camera.scn | 6 +- stonefish_sim/launch/vortex_sim_launch.py | 80 ++++++++++++++----- stonefish_sim/scenarios/structure.scn | 2 +- 7 files changed, 102 insertions(+), 27 deletions(-) create mode 100644 stonefish_sim/config/defaults/fls.yaml diff --git a/stonefish_sim/config/default_config.yaml b/stonefish_sim/config/default_config.yaml index 6f3dcaa..acac63d 100644 --- a/stonefish_sim/config/default_config.yaml +++ b/stonefish_sim/config/default_config.yaml @@ -1,3 +1,17 @@ drone_position: "0.0 0.0 0.0" drone_orientation: "0.0 0.0 0.0" orca_orientation: "-1.57 0.0 0.0" + +water_jerlow: "0.20" + +docking_station_position: "0.0 7.5 4.0" +docking_station_orientation: "1.57 0.0 1.57" +pool_position: "0.0 3.0 -0.2" +pool_orientation: "-1.57 0.0 0.0" + +seafloor_position: "0.0 0.0 3.0" +seafloor_orientation: "1.57 0.0 0.0" +pipeline_position: "1.85 0.0 5.65" +pipeline_orientation: "-0.14 0.175 0.0" +structure_position: "1.0 -18.0 8.1" +structure_orientation: "-1.57 0.0 -1.57" diff --git a/stonefish_sim/config/defaults/fls.yaml b/stonefish_sim/config/defaults/fls.yaml new file mode 100644 index 0000000..d1e4346 --- /dev/null +++ b/stonefish_sim/config/defaults/fls.yaml @@ -0,0 +1,9 @@ +fls_beams: "512" +fls_bins: "500" +fls_horizontal_fov: "120.0" +fls_vertical_fov: "30.0" +fls_range_min: "0.5" +fls_range_max: "30.0" +fls_gain: "1.1" +fls_noise_multiplicative: "0.01" +fls_noise_additive: "0.02" diff --git a/stonefish_sim/config/docking_config.yaml b/stonefish_sim/config/docking_config.yaml index 21f9a6d..ef7bf78 100644 --- a/stonefish_sim/config/docking_config.yaml +++ b/stonefish_sim/config/docking_config.yaml @@ -6,3 +6,13 @@ docking_station_position: "0.0 7.5 4.0" docking_station_orientation: "1.57 0.0 1.57" pool_position: "0.0 3.0 -0.2" pool_orientation: "-1.57 0.0 0.0" + +fls_beams: "512" +fls_bins: "500" +fls_horizontal_fov: "120.0" +fls_vertical_fov: "30.0" +fls_range_min: "0.5" +fls_range_max: "25.0" +fls_gain: "1.1" +fls_noise_multiplicative: "0.01" +fls_noise_additive: "0.02" diff --git a/stonefish_sim/drones/nautilus.scn b/stonefish_sim/drones/nautilus.scn index 1172622..24f5d02 100644 --- a/stonefish_sim/drones/nautilus.scn +++ b/stonefish_sim/drones/nautilus.scn @@ -297,7 +297,7 @@ - + @@ -328,9 +328,9 @@ - - - + + + diff --git a/stonefish_sim/drones/nautilus_segmentation_camera.scn b/stonefish_sim/drones/nautilus_segmentation_camera.scn index 78fc3ce..2ad2453 100644 --- a/stonefish_sim/drones/nautilus_segmentation_camera.scn +++ b/stonefish_sim/drones/nautilus_segmentation_camera.scn @@ -342,9 +342,9 @@ - - - + + + diff --git a/stonefish_sim/launch/vortex_sim_launch.py b/stonefish_sim/launch/vortex_sim_launch.py index 172477f..9d0bea7 100644 --- a/stonefish_sim/launch/vortex_sim_launch.py +++ b/stonefish_sim/launch/vortex_sim_launch.py @@ -40,29 +40,64 @@ ] -def load_scenario_config(scenario_val): - config_path = os.path.join( - get_package_share_directory("stonefish_sim"), - "config", - f"{scenario_val}_config.yaml", - ) +def load_base_config() -> dict: + """Load default_config.yaml then all files in config/defaults/ as the base.""" + config_dir = os.path.join(get_package_share_directory("stonefish_sim"), "config") + + base_path = os.path.join(config_dir, "default_config.yaml") + with open(base_path) as f: + config = yaml.safe_load(f) or {} + + defaults_dir = os.path.join(config_dir, "defaults") + if os.path.isdir(defaults_dir): + for filename in sorted(os.listdir(defaults_dir)): + if filename.endswith(".yaml"): + with open(os.path.join(defaults_dir, filename)) as f: + config.update(yaml.safe_load(f) or {}) + + return config - if not os.path.exists(config_path): - print( - f"Warning: Scenario config not found for scenario '{scenario_val}'. Using default config." + +def apply_overrides(base: dict, overrides: dict, source: str) -> dict: + """Merge overrides onto base, raising on unknown keys (catches typos).""" + unknown = [k for k in overrides if k not in base] + if unknown: + raise RuntimeError( + f"[stonefish_sim] Unknown keys in {source} " + f"(not defined in any defaults file): {unknown}\n" + f"Fix the typo or add the key to the appropriate config/defaults/*.yaml file first." ) - config_path = os.path.join( + return {**base, **overrides} + + +def load_scenario_config(scenario_val): + config = load_base_config() + + if scenario_val != "default": + scenario_path = os.path.join( get_package_share_directory("stonefish_sim"), "config", - "default_config.yaml", + f"{scenario_val}_config.yaml", ) - - with open(config_path) as f: - config = yaml.safe_load(f) + if os.path.exists(scenario_path): + with open(scenario_path) as f: + overrides = yaml.safe_load(f) or {} + config = apply_overrides(config, overrides, f"'{scenario_val}_config.yaml'") + else: + print( + f"Warning: Scenario config not found for scenario '{scenario_val}'. Using default config." + ) return config +def log_effective_config(config: dict, source: str): + print(f"\n[stonefish_sim] Effective scenario config (source: {source}):") + for k, v in sorted(config.items()): + print(f" {k}: {v}") + print() + + def get_sim_node( context: LaunchContext, drone: str, @@ -185,13 +220,18 @@ def launch_setup(context: LaunchContext, *args, **kwargs): }.items(), ) - if override_path and os.path.exists(override_path): - with open(override_path) as f: - scenario_config = yaml.safe_load(f) - elif scenario_val in gpu_scenarios + no_gpu_scenarios: + if scenario_val in gpu_scenarios + no_gpu_scenarios: scenario_config = load_scenario_config(scenario_val) + config_source = f"scenario: {scenario_val}" else: - scenario_config = {} + scenario_config = load_base_config() + config_source = "defaults only" + + if override_path and os.path.exists(override_path): + with open(override_path) as f: + overrides = yaml.safe_load(f) or {} + scenario_config = apply_overrides(scenario_config, overrides, f"override file '{override_path}'") + config_source += f" + override: {override_path}" if ( "drone_position" in scenario_config @@ -210,6 +250,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs): "drone_file": f"{drone}.scn", } + log_effective_config(merged_config, config_source) + sim_node = get_sim_node( context=context, drone=drone, diff --git a/stonefish_sim/scenarios/structure.scn b/stonefish_sim/scenarios/structure.scn index 962426d..389bd29 100644 --- a/stonefish_sim/scenarios/structure.scn +++ b/stonefish_sim/scenarios/structure.scn @@ -30,7 +30,7 @@ - + From 933bfac8d2fe92bf261cc0759bca4f16eb767599 Mon Sep 17 00:00:00 2001 From: vortexuser Date: Thu, 23 Apr 2026 19:09:19 +0000 Subject: [PATCH 7/9] fix: revert structure to use one that you can move --- stonefish_sim/scenarios/structure.scn | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stonefish_sim/scenarios/structure.scn b/stonefish_sim/scenarios/structure.scn index 389bd29..962426d 100644 --- a/stonefish_sim/scenarios/structure.scn +++ b/stonefish_sim/scenarios/structure.scn @@ -30,7 +30,7 @@ - + From c0900f23bb8b2b6bb907ec22cc507660c0293add Mon Sep 17 00:00:00 2001 From: vortexuser Date: Thu, 14 May 2026 14:24:13 +0000 Subject: [PATCH 8/9] hinthux --- scripts/hintmux.sh | 78 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 78 insertions(+) create mode 100755 scripts/hintmux.sh diff --git a/scripts/hintmux.sh b/scripts/hintmux.sh new file mode 100755 index 0000000..fc3e013 --- /dev/null +++ b/scripts/hintmux.sh @@ -0,0 +1,78 @@ +#!/bin/bash + +SESSION="stonefish_sim" +WS="$HOME/ros2_ws" + + +# Kill old session if it exists +tmux kill-session -t $SESSION 2>/dev/null + +# --- SIMULATION --- +tmux new-session -d -s $SESSION -n sim + +#tmux send-keys -t $SESSION "cd $WS && source install/setup.bash && ros2 launch stonefish_sim vortex_sim_launch.py scenario:=docking rendering_quality:=low scenario_config_override:=$HOME/ros2_ws/src/vortex-cv/mission/tacc/subsea_docking/subsea_docking_setup/config/sim_config.yaml" C-m +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch stonefish_sim vortex_sim_launch.py scenario:=tacc rendering_quality:=low scenario_config_override:=$HOME/ros2_ws/src/vortex-cv/mission/tacc/visual_inspection/visual_inspection_setup/config/sim_config.yaml" C-m + +# --- CONTROL --- +tmux new-window -t $SESSION -n control + +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch auv_setup dp_quat.launch.py" C-m + +tmux split-window -h -t $SESSION +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch keyboard_joy keyboard_joy_node.launch.py" C-m + +tmux split-window -h -t $SESSION +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch waypoint_manager waypoint_manager.launch.py" C-m + +# --- PERCEPTION --- +tmux new-window -t $SESSION -n perception + +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch visual_inspection_setup visual_inspection_fsm.launch.py" C-m +tmux split-window -h -t $SESSION +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch perception_setup ultralytics_valve_detection.launch.py" C-m + +# --- TOOLS --- +tmux new-window -t $SESSION -n tools + +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch foxglove_bridge foxglove_bridge_launch.xml" C-m + + + +# --- MISSION --- +tmux new-window -t $SESSION -n mission + +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch landmark_server landmark_server.launch.py" C-m + +tmux split-window -h -t $SESSION +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 run yasmin_viewer yasmin_viewer_node" C-m + +# --- Pipeline detectio --- +tmux new-window -t $SESSION -n pipe_det + +tmux send-keys -t $SESSION "cd $WS && source install/setup.bash && ros2 launch vortex_pipeline_image_endpoints image_endpoints.launch.py" C-m + +tmux split-window -h -t $SESSION +tmux send-keys -t $SESSION "cd $WS && source install/setup.bash && ros2 launch vortex_image_segmentation yolo_segmentation.launch.py" C-m + +tmux split-window -h -t $SESSION +tmux send-keys -t $SESSION "cd $WS && source install/setup.bash && ros2 launch vortex_position_estimator position_estimator.launch.py" C-m + + +# --- MISSION --- +tmux new-window -t $SESSION -n gripper +#tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch gripper_open_loop gripper_open_loop.launch.py" C-m + +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch gripper_reference_filter gripper_reference_filter.launch.py" C-m + +tmux split-window -h -t $SESSION +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch gripper_controller gripper_controller.launch.py" C-m + +tmux split-window -h -t $SESSION +tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch gripper_sim_interface gripper_sim_interface.launch.py" C-m + + +# Nice layout +tmux select-layout tiled + +# Attach to session +tmux attach-session -t $SESSION \ No newline at end of file From 770a17a8530f1174080b9c2e10b58b40f7b714ce Mon Sep 17 00:00:00 2001 From: vortexuser Date: Thu, 14 May 2026 14:28:20 +0000 Subject: [PATCH 9/9] changed sim to work with gripper + griptip for nautilus --- stonefish_sim/config/docking_config.yaml | 2 +- stonefish_sim/drones/nautilus.scn | 74 ++++++++++++++--------- stonefish_sim/launch/vortex_sim_launch.py | 4 +- 3 files changed, 49 insertions(+), 31 deletions(-) diff --git a/stonefish_sim/config/docking_config.yaml b/stonefish_sim/config/docking_config.yaml index ef7bf78..7b08838 100644 --- a/stonefish_sim/config/docking_config.yaml +++ b/stonefish_sim/config/docking_config.yaml @@ -1,4 +1,4 @@ -drone_position: "0.0 7.5 0.0" +drone_position: "0.0 0.0 0.0" drone_orientation: "0.0 0.0 0.0" orca_orientation: "-1.57 0.0 0.0" water_jerlow: "0.20" diff --git a/stonefish_sim/drones/nautilus.scn b/stonefish_sim/drones/nautilus.scn index 24f5d02..f584b41 100644 --- a/stonefish_sim/drones/nautilus.scn +++ b/stonefish_sim/drones/nautilus.scn @@ -23,13 +23,10 @@ - + - - - @@ -37,7 +34,7 @@ - + @@ -46,13 +43,12 @@ - + + + - - - @@ -60,7 +56,7 @@ - + @@ -75,13 +71,10 @@ - + - - - @@ -89,7 +82,7 @@ - + @@ -105,13 +98,10 @@ - + - - - @@ -119,7 +109,7 @@ - + @@ -135,6 +125,27 @@ + + + + + + + + + + + + + + + + + + + + + @@ -150,7 +161,7 @@ - + @@ -168,7 +179,7 @@ - + @@ -186,7 +197,7 @@ - + @@ -204,7 +215,7 @@ - + @@ -222,7 +233,7 @@ - + @@ -240,7 +251,7 @@ - + @@ -258,7 +269,7 @@ - + @@ -276,7 +287,7 @@ - + @@ -320,6 +331,13 @@ + + + + + + + diff --git a/stonefish_sim/launch/vortex_sim_launch.py b/stonefish_sim/launch/vortex_sim_launch.py index 9d0bea7..4410bea 100644 --- a/stonefish_sim/launch/vortex_sim_launch.py +++ b/stonefish_sim/launch/vortex_sim_launch.py @@ -350,12 +350,12 @@ def generate_launch_description(): ), DeclareLaunchArgument( "window_res_x", - default_value="1920", + default_value="940", description="Render window width", ), DeclareLaunchArgument( "window_res_y", - default_value="1080", + default_value="940", description="Render window height", ), DeclareLaunchArgument(