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37.0 37.0 17.0 168.51 MB
BlueROV2 Simulator using godot engine.
License: GNU General Public License v2.0
GDScript 75.90% GAP 14.30% GLSL 9.80%
bluesim's People

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r-stokke williangalvani pio3164 enderocean patrickelectric sabanioyaji nschang czar10 liyongliang999 alfr3do boyquotes hippymitty vince-vd jspencerpittman rohith8272 ardakorsan9
bluesim's Issues

gdformat validation seems to be broken

Use same fov as in bluerov camera

Add git hash version on main page

Joystick error

The left analog and the right analog got confused and did the opposite.
Allow loading levels from external .pck files

This will help keeping the core repo size smaller, and possibly help working around asset licensing
Competition simulation environment

From some internal discussion:
It'd be cool if Bluesim could be used to provide a simulation/testing environment for competitions (like MATE, RoboSub, etc).

Teams could test their control and processing algorithms before the hardware is complete

There could be a software-focused competition variant, that allows developers to participate without needing access to / budget for hardware

The main competition could include some points for software, instead of all functionality points getting lost if the hardware fails
No JSON sensor message received, resending servos

Deployment is not including the eeprom.bin files

They should be at the same folder as the main binary for SITL to use the correct params.
add interface for poking the rov

make it darker the deeper you go

Mission Ideas

basic controls (press button to leave cage)
make the user look up and down
force a situation where the user needs to increase/reduce gain
make the user use the trim functions
make the user the lights to navigate a tunnel
advanced control (pitch 90 degrees, grab a knob at the bottom, and twist it)
basic controls (grab easy item from pool, take it to a target)
Item recovery (dropped tool/ test-dummy)
Inspection (find crack on structure/leak on pipeline and take a picture)
- do a full visual inspection of a pylon
- look for dead fish in a aquaculture net
- inspect the inside of water tank for rust
- inspect a hull following a depth line (requires depthhold)
exploration (find something in the shipwreck)
find a specific fish in a coral reef
find all starfish in a coral reef
sonar navigation in murky waters
- scanning sonar
- imaging sonar
raising dust when hitting the bottom
following targets in a way that tangles the tether
untangle the tether
going back following the tether
track sensors (temperature) to get somewhere/find something
- follow warm water to escape from a dark cave
thickness gauge
waves/water current
use positioning sensors
something with echosounders (photos at every x meters from bottom)
check if camera fov matches the BR camera

Deal with angular momentum of cw and ccw thrusters

Crash on Big Sur

Hrm. Running the Mac Download app on Big Sur 11.4 on an M1, I get a "Blue Sim Quit Unexpectedly" error and it will not run.
Details below
Process:               BlueSim [3676]
Path:                  /Applications/BlueSim.app/Contents/MacOS/BlueSim
Identifier:            ???
Version:               1.0 (1.0)
Code Type:             X86-64 (Translated)
Parent Process:        ??? [1]
Responsible:           BlueSim [3676]
User ID:               501

Date/Time:             2021-07-21 12:57:38.912 -0400
OS Version:            macOS 11.4 (20F71)
Report Version:        12
Anonymous UUID:        9AB62679-84A7-DE17-AEE0-D2CD3500917D

Sleep/Wake UUID:       04670A22-4E08-4C24-8263-AA9675364FA8

Time Awake Since Boot: 870000 seconds
Time Since Wake:       13000 seconds

System Integrity Protection: enabled

Crashed Thread:        0  Dispatch queue: com.apple.main-thread

Exception Type:        EXC_BAD_ACCESS (SIGSEGV)
Exception Codes:       KERN_INVALID_ADDRESS at 0x0000000000000050
Exception Note:        EXC_CORPSE_NOTIFY

Termination Signal:    Segmentation fault: 11
Termination Reason:    Namespace SIGNAL, Code 0xb
Terminating Process:   exc handler [3676]

VM Regions Near 0x50:
--> 
    __TEXT                      100865000-102767000    [ 31.0M] r-x/rwx SM=COW  /Applications/BlueSim.app/Contents/MacOS/BlueSim

Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0                                 	0x0000000101f17858 Object::set(StringName const&, Variant const&, bool*) + 40
1                                 	0x0000000100a5db21 GDScriptInstance::_ml_call_reversed(GDScript*, StringName const&, Variant const**, int) + 193
2   ???                           	000000000000000000 0 + 0
3                                 	0x0000000100a61f90 GDScript::_initialize_classv() + 144
4   ???                           	0x000050efe11d8b48 0 + 88991204215624

Thread 1:: com.apple.rosetta.exceptionserver
0   runtime                       	0x00007ffdffc01858 0x7ffdffc00000 + 6232
1   runtime                       	0x00007ffdffc0bd50 0x7ffdffc00000 + 48464
2   runtime                       	0x00007ffdffc0ca20 0x7ffdffc00000 + 51744

Thread 2:
0   runtime                       	0x00007ffdffc5a99c 0x7ffdffc00000 + 371100

Thread 3:
0   runtime                       	0x00007ffdffc5a99c 0x7ffdffc00000 + 371100

Thread 4:
0   runtime                       	0x00007ffdffc5a99c 0x7ffdffc00000 + 371100

Thread 5:
0   runtime                       	0x00007ffdffc5a99c 0x7ffdffc00000 + 371100

Thread 6:
0   ???                           	0x00007ffe942ceab8 ???
1   libsystem_kernel.dylib        	0x00007fff202ddcce read + 10
2   libsystem_pthread.dylib       	0x00007fff2030e443 thread_start + 15

Thread 7:
0   runtime                       	0x00007ffdffc5a99c 0x7ffdffc00000 + 371100

Thread 8:
0   ???                           	0x00007ffe942ceab8 ???
1   libsystem_kernel.dylib        	0x00007fff202ddcce read + 10
2   libsystem_pthread.dylib       	0x00007fff2030e443 thread_start + 15

Thread 9:: AMCP Logging Spool
0   ???                           	0x00007ffe942ceab8 ???
1   libsystem_kernel.dylib        	0x00007fff202dd2f6 semaphore_wait_trap + 10
2   com.apple.audio.caulk         	0x00007fff28612836 caulk::semaphore::timed_wait(double) + 110
3   com.apple.audio.caulk         	0x00007fff28612784 caulk::concurrent::details::worker_thread::run() + 30
4   com.apple.audio.caulk         	0x00007fff28612502 void* caulk::thread_proxy<std::__1::tuple<caulk::thread::attributes, void (caulk::concurrent::details::worker_thread::*)(), std::__1::tuple<caulk::concurrent::details::worker_thread*> > >(void*) + 45
5   libsystem_pthread.dylib       	0x00007fff203128fc _pthread_start + 224
6   libsystem_pthread.dylib       	0x00007fff2030e443 thread_start + 15

Thread 10:
0   ???                           	0x00007ffe942ceab8 ???
1   libsystem_kernel.dylib        	0x00007fff202dd30e semaphore_timedwait_trap + 10
2   libdispatch.dylib             	0x00007fff20169145 _dispatch_semaphore_wait_slow + 58
3   libdispatch.dylib             	0x00007fff20177656 _dispatch_worker_thread + 284
4   libsystem_pthread.dylib       	0x00007fff203128fc _pthread_start + 224
5   libsystem_pthread.dylib       	0x00007fff2030e443 thread_start + 15

Thread 11:: com.apple.audio.IOThread.client
0   ???                           	0x00007ffe942ceab8 ???
1   libsystem_kernel.dylib        	0x00007fff202dd2ba mach_msg_trap + 10
2   com.apple.audio.CoreAudio     	0x00007fff21d118f5 HALB_MachPort::SendSimpleMessageWithSimpleReply(unsigned int, unsigned int, int, int&, bool, unsigned int) + 111
3   com.apple.audio.CoreAudio     	0x00007fff21bb43ed invocation function for block in HALC_ProxyIOContext::HALC_ProxyIOContext(unsigned int, unsigned int) + 3367
4   com.apple.audio.CoreAudio     	0x00007fff21d500c4 HALB_IOThread::Entry(void*) + 72
5   libsystem_pthread.dylib       	0x00007fff203128fc _pthread_start + 224
6   libsystem_pthread.dylib       	0x00007fff2030e443 thread_start + 15

Thread 12:
0   ???                           	0x00007ffe942ceab8 ???
1   libsystem_kernel.dylib        	0x00007fff202dd30e semaphore_timedwait_trap + 10
2   libdispatch.dylib             	0x00007fff20169145 _dispatch_semaphore_wait_slow + 58
3   libdispatch.dylib             	0x00007fff20177656 _dispatch_worker_thread + 284
4   libsystem_pthread.dylib       	0x00007fff203128fc _pthread_start + 224
5   libsystem_pthread.dylib       	0x00007fff2030e443 thread_start + 15

Thread 0 crashed with X86 Thread State (64-bit):
  rax: 0x3a3b77fd794f000a  rbx: 0x0000600003a32948  rcx: 0x00000003079db197  rdx: 0x00007f8e1bb1b5c0
  rdi: 0x0000000000000000  rsi: 0x0000600003a32948  rbp: 0x00000003079db4e0  rsp: 0x00000003079db130
   r8: 0x0000600002c95778   r9: 0x0000000000000000  r10: 0x00000000ffffff00  r11: 0x0000600002c95770
  r12: 0x0000000000000000  r13: 0x00000000000000a8  r14: 0x00000003079db197  r15: 0x00007f8e1bb1b5c0
  rip: 0x0000000101f17858  rfl: 0x0000000000000203


Binary Images:
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       0x11d590000 -        0x11d5affff  com.apple.cmio.DAL.AppleCamera (400.7.6 - AppleCameraDeviceAbstractionLayer-7.6.0) <35135838-D082-33E1-9342-E9654421B0A0> /System/Library/Frameworks/CoreMediaIO.framework/Resources/AppleCamera.plugin/Contents/MacOS/AppleCamera
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    0x7fff2004c000 -     0x7fff20081fff  libxpc.dylib (2038.120.1) <5751A7F5-6DC5-3090-B7F1-D90ED71BEF1F> /usr/lib/system/libxpc.dylib
    0x7fff20082000 -     0x7fff20099fff  libsystem_trace.dylib (1277.120.1) <8E243C00-BFC2-3FAA-989C-0D72314DB04D> /usr/lib/system/libsystem_trace.dylib
    0x7fff2009a000 -     0x7fff20137fff  libcorecrypto.dylib (1000.120.2) <FADB19A0-1BF3-3F47-B729-87B4FA8CA677> /usr/lib/system/libcorecrypto.dylib
    0x7fff20138000 -     0x7fff20164fff  libsystem_malloc.dylib (317.121.1) <CAD162A5-7367-3A30-9C15-5D036411AEDE> /usr/lib/system/libsystem_malloc.dylib
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    0x7fff201e7000 -     0x7fff2026ffff  libsystem_c.dylib (1439.100.3) <38F8A126-C995-349A-B909-FF831914ED2E> /usr/lib/system/libsystem_c.dylib
    0x7fff20270000 -     0x7fff202c5fff  libc++.1.dylib (905.6) <B3812B86-4FCF-3A10-8866-DF67940A974C> /usr/lib/libc++.1.dylib
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    0x7fff20318000 -     0x7fff20353fff  libdyld.dylib (852) <C10CEA28-D5A0-324F-8F07-8C7CE4805412> /usr/lib/system/libdyld.dylib
    0x7fff20354000 -     0x7fff2035dfff  libsystem_platform.dylib (254.80.2) <8664A4CD-EE27-3C71-B5CC-06E2B1B4F394> /usr/lib/system/libsystem_platform.dylib
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    0x7fff2038a000 -     0x7fff20827fff  com.apple.CoreFoundation (6.9 - 1776.103) <93677957-5935-3C00-AA42-DBCD35755BB0> /System/Library/Frameworks/CoreFoundation.framework/Versions/A/CoreFoundation
    0x7fff20828000 -     0x7fff20a5cfff  com.apple.LaunchServices (1122.38 - 1122.38) <241B3D82-2C9C-3F7D-88BD-AC78A689FF04> /System/Library/Frameworks/CoreServices.framework/Versions/A/Frameworks/LaunchServices.framework/Versions/A/LaunchServices
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    0x7fff20cb8000 -     0x7fff20d05fff  com.apple.Lexicon-framework (1.0 - 86.2) <F69DF515-4980-36C8-9F5D-987B67D2AFAF> /System/Library/PrivateFrameworks/Lexicon.framework/Versions/A/Lexicon
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    0x7fff2d966000 -     0x7fff2d974fff  libperfcheck.dylib (41) <AE0793DA-378F-343E-82AC-EEFBE0FF1818> /usr/lib/libperfcheck.dylib
    0x7fff2d975000 -     0x7fff2d984fff  com.apple.Kerberos (3.0 - 1) <6D0BA11B-3659-36F0-983E-5D0E51B25912> /System/Library/Frameworks/Kerberos.framework/Versions/A/Kerberos
    0x7fff2d985000 -     0x7fff2d9d5fff  com.apple.GSS (4.0 - 2.0) <398B2978-DB62-3D24-A5DA-36599C401D7F> /System/Library/Frameworks/GSS.framework/Versions/A/GSS
    0x7fff2d9d6000 -     0x7fff2d9e6fff  com.apple.CommonAuth (4.0 - 2.0) <A48CDBF5-8251-35AF-90F8-6FD9D64DA2D8> /System/Library/PrivateFrameworks/CommonAuth.framework/Versions/A/CommonAuth
    0x7fff2da3c000 -     0x7fff2da5bfff  com.apple.security.KeychainCircle.KeychainCircle (1.0 - 1) <8493160A-57F2-37E2-8482-FE1619630B59> /System/Library/PrivateFrameworks/KeychainCircle.framework/Versions/A/KeychainCircle
    0x7fff2da5c000 -     0x7fff2da64fff  com.apple.CorePhoneNumbers (1.0 - 1) <514729CE-5C41-3B60-888B-C7267C51B11F> /System/Library/PrivateFrameworks/CorePhoneNumbers.framework/Versions/A/CorePhoneNumbers
    0x7fff2dbb7000 -     0x7fff2dbb7fff  liblaunch.dylib (2038.120.1) <FB6430FC-AACB-3AFF-8763-4C5AFABEF40E> /usr/lib/system/liblaunch.dylib
    0x7fff2e399000 -     0x7fff2e4e4fff  com.apple.Sharing (1622.1 - 1622.1) <B931F6D8-4831-34ED-A909-BEB824ADF533> /System/Library/PrivateFrameworks/Sharing.framework/Versions/A/Sharing
    0x7fff2e4e5000 -     0x7fff2e606fff  com.apple.Bluetooth (8.0.5 - 8.0.5d7) <7630620F-575C-37A6-ACAA-3B9443127E88> /System/Library/Frameworks/IOBluetooth.framework/Versions/A/IOBluetooth
    0x7fff2e620000 -     0x7fff2e679fff  com.apple.ProtectedCloudStorage (1.0 - 1) <56DAAA40-66D4-3551-B196-B39604874CAA> /System/Library/PrivateFrameworks/ProtectedCloudStorage.framework/Versions/A/ProtectedCloudStorage
    0x7fff2fdd9000 -     0x7fff2fe00fff  com.apple.RemoteViewServices (2.0 - 163) <2D91746F-1F8B-3D03-BED1-C1BD7FA14453> /System/Library/PrivateFrameworks/RemoteViewServices.framework/Versions/A/RemoteViewServices
    0x7fff2fe01000 -     0x7fff2fe10fff  com.apple.SpeechRecognitionCore (6.1.24 - 6.1.24) <4FD3C300-7679-3E30-BC40-5DC933BC287E> /System/Library/PrivateFrameworks/SpeechRecognitionCore.framework/Versions/A/SpeechRecognitionCore
    0x7fff2fe11000 -     0x7fff2fe18fff  com.apple.speech.recognition.framework (6.0.3 - 6.0.3) <F2C2E4FC-0EE0-38CC-AC0F-8F412A2859EE> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/SpeechRecognition.framework/Versions/A/SpeechRecognition
    0x7fff30046000 -     0x7fff30046fff  libsystem_product_info_filter.dylib (8.40.1) <D5194AB1-61C4-3C8D-9E3C-C65702BAB859> /usr/lib/system/libsystem_product_info_filter.dylib
    0x7fff3011e000 -     0x7fff3011efff  com.apple.Accelerate.vecLib (3.11 - vecLib 3.11) <EF967CB1-AD17-39B7-9ABB-23CA08698F9D> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/vecLib
    0x7fff30144000 -     0x7fff30144fff  com.apple.CoreServices (1122.38 - 1122.38) <FEC6CD87-0909-3554-B8F5-CE65A5BB032C> /System/Library/Frameworks/CoreServices.framework/Versions/A/CoreServices
    0x7fff30300000 -     0x7fff30300fff  com.apple.Accelerate (1.11 - Accelerate 1.11) <70B5CC03-9123-3190-8581-9E605DA2017F> /System/Library/Frameworks/Accelerate.framework/Versions/A/Accelerate
    0x7fff30341000 -     0x7fff3034cfff  com.apple.MediaAccessibility (1.0 - 130) <F8E31637-2B5F-3D89-94FA-BD4AF8A46BD6> /System/Library/Frameworks/MediaAccessibility.framework/Versions/A/MediaAccessibility
    0x7fff3034d000 -     0x7fff3036cfff  com.apple.networking.AlgosScoreFramework (1.0 - 1) <C14EC551-82CD-3A04-91F3-C35D48B5B583> /System/Library/PrivateFrameworks/AlgosScoreFramework.framework/Versions/A/AlgosScoreFramework
    0x7fff30b42000 -     0x7fff30ba7fff  com.apple.CoreBluetooth (1.0 - 1) <AB95AA98-5CDC-3D4D-8478-C6595447837F> /System/Library/Frameworks/CoreBluetooth.framework/Versions/A/CoreBluetooth
    0x7fff30ba8000 -     0x7fff30bb1fff  com.apple.SymptomDiagnosticReporter (1.0 - 79.120.1) <99674A3B-7319-30F1-922E-D665D01794AF> /System/Library/PrivateFrameworks/SymptomDiagnosticReporter.framework/Versions/A/SymptomDiagnosticReporter
    0x7fff30bc5000 -     0x7fff30bd1fff  com.apple.AppleIDAuthSupport (1.0 - 1) <079E30CC-40B7-3363-9A41-F9A0DE9ED742> /System/Library/PrivateFrameworks/AppleIDAuthSupport.framework/Versions/A/AppleIDAuthSupport
    0x7fff30bd2000 -     0x7fff30c7afff  com.apple.DiscRecording (9.0.3 - 9030.4.5) <55DD9802-821D-35F6-B21B-C96371FE46B4> /System/Library/Frameworks/DiscRecording.framework/Versions/A/DiscRecording
    0x7fff30c7b000 -     0x7fff30caefff  com.apple.MediaKit (16 - 927.40.2) <72F9BA2E-AF51-3E05-8DE4-00377CC79609> /System/Library/PrivateFrameworks/MediaKit.framework/Versions/A/MediaKit
    0x7fff30caf000 -     0x7fff30d9afff  com.apple.DiskManagement (14.0 - 1733.100.4) <6EAC9935-9B5A-3758-92D4-9E13CF570D3A> /System/Library/PrivateFrameworks/DiskManagement.framework/Versions/A/DiskManagement
    0x7fff30d9b000 -     0x7fff31155fff  com.apple.CoreAUC (326.2.0 - 326.2.0) <A03BBCB7-69FA-3E37-AD91-734771D91045> /System/Library/PrivateFrameworks/CoreAUC.framework/Versions/A/CoreAUC
    0x7fff31156000 -     0x7fff31159fff  com.apple.Mangrove (1.0 - 25) <06E20B3A-83F6-36A3-96B8-9185D1B0A42D> /System/Library/PrivateFrameworks/Mangrove.framework/Versions/A/Mangrove
    0x7fff3115a000 -     0x7fff31187fff  com.apple.CoreAVCHD (6.1.0 - 6100.4.1) <B7888146-5DE1-306C-8C9C-E98E763E3A4E> /System/Library/PrivateFrameworks/CoreAVCHD.framework/Versions/A/CoreAVCHD
    0x7fff31188000 -     0x7fff312d7fff  com.apple.FileProvider (348.8 - 348.8) <34DFD3C5-B489-3A7A-9EC2-3A1E2970F74D> /System/Library/Frameworks/FileProvider.framework/Versions/A/FileProvider
    0x7fff312d8000 -     0x7fff312fafff  com.apple.GenerationalStorage (2.0 - 323) <AF8A2D39-41B5-3229-B780-86622DB977FC> /System/Library/PrivateFrameworks/GenerationalStorage.framework/Versions/A/GenerationalStorage
    0x7fff31763000 -     0x7fff318f7fff  com.apple.AVFCore (1.0 - 2015.22.4.1) <74A21338-3085-30C2-B847-115DE68E2C88> /System/Library/PrivateFrameworks/AVFCore.framework/Versions/A/AVFCore
    0x7fff318f8000 -     0x7fff31967fff  com.apple.FrontBoardServices (703.16 - 703.16) <2EC33C3E-5E19-39D0-A68B-49AEBA793A51> /System/Library/PrivateFrameworks/FrontBoardServices.framework/Versions/A/FrontBoardServices
    0x7fff31968000 -     0x7fff31991fff  com.apple.BoardServices (1.0 - 526) <E3782FD7-8D04-3554-BEDF-EB5A95EFCB2F> /System/Library/PrivateFrameworks/BoardServices.framework/Versions/A/BoardServices
    0x7fff31b44000 -     0x7fff31b83fff  AppleVPA (3.26.1) <32F14A37-1FAB-3216-B3FD-D1FA9E4790DC> /System/Library/PrivateFrameworks/AppleVPA.framework/Versions/A/AppleVPA
    0x7fff31c36000 -     0x7fff31c71fff  com.apple.DebugSymbols (195.1 - 195.1) <A8313A86-04C7-37DC-A5D7-FF54EE39BC70> /System/Library/PrivateFrameworks/DebugSymbols.framework/Versions/A/DebugSymbols
    0x7fff31c72000 -     0x7fff31d27fff  com.apple.CoreSymbolication (12.5 - 64544.69.1) <8D4E5AA8-8C09-31A7-AABE-AA9421781821> /System/Library/PrivateFrameworks/CoreSymbolication.framework/Versions/A/CoreSymbolication
    0x7fff32c1a000 -     0x7fff32c7dfff  com.apple.framework.Apple80211 (17.0 - 1728) <6C1C9532-AD79-3E68-BFBB-2279AC8EA776> /System/Library/PrivateFrameworks/Apple80211.framework/Versions/A/Apple80211
    0x7fff32c7e000 -     0x7fff32dcffff  com.apple.CoreWiFi (3.0 - 341) <E1A3027C-0657-3609-8F5C-D89BF6B4B422> /System/Library/PrivateFrameworks/CoreWiFi.framework/Versions/A/CoreWiFi
    0x7fff32dd0000 -     0x7fff32deafff  com.apple.BackBoardServices (1.0 - 1.0) <9CDA42E0-5F41-3647-866A-D3C265B21A57> /System/Library/PrivateFrameworks/BackBoardServices.framework/Versions/A/BackBoardServices
    0x7fff330ad000 -     0x7fff330b0fff  com.apple.help (1.3.8 - 71) <F8B97715-17C5-3789-8B89-5F08EFB70709> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Help.framework/Versions/A/Help
    0x7fff330b1000 -     0x7fff330b8fff  com.apple.EFILogin (2.0 - 2) <32EC4CD5-A6BD-31E9-BE52-BF79845F9EDB> /System/Library/PrivateFrameworks/EFILogin.framework/Versions/A/EFILogin
    0x7fff330b9000 -     0x7fff330c4fff  libcsfde.dylib (554) <D4C66851-FDFC-3B94-8B21-DCA76BDFE724> /usr/lib/libcsfde.dylib
    0x7fff33303000 -     0x7fff33303fff  com.apple.ApplicationServices (48 - 50) <374F91E8-9983-363E-B1E1-85CEB46A5D1E> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/ApplicationServices
    0x7fff33618000 -     0x7fff33618fff  libHeimdalProxy.dylib (79) <68F67BFE-F1E8-341C-A065-08954EF3F684> /System/Library/Frameworks/Kerberos.framework/Versions/A/Libraries/libHeimdalProxy.dylib
    0x7fff336cb000 -     0x7fff336cbfff  com.apple.audio.units.AudioUnit (1.14 - 1.14) <CD5DF240-D8F7-3349-88DC-423962E5A289> /System/Library/Frameworks/AudioUnit.framework/Versions/A/AudioUnit
    0x7fff337de000 -     0x7fff33fdffff  com.apple.vision.EspressoFramework (1.0 - 256.4.4) <2EBDF634-79CA-3977-9475-F972111CD0D8> /System/Library/PrivateFrameworks/Espresso.framework/Versions/A/Espresso
    0x7fff33fe0000 -     0x7fff33ff7fff  com.apple.ANEServices (4.75 - 4.75) <B9463BEA-1D41-3752-9B6B-23030C33E91D> /System/Library/PrivateFrameworks/ANEServices.framework/Versions/A/ANEServices
    0x7fff3469a000 -     0x7fff346eafff  com.apple.ChunkingLibrary (334.1 - 334.1) <27ED7D22-A3D4-3161-A5DF-485711DB2F48> /System/Library/PrivateFrameworks/ChunkingLibrary.framework/Versions/A/ChunkingLibrary
    0x7fff34f5e000 -     0x7fff34f73fff  com.apple.CoreML.AppleNeuralEngine (1.0 - 1) <45EF4CAF-6202-303F-BB4F-8CC0EC8AE20B> /System/Library/PrivateFrameworks/AppleNeuralEngine.framework/Versions/A/AppleNeuralEngine
    0x7fff34fc9000 -     0x7fff35034fff  com.apple.audio.midi.CoreMIDI (2.0 - 88) <10E7AF8A-AE30-39B6-BB56-0ACD7F835A81> /System/Library/Frameworks/CoreMIDI.framework/Versions/A/CoreMIDI
    0x7fff350f6000 -     0x7fff350f9fff  com.apple.Cocoa (6.11 - 23) <2686C6E1-1182-34AA-9A3A-F7BC19DED4CB> /System/Library/Frameworks/Cocoa.framework/Versions/A/Cocoa
    0x7fff36567000 -     0x7fff3658afff  com.apple.openscripting (1.7 - 190) <9EAC55CC-0ECC-3B41-BF97-53C32496C689> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/OpenScripting.framework/Versions/A/OpenScripting
    0x7fff3658b000 -     0x7fff3658efff  com.apple.securityhi (9.0 - 55008) <56A728F6-162E-31DE-9C29-FB1BE44C6B89> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/SecurityHI.framework/Versions/A/SecurityHI
    0x7fff3658f000 -     0x7fff36592fff  com.apple.ink.framework (10.15 - 227) <65FAEF94-F18C-30E0-8129-952DE19A5FAF> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Ink.framework/Versions/A/Ink
    0x7fff36593000 -     0x7fff36596fff  com.apple.CommonPanels (1.2.6 - 101) <45DFDB05-1408-34B4-A2AD-5416C5176C26> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/CommonPanels.framework/Versions/A/CommonPanels
    0x7fff36597000 -     0x7fff3659efff  com.apple.ImageCapture (1711.5.2 - 1711.5.2) <E3BCD3B4-4792-390D-890B-B7A860088A4C> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/ImageCapture.framework/Versions/A/ImageCapture
    0x7fff377f7000 -     0x7fff37909fff  com.apple.AVFCapture (1.0 - 82.6) <30FBE4F0-8C28-3C34-9F0E-C4B6BF0A631B> /System/Library/PrivateFrameworks/AVFCapture.framework/Versions/A/AVFCapture
    0x7fff3790a000 -     0x7fff3799dfff  com.apple.Quagga (47 - 47) <B3799C11-61CD-3312-8B52-3437352F819F> /System/Library/PrivateFrameworks/Quagga.framework/Versions/A/Quagga
    0x7fff3799e000 -     0x7fff37be8fff  com.apple.CMCapture (1.0 - 82.6) <C539C9A9-C030-36BA-B0CD-4FBDA9B8EFEF> /System/Library/PrivateFrameworks/CMCapture.framework/Versions/A/CMCapture
    0x7fff3871c000 -     0x7fff38739fff  com.apple.IOGPU (21.11 - 21.11) <71B5225D-E2AA-3CC2-A6AD-1A726209FF29> /System/Library/PrivateFrameworks/IOGPU.framework/Versions/A/IOGPU
    0x7fff3be30000 -     0x7fff3bec7fff  com.apple.AirPlaySync (1.0 - 2775.22) <40966FF0-FE78-3C88-A842-AA3340DE5F21> /System/Library/PrivateFrameworks/AirPlaySync.framework/Versions/A/AirPlaySync
    0x7fff3cad8000 -     0x7fff3cadbfff  com.apple.print.framework.Print (15 - 271) <5A0FE511-37C2-3065-9066-34F8F9EA23E5> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Print.framework/Versions/A/Print
    0x7fff3cadc000 -     0x7fff3cadffff  com.apple.Carbon (160 - 164) <967F26C3-8582-3A33-945F-DDA8F103B2E2> /System/Library/Frameworks/Carbon.framework/Versions/A/Carbon
    0x7fff3cbd8000 -     0x7fff3cbd8fff  com.apple.avfoundation (2.0 - 2015.22.4.1) <8605C616-EB49-3FCE-9489-6CA5CFCDD006> /System/Library/Frameworks/AVFoundation.framework/Versions/A/AVFoundation
    0x7fff3cd92000 -     0x7fff3cdb1fff  com.apple.private.SystemPolicy (1.0 - 1) <CAB3E8CD-1F31-343F-ABC1-9448543F211F> /System/Library/PrivateFrameworks/SystemPolicy.framework/Versions/A/SystemPolicy
    0x7fff3d6ec000 -     0x7fff3d6fefff  libmis.dylib (274.120.2) <1DE29019-5ECB-3BE2-8492-2385ED241950> /usr/lib/libmis.dylib
    0x7fff413ae000 -     0x7fff413cbfff  libCGInterfaces.dylib (544.4) <2AE15E9D-34CF-3240-822F-0280C1BC9F91> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vImage.framework/Versions/A/Libraries/libCGInterfaces.dylib
    0x7fff556cd000 -     0x7fff556d0fff  com.apple.ForceFeedback (1.0.6 - 1.0.6) <0AD42E37-140A-393A-BBE4-B0C342B0FEC1> /System/Library/Frameworks/ForceFeedback.framework/Versions/A/ForceFeedback
    0x7fff697af000 -     0x7fff697b3fff  libmetal_timestamp.dylib (31001.189) <89A82967-B14D-3109-B45E-34717156E60E> /System/Library/PrivateFrameworks/GPUCompiler.framework/Versions/31001/Libraries/libmetal_timestamp.dylib
    0x7fff6bbfa000 -     0x7fff6bc00fff  libCoreFSCache.dylib (200.9) <12A2A7E7-39F7-30A5-AC0B-E09947417D3E> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libCoreFSCache.dylib
    0x7fff6bc01000 -     0x7fff6bc05fff  libCoreVMClient.dylib (200.9) <F8C4D017-075A-37B2-AE8D-8CEB5FE1BC9B> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libCoreVMClient.dylib
    0x7fff6bc06000 -     0x7fff6bc15fff  com.apple.opengl (18.5.9 - 18.5.9) <1422D0CA-C3E2-3309-8897-018E651CB74E> /System/Library/Frameworks/OpenGL.framework/Versions/A/OpenGL
    0x7fff6bc16000 -     0x7fff6bc18fff  libCVMSPluginSupport.dylib (18.5.9) <AC7D4088-7CA8-3A0B-9B55-08427083C382> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libCVMSPluginSupport.dylib
    0x7fff6bc19000 -     0x7fff6bc21fff  libGFXShared.dylib (18.5.9) <76ABDB4A-3687-39E0-B8FB-125717742431> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGFXShared.dylib
    0x7fff6bc22000 -     0x7fff6bc55fff  libGLImage.dylib (18.5.9) <750C938A-9F4F-3BAD-8D3F-03EF619F28AD> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLImage.dylib
    0x7fff6bc56000 -     0x7fff6bc92fff  libGLU.dylib (18.5.9) <4A77F717-2BBC-3439-AE10-694E82C0A184> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLU.dylib
    0x7fff6bc93000 -     0x7fff6be26fff  libGLProgrammability.dylib (18.5.9) <811C33B6-9856-3D1F-8947-3899496630BD> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLProgrammability.dylib
    0x7fff6be27000 -     0x7fff6be31fff  libGL.dylib (18.5.9) <95D5C72E-9352-39EC-83B1-6BB295A83462> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGL.dylib
    0x7fff6be32000 -     0x7fff6bfaffff  GLEngine (18.5.9) <F8809EE9-15B0-36EC-8F33-12B869822B72> /System/Library/Frameworks/OpenGL.framework/Versions/A/Resources/GLEngine.bundle/GLEngine
    0x7fff6bfb0000 -     0x7fff6bfd8fff  GLRendererFloat (18.5.9) <F4858214-65AC-3CEF-834D-7A13370D9C5D> /System/Library/Frameworks/OpenGL.framework/Versions/A/Resources/GLRendererFloat.bundle/GLRendererFloat
    0x7fff6d271000 -     0x7fff6d2c9fff  com.apple.opencl (4.6 - 4.6) <769BB23D-09E5-3A3A-B2EA-310157AA206D> /System/Library/Frameworks/OpenCL.framework/Versions/A/OpenCL
    0x7fff6e373000 -     0x7fff6e37afff  com.apple.agl (3.3.4 - AGL-3.3.3) <23E38B10-2F27-3BB2-B78D-C28189C21601> /System/Library/Frameworks/AGL.framework/Versions/A/AGL
    0x7fff6e37b000 -     0x7fff6e462fff  com.apple.audio.AVFAudio (1.0 - 477.87) <B762E01A-23A5-3F51-A1BE-EDDD5A2FDE4B> /System/Library/Frameworks/AVFAudio.framework/Versions/A/AVFAudio
    0x7fff6f9e0000 -     0x7fff6f9f2fff  com.apple.CMImaging (1.0 - 82.6) <AACD534A-7769-3B70-9C43-5F53FD726895> /System/Library/PrivateFrameworks/CMImaging.framework/Versions/A/CMImaging

Translated Code Information:
  tmp0: 0x0000000102771000 tmp1: 0x0000000000006ed0 tmp2: 0x000000010205d132


External Modification Summary:
  Calls made by other processes targeting this process:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0
  Calls made by this process:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0
  Calls made by all processes on this machine:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0

VM Region Summary:
ReadOnly portion of Libraries: Total=777.2M resident=0K(0%) swapped_out_or_unallocated=777.2M(100%)
Writable regions: Total=1.3G written=0K(0%) resident=0K(0%) swapped_out=0K(0%) unallocated=1.3G(100%)
 
                                VIRTUAL   REGION 
REGION TYPE                        SIZE    COUNT (non-coalesced) 
===========                     =======  ======= 
Accelerate framework               384K        3 
Activity Tracing                   256K        1 
CG backing stores                 4512K       12 
CG image                           152K        2 
CoreAnimation                        4K        1 
CoreGraphics                         8K        2 
CoreUI image data                  228K        2 
Foundation                          16K        1 
Kernel Alloc Once                    8K        1 
MALLOC                           253.4M       46 
MALLOC guard page                  192K        8 
MALLOC_MEDIUM (reserved)         464.0M        4         reserved VM address space (unallocated)
MALLOC_NANO (reserved)           384.0M        1         reserved VM address space (unallocated)
OpenGL GLSL                        256K        3 
Rosetta Arena                     2048K        1 
Rosetta Generic                    884K      218 
Rosetta IndirectBranch             512K        1 
Rosetta JIT                      128.0M        1 
Rosetta Return Stack               240K       24 
Rosetta Thread Context             240K       24 
STACK GUARD                         20K        5 
Stack                             13.1M       12 
Stack Guard                       56.0M        7 
VM_ALLOCATE                       22.2M       79 
VM_ALLOCATE (reserved)              36K        2         reserved VM address space (unallocated)
__DATA                            14.4M      327 
__DATA_CONST                      13.5M      193 
__DATA_DIRTY                       666K      112 
__FONT_DATA                          4K        1 
__GLSLBUILTINS                    5176K        1 
__LINKEDIT                       514.0M       21 
__OBJC_RO                         70.2M        1 
__OBJC_RW                         2480K        2 
__TEXT                           263.3M      331 
__UNICODE                          588K        1 
mapped file                        4.0G      421 
shared memory                      792K       13 
unshared pmap                     9968K        5 
===========                     =======  ======= 
TOTAL                              6.2G     1890 
TOTAL, minus reserved VM space     5.4G     1890
Tether needs improved dinamics.

we should calculate at least 3d drag. Right now the drag is the same in all directions, length-wise it should be almost none
use proper light attenuation with depth

https://manoa.hawaii.edu/exploringourfluidearth/media_colorbox/2788/media_original/en
Bluesim with SITL robot doing loops

After setting up with Bluesim with SITL, running this step
"Before opening Bluesim (it launches its own SITL instance), run:
sim_vehicle.py -j6 -L RATBeach --frame JSON --out=udpout:0.0.0.0:14550"
and opening up Bluesim, the robot does constant backflips and loops.
Anyone have any fixes for this or know what's going on?
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