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1. buttons If you want to turn an object on itself for a brick for example then press the turn button as many times as it is necessary Then to set the object at a location in the world press the add button and drop the object in the world then unpress the add button If you want to remove objects press the remove button and click on the objects you want to remove To get out of the remove mode unpress the remove button Once the bricks and corks have been laid it is necessary to press the scan button before the robot could perceive them It is possible to check what the robot can perceive by pressing the button Figure 3 Khepera 5 cm diameter and its simulated counterpart 2 2 Description of the robot 2 2 1 Presentation Dedicated to Khepera 3 the simulated mobile robot includes 8 infrared sensors allowing it to detect by reflexion small rectangles the proximity of objects in front of it behind it and to the right and the left sides of it Each sensor returns a value ranging between 0 and 1023 represented in color levels 0 means that no object is perceived while 1023 means that an object is very close to the sensor almost touching the sensor Intermediate values may give an approximate idea of the distance between the sensor and the object These sensors can also measure the level of ambient light small triangles all around the robot They return a value displayed in color level2. oriented in the direction you like To do this press the command button and type for example set angle 45 you will see the robot turn to reach the 45 degrees position Figure 3 shows the simulated robot at 90 degrees position If it was looking to the right resp to the left it would have been at 0 degrees resp 180 degrees If you press the run button sim will call continuously the user control function RobotStep robot written in C in user c source file until the run is unpressed If you want to observe a step by step run of the robot then press the step button and the function RobotStep robot will be executed once The button allows to test the sensors of the robot especially useful for the real robot 3 Programming 3 1 Introduction This section explains how to program your own Khepera controller It describes the different files you need to know and starts up with a tutorial example You will find in the appendix A a complete list of the C structures and functions necessary to program Khepera Simulator Appendix B contains the directory structure of the package 3 2 Simulator source files do not modify them The simulator source files are in the directory SIM SRC They must not be modified This is very important for further updates of the software These sources are written in ANSI C So if you want to write your controller in C compile these sources with a C compiler gcc c and if you pre
3. your imagination as free as possible see appendix A 3 for more information 3 5 Multi Agent Package 3 5 1 Overview The purpose of this extension of the Khepera Simulator is to operate a group of robots instead of a single robot This group of robots is viewed by the simulator like a single entity a O structure Multirobots Each robots of the entity react according to a user specified behavior All robots may have the same behavior or some robots may have a specific behavior as you need The actions of the robots at a defined time are calculated in a synchonous way that is robots move one after another This package works only with simulated robots 3 5 2 Implementation The C code concerning Multi Agent can be found in the files multirobots c and multirobots h placed in the directory CONTRIB These files define the structure Multirobots and some useful functions You may see the file multirobots h for description of these functions see appendix D for a paper version The structure is composed of three fields A field for storing the number of robots of the group This number is fixed at the creation of the structure and should not change until the structure is destroyed Another field is an array of pointers on robots These pointers given by a malloc operation should not change On the contrary structures pointed by the pointers may change in the way you want if they remain Robot structures The third field is a marker w
4. Example 3 Khepera Simulator multi agents module developed by Manuel Clergue allows to control several simulated Khepera robots e Example 4 Khepera Simulator simulated serial device module This module is especially useful if you already developed a program sending serial commands to a real Khepera through the serial link of your computer You will just need to redirect the input and output serial streams to Khepera Simulator pipes files and you will be able to observe the simulated Khepera driven by your serial commands A list of the commands supported by Khepera Simulator is available in appendix C 3 4 2 Let s program a Khepera robot controller This tutorial shows the implementation of a very simple control algorithm inspired from Braiten berg 1 The source files are in EXAMPLES EXAMPLE1 USER directory First of all let s define our algorithm repeat o If the robot perceive no obstacle then move forwards o If an obstacle is perceived on the left hand side of the robot then turn to the right o If an obstacle is perceived on the right hand side of the robot then turn to the left until something is detected in the back of the robot To program this into Khepera Simulator we need to translate perceive no obstacle into something dealing with the sensors of the robots The sensors of the robot are readable through the variable robot type struct Robot The value corresponding to the distance measurement of the front sen
5. Khepera Simulator version 2 0 User Manual Olivier MICHEL E mail om alto unice fr Web http wwwi3s unice fr om University of Nice Sophia Antipolis Laboratoire 135 CNRS bat 4 250 av A Einstein 06560 Valbonne France March 1 1996 1 License Agreement Khepera Simulator is a freeware public domain software written by Olivier MICHEL The author cannot be held responsible for any software or hardware damage caused by the use of Khepera Simulator Use this software at your own risks Permission is hereby granted to copy this package for free distribution The author s name and this copyright notice must be included in any copy Commercial use is forbidden If you publish any academic paper book treatise or other work based upon experiments conducted using Khepera Simulator you must cite Khepera Simulator and include the following reference mentioning the Khepera Simulator s World Wide Web address Olivier Michel Khepera Simulator Package version 2 0 Freeware mobile robot simulator written at the University of Nice Sophia Antipolis by Olivier Michel Downloadable from the World Wide Web at http wwwi3s unice fr om khep sim html Figure 1 Khepera Simulator 2 Introduction This package allows to write control algorithms neural networks classifier system or anything else you may imagine using C or C languages A library of functions is provided that permits to drive the robot and display results The simulator
6. URE LAVENDER MISTY_ROSE MEDIUM_BLUE NAVY_BLUE PALE_TURQUOISE and SEA_GREEN void FillRectangle int x int y int width int height Draws a filled rectangle with the upper left corner at x y void DrawLine int x1 int y1 int x2 int y2 Draws a line between x1 y1 and x2 y2 11 void DrawPoint int x int y Draw a point at x y void DrawRectangle int x int y int width int height Draws an empty rectangle with the upper left corner at x y void Fillarc x y width height anglei angle2 Draws a filled arc with the upper left corner at x y between anglei 64 and angle2 64 in degrees void DrawArc x y width height anglei angle2 Draws an empty arc with the upper left corner at x y between anglei 64 and angle2 64 in degrees void DrawText int x int y char text Draw text at x y void UndrawText int x int y char text Undraw text at x y void WriteComment char text Write a comment at the comment line void EraseComment Erase the comment on the comment line void DrawRobot struct Robot robot Redraw the simulated robot in its environment void ShowUserInfo int info int page Display a page of the user info box u_char GetUserInfo Returns the current user info number ranging from 1 to 4 u_char GetUserInfoPage Returns the current page number of user info ranging from 0 to 255 A 4 Other useful functions These functions should be called by the UserCommand function
7. ameter u_char State struct Motor Motor 2 use RIGHT amp LEFT instead of 0 amp 1 struct IRSensor IRSensor 8 see simulated robot on figure 1 A 2 Fill in functions These functions needs to be fulfilled in order to attach actions to the buttons of the graphical interface void NewRobot struct Robot robot This function is called when the NEW ROBOT buttons is pressed void LoadRobot struct Robot robot FILE file This function allows the user to write some data in the robot file using the C functions fprintf file pattern data It is called when the LOAD ROBOT button is pressed void SaveRobot struct Robot robot FILE file This function allows to retrieve the data saved by the LoadRobot function using the C function fscanf file pattern data It is called when the SAVE ROBOT button is pressed Both functions need to be updated in the same way they must load and save exactly the same datas in the same order void RunRobotStart struct Robot robot 10 This function is called once when the RUN ROBOT button is pressed boolean StepRobot struct Robot robot This function is called as long as the RUN ROBOT button is down void FastStepRobot struct Robot robot This function is called by FastRunRobot void RunRobotStop struct Robot robot This function is called when the RUN ROBOT button is released void ResetRobot struct Robot robot This function is call when the RESET ROBOT b
8. fer C you can also compile these sources with a C compiler replace gcc c by g c in the file makefile so that it will be easier to link them together gec with your controller 3 3 User files 3 3 1 Preferences the simrc file The file simrc is a preference file concerning hardware configurations It is read by Khepera Simulator each time sim is executed It s a hidden file in SIM directory so you need to type something like 1s a to see it It contains 3 important parameters which you may edit e KHEPERA_AVAILABLE may be TRUE or FALSE depending if a real Khepera robot is connected or not e SERIAL PORT is serial port device to which the robot is connected if available It could be dev ttya standing for serial port A on a Sun workstation but it generally depends on the kind of computer you use This value is used only when KHEPERA_AVAILABLE is TRUE e MONODISPLAY may be TRUE or FALSE according to the type of screen used Setting it to TRUE allows to run Khepera Simulator on a monochrome display When calling sim the option flag s allows to run Khepera Simulator in simulation only mode do not make use of the serial link for the real Khepera even if KHEPERA_AVAILABLE is TRUE 3 3 2 Controller source files These files are yours You can modify them the way you want You can also add new files and consequently modify the associated makefile They are in SIM USER directory A version of the basic empty control
9. gt COLLISION_TH robot gt IRSensor 4 DistanceValue gt COLLISION_TH robot gt IRSensor 5 DistanceValue gt COLLISION_TH if there is a collision on the right side of the robot TURN_SPEED TURN_SPEED turn right robot gt Motor LEFT Value TURN_SPEED robot gt Motor RIGHT Value TURN_SPEED turn left else robot gt Motor LEFT Value FORWARD_SPEED robot gt Motor RIGHT Value FORWARD_SPEED else go forward default if robot gt IRSensor 6 DistanceValue gt COLLISION_TH collision in robot gt IRSensor 7 DistanceValue gt COLLISION_TH the back return FALSE stop else return TRUE continue With this simple code we have defined a complete robot controller It will run in a loop when pressing the run button or run once when pressing the step button You can now compile example 1 on your computer Normally it is the default example installed within the package so you just need to type make This will create the object files in SIM OBJ directory and produce the executable file sim Type sim to run Khepera Simulator In order to display some text numerical values or drawings in the user info area have a look at the function DrawUserInfo in the source file user c which is in SIM EXAMPLE1 USER directory It seems so simple that I wouldn t describe it here A lot of graphical functions are available to let
10. hich indicate the number of the current robot The most important functions are MultiRobotRun and MultiRobotRunFast which execute a cycle of robots move When you call these functions with a structure Multirobots they call StepMultiRobots and FastStepMultiRobots for each robots each time changing the number of the current robot The functions StepMultiRobots and FastStepMultiRobots receive a structure MultiRobots as a parameter They should apply a StepRobot like function on the current robot To have robots with different behaviors just write several StepRobot like functions and call them according to the current robot Two versions are provided to allow a run with graphical display MultiRobotRun and a faster run without such display MultiRobotRunFast 3 5 3 How to use it In the same way you do for the simple simulator you have to write a file user c in which you define some functions In addition of the general ones i e those of the simple simulator you have to implement two specific functions boolean FastStepMultiRobots struct MultiRobots multi boolean StepMultiRobots struct MultiRobots multi To use a structure MultiRobots you have to create it using the function CreateMultiRobots This function has the number of robots you want in the group as a parameter Then you may run the robots using the functions MultiRobotRun and MultiRobotRunFast These functions which are defined in multirobots c make use of the functi
11. ht notice must be included in any copy Commercial use is forbidden 8 A A eR oR A RR A A k kk kk kkk kkk kk kkk kk kkk kk ifndef MULTIROBOTS_H define MULTIROBOTS_H define D_MAX 50 0 max dist between 2 robots for mutual perc define IR_MAX 1023 max value of IR captors useful external functions extern void DrawLittleRobot struct Robot sr struct Robot r extern void ChooseRandomPosition struct World world double x double y double alpha extern u_short IRSensorDistanceValue struct World world short int x short int y double alpha extern u_short IRSensorLightValue struct World world short int x short int y double alpha The MultiRobots structure manage the use of several robots Some services are provided with this structure It is highly recommended to use them or to create others instead of using those of the Robot structure struct MultiRobots struct Robot robots Array of pointers to Robot short int current Current Robot being treated use this carefully short int number Number of Robots in the structure 3 CreateMultiRobots create and initialyze the structure with number Robots MultiRobots CreateMultiRobots long int number Free the structure and the Robots void FreeMultiRobots MultiRobots multirobots Calculate the influence of the group on the current Robot s captor xc yc alpha 15 U
12. ler files is available in SIM EXAMPLES EXAMPLEO directory But if you want to build your own controller you should start up with example 1 which is the default controller of the package also available in SIM EXAMPLES EXAMPLE1 directory This example shows how to read the inputs and how to write to the outputs of the robot It implements a very simple control algorithm It will be more detailed in the following tutorial section 3 3 3 User info setup As a user programmer of Khepera Simulator you will need an area to display some of your variables results graphs explanations etc This area exists and allow you to write numerical values text drawings etc into Khepera Simulator main window All the information you can write is divided into directories which contain pages A default directory of three pages contains a description of Khepera Simulator You can switch between directory by pressing the button info You can turn the pages by pressing the buttons or next to the info button You can create up to 4 user directories each one containing up to 255 pages In order to define this you must edit the file user_info h which is in USER directory After that you will have to fill in the function DrawUserInfo struct Robot robot char info char page where info is the info directory and page is the current page of this directory Here are the constants to be edited in user_info h header file e NUMBER_OF_INFO is the n
13. ns_left_45 val_sens_left_10 val_sens_right_10 val_sens_right_45 val_sens_right_90 val_sens_back_right val_sens_back_left lt n gt Read the 10 bit values of the 8 proximity sensors from the front sensor situated at the left of the robot turning clockwise to the back left sensor O Read ambient light sensors Format of the command Format of the response Effect 0 lt n gt o val_sens_left_90 val_sens_left_45 val_sens_left_10 val_sens_right_10 val_sens_right_45 val_sens_right_90 val_sens_back_right val_sens_back_left lt n gt Read the 10 bit values of the 8 ambient light sensors from the front sensor situated at the left of the robot turning clockwise to the back left sensor 14 D multirobots h a o a KA Rk o 2k o o o 2k ok ok ok ok ok ok ok ok ok kk ok ok ok ok kk ok ok ok kk k kk kk kkk File multirobots h Khepera Simulator Author Manuel CLERGUE lt clerguem alto unice fr gt Date Thu Jan 16 14 39 05 1996 Description Extension of Khepera Simulator for multi agents simulation Copyright c 1995 Olivier MICHEL MAGE team i3S laboratory CNRS University of Nice Sophia Antipolis FRANCE Copyright c 1996 Manuel CLERGUE MAGE team i3S laboratory CNRS University of Nice Sophia Antipolis FRANCE Permission is hereby granted to copy this package for free distribution The author s name and this copyrig
14. ons StepMultiRobots and FastStepMultiRobots to determinate the behavior of the current robot of the group After use you have to call FreeMultiRobots in order to free memory You are greatly encouraged to have a look at the example 3 before coding your own multi agent simulation 3 5 4 future works The major lack of this package is the impossibility to command several real robots Further ver sions of the simulator should allow this feature 3 6 Author s Notes I am are aware that the models for the sensors and for the motors are very simple I choose computer efficiency instead of precision making this simulator suitable for computer expensive algorithms especially genetic algorithms I do not handle real time problems in the tutorial example presented here because the controller is very simple and doesn t need any synchronization Anyway it is interesting to know that at a speed of 10 on both motors the simulated robot covers exactly 5 millimeters for one simulation step while the real robot cover an unknown distance depending on many factors including computer speed the control algorithm complexity the serial link etc This may give ideas to build a system taking care of real time problems 4 Acknowledgments I developed this software during my Ph D at 13S laboratory with professor Joelle Biondi and assistant professor Philippe Collard as Ph D directors Mage Team Manuel Clergue a Ph D student studying genetic algori
15. or sub functions boolean StopCommand returns TRUE is the COMMAND button is released void FastRunRobot struct Robot robot runs the simulated robot without displaying it faster boolean RunRobot struct Robot robot Runs the simulated robot Returns FALSE if the robot is stopped 12 B Directory structure SIM m multirobots c CONTRIB multirobots h Contribution sources files do not modify m neural c neural h DOCS manual ps This manual manual sources files and other goodies m EXAMPLES m install_example0 M makefile Example 0 empty user files EXAMPLE0 eade remove_example0 m user c USER j gt user h user_info c EXAMPLEI J Example 1 a very simple controller TES EXAMPLE2 Example 2 a neural controller aay Example 3 a multi agent module Example 4 a simulated serial device module m sim o LOBI a the C C compiler write its object files here world o other object files produced during compilation ROBOT H sim saves and loads robots to and from this directory L robot files see example 2 for the use of this directory m colors h SRC contexth robote gen_types h robot h l I graphics c sim c these sources files must not be modifyed graphics h sim h header h types h Fnclude h user_info c khep_serial c wo
16. rld c world h khep serial h USER j user c user h m user_info c other user source files WORLD M home world these are your own sources files you can modify them as you want f maze world sim saves and loads world to and from this directory M chaos world i world files j ware i m simre simrc is the configuration file especially for hardware configurations m makefile your makefile you can modify it as you need readme The main readme file 13 C Khepera Serial Commands A Configure not implemented in Khepera Simulator B Read software version not implemented in Khepera Simulator D Set speed Format of the command Format of the response Effect E Read speed Format of the command Format of the response Effect D speed_motor_left speed_motor_right lt n gt d lt n gt Set the speed of the two motors The unit is the pulse i0 ms that correspond to 8 millimeters per second on the real robot E lt n gt e speed_motor_left speed_motor_right lt n gt Read the instantaneous speed of the two motors The unit is the pulse 10 ms that correspond to 8 millimeters per second on the real robot G Set position not implemented in Khepera Simulator H Read position not implemented in Khepera Simulator N Read proximity sensors Format of the command Format of the response Effect N lt n gt n val_sens_left_90 val_se
17. runs on Unix workstations and features a nice X11 colorful graphical interface Some examples of controllers are given within the package including a neural network controller The simulator also features the ability to drive a real Khepera robot so you can very easily transfer your simulation results to the real robot by clicking on a button The screen of the Khepera Simulator is divided into two parts the world part stands on the left while the robot part stands on the right see figure 1 In the world part one can observe the behavior of the robot in its environment whereas in the robot part one can observe what is going on inside the robot sensors motors and controller 2 1 Description of the world ERAT p hi i daa e aoe ae dT Moy Dq H E S ee aes E E Figure 2 Two examples of simulated worlds Various worlds for the robot are available in the SIM WORLD directory Press the load button and type the world file name without the world extension to load one of them Moreover it is possible to edit them or to design a new world from scratch by pressing the new button Resulting worlds can be saved using the save button Bricks corks or lamps are laid in the environment resulting in more or less complex mazes see for example figure 2 The real dimensions of this simulated environment comparing to the real robot Khepera are 1m x Im To add an object select it using the and
18. s close to 500 in the dark and close to 50 in front of a light source Each motor can take a speed value ranging between 10 and 10 Red arrows on the motors indicate this speed 2 2 2 Motor Model The model of the simulated motors are straight forward the robot moves accordingly to the speed set by the the user A random noise of 10 is added to the amplitude of the motor speed while a random noise of 5 is added to the direction resulting from the difference of the speeds of the motors see function SolveEffectors in source code file robot h for more details 2 2 3 Sensor Model To calculate its distance value output a simulated sensor explores a set of 15 points in a triangle in front of it An output value is computed as a function of the presence or the absence of obstacles at these points A random noise corresponding to 10 of its amplitude is added to the distance value output see function IRSensorDistanceValue in source code file robot h for more details The light value output is computed accordingly to the distance and the angle between the sensor and the light source A 5 noise is added to this value see function IRSensorLightValue in source code file robot h for more details 2 2 4 Operating the Robot To set the robot at a given location in the world press the button set robot in the world part and click somewhere in the world possibly not on an object The robot may also be
19. sed in MultilInitSensors short int MutualInfluence short int xc short int yc double alpha short int value MultiRobots multirobots Calculate the value of IR Distance captors of the Robots in the structure Used in MultiRobotRunFast void MultilInitSensors Context context MultiRobots multirobots This is the most useful service This is THE one you have to use in standart situations There is two version Fast and Normal The fast one without the display of robots on the screen use FastStepMultiRobots MultiRobots multirobots The other one use StepMultiRobots MultiRobots multirobots You have to implement these functions in the same way that you have to do it for one robot void MultiRobotRunFast Context context MultiRobots multirobots void MultiRobotRun Context context MultiRobots multirobots nothing important double DistanceBetRobots Robot rob1 Robot rob2 This service allow you to place the robots at random place in the world void PlaceRobots Context context MultiRobots multirobots The functions you have to implement extern boolean FastStepMultiRobots struct MultiRobots multi extern boolean StepMultiRobots struct MultiRobots multi endif 16
20. sor 2 see figure 3 is stored in robot gt IRSensor 2 DistanceValue type int Values range between 0 and 1023 So if this value exceeds a given threshold say 900 which will be defined in COLLISION_TH constant one can consider that an obstacle has been detected by this sensor In order to drive the motors of the robot one must write in the variable robot the values corresponding to the speed of each motor we want to apply These two integers will be written in robot gt Motor LEFT Value and robot gt Motor RIGHT Value They range between 10 and 10 We will define as constants in this range a TURN_SPEED and a FORWARD_SPEED All the input and output operations must occur within the boolean function StepRobot struct Robot robot This function returns FALSE to stop the run of the robot and TRUE otherwise define FORWARD_SPEED 5 normal slow forward speed define TURN_SPEED 4 normal slow turn speed define COLLISION_TH 900 value of IR sensors to be considered as collision boolean StepRobot struct Robot robot front left sensors if robot gt IRSensor 0 DistanceValue gt COLLISION_TH robot gt IRSensor 1 DistanceValue gt COLLISION_TH robot gt IRSensor 2 DistanceValue gt COLLISION_TH if there is a collision on the left side of the robot robot gt Motor LEFT Value robot gt Motor RIGHT Value else if robot gt IRSensor 3 DistanceValue
21. thms and evolutionary neural networks in our laboratory was the first user and beta tester of this software He also developed the multi agents module included in example 3 I am grateful to all these people for their assistance and some precious advices during the development of the software Moreover I would like to congratulate the designers of the Khepera robot Edo Franzi Andr Guignard and Francesco Mondada K Team SA Preverenges CH for their brilliant realization References 1 Valentino Braitenberg Vehicles Experiments in Synthetic Psychology MIT Press Cambridge 1984 2 Olivier Michel and Jo lle Biondi Morphogenesis of neural networks Neural Processing Letters 2 1 January 1995 3 F Mondada E Franzi and P Ienne Mobile robot miniaturisation A tool for investigation in control algorithms In Third International Symposium on Experimental Robotics Kyoto Japan October 1993 Appendix A Library of functions A 1 Data structures You need to know three C structures to drive Khepera robot which are defined in robot h file in SIM SRC directory struct Motor double X Y Alpha short int Value motor speed between 10 and 10 3 struct IRSensor double X Y Alpha short int DistanceValue typically between 0 and 1023 short int LightValue typically between 0 and 500 struct Robot char Name 16 double X Y Alpha X and Y millimeter Alpha rad double Di
22. umber of user information directories your want This value must be between 0 and 4 e PAGES_INFO_x is the number of pages for the directory number x x ranging from 1 to 4 These values must be between 0 and 255 e TITLE_INFO_x is the title of the directory x x ranging from 1 to 4 3 4 A tutorial example 3 4 1 Foreword Four examples are given within Khepera Simulator package The are located in the directory SIM EXAMPLES EXAMPLEx where x ranging from 0 to 3 is the number of the example Example 0 is not really an example of a controller since it contains all the necessary functions for Khepera Simulator to run but these functions are empty resulting in an empty controller Only example 1 will be explained in this tutorial For all the examples read the readme files that are in the directories EXAMPLES EXAMPLEx They contain indications about the installation and the compilation of the examples Here is a short description of the examples e Example 0 the empty controller example e Example 1 an example of simple control algorithm e Example 2 artificial neural networks and gnuplot This example shows how to implement artificial neural networks to drive the robot It also features a pipe to gnuplot utility in order to display graphs here the path of the robot The neural networks shown here are resulting from an evolutionary process using genetic algorithms morphogenesis and artificial metabolism described in 2 e
23. utton is pressed void UserCommand struct Robot robot char text This function is called when the COMMAND button is pressed The text parameter passed to it is the string that the user typed on the keyboard It is a powerful way to do anything you want set parameters start various algorithms etc void DrawUserInfo struct Robot robot char info char page This function is called each time the program needs to redraw the display of the window It must contain all the drawings and texts for the user info box void UserInit struct Robot robot This function is called at the beginning of the program It can be used to make some initializations void UserClose struct Robot robot This function is called at the end of the program It allows to close some file eventually open during UserInit or to free some memory A 3 Graphical functions These functions allow to draw text and graphics in the user info box The coordinates 0 0 indicates the upper left corner of the box and the coordinates 500 400 indicates the lower right corner of the box void Color char color Sets the color of the pen Available colors are BLACK DIM_GREY GREY_69 GREY LIGHT_GREY WHITE BLUE BLUE_CYAN CYAN CYAN_GREEN GREEN GREEN_YELLOW YELLOW YELLOW_RED RED MAGENTA LIME_GREEN BROWN MAROON GOLD AQUAMARINE FIREBRICK GOLDENROD BLUE_VIOLET CADET_BLUE CORAL CORNFLOWER_BLUE DARK_GREEN DARK_OLIVE_GREEN PEACH_PUFF PAPAYA_WHIP BISQUE AZ
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