WEBVTT

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So, now, let's get started.

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So, let's welcome Jan.

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It's going to talk to us about the O3D project

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about a realistic simulator, exciting subject.

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Thank you.

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All right, hello everyone.

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My name is Jan Hanta.

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I work for Robotica AI and I'm busy doing open

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3D engine simulator.

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I'm actually surprised the simulator was mentioned

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in the previous talk.

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I guess it's because of this talk.

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But not many people know about it.

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When you open rows to documentation,

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that was also mentioned.

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Thank you for that.

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You see webbot, you see gazebo,

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but nothing there, nothing extra there.

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And we believe that's a big mistake.

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And I said, as a member of Robotica AI

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company that makes money out of doing open

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source with open 3D engine.

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Of course, I will upload at some point

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some tutorials on open 3D engine,

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but I never have time for that.

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So, can you use open 3D engine for simulation?

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Yes.

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And you can use it because it's open source.

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There are open source conference.

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So, of course, we are talking about open source products

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that you can modify and you can do whatever you want with them.

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We do simulations with this engine.

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You can think about this engine as open source

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alternative to unity or unreal engine

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with the small difference that it's in C++.

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So, you can integrate your rows directly.

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It's the same as gazebo.

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It's very, very modular.

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All the plugins or parts,

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components, however you call it,

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are called gems in open 3D engine.

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And we are the autos of simulation gems,

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multiple of them, to open 3D engine.

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So, the good things about open 3D engine

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is that everything is in there.

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Whatever you want to do,

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if it's animation, terrain, editor,

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you can use the tools that are building

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for games in open 3D engine.

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And then we use it to make a scene for our robots.

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The game engine itself is closed platform,

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but the simulation parts is working on the under the looks.

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And the biggest advantage of open 3D engine is the renderer.

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It's super fast and it has all the features you might want to use.

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When you want to generate realistic data,

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it has physically-based renderer

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and real-time global illumination

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and as well as support for ray casting.

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Basically, whenever you start rendering things with open 3D engine,

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it doesn't look like gazebo.

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It doesn't look like some cubes that are moving around on the scene.

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You can really put some materials.

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You can really put some reflections.

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You can really work on it.

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And this is something I presented on the left hand side

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with the gazebo imported robot Photoshop

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into open 3D engine scene with all the reflections

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on the material of antibiotics, animal D, robot.

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Of course, the robot itself is made out of slightly different materials,

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but our graphic engineers didn't know that.

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So the reflections are there,

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and the quality is good enough for all AI you can imagine

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to process the data to train the models and so on.

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And this is basically how we roll in my company mainly.

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So you can download the source code of open 3D engine.

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You can communicate with open 3D engine,

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using Discord.

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And if you visit a six simulation channel,

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most probably it will be me answering your questions.

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The important part about open 3D engine is that it's very modular

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and our part, the simulation part,

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lives in O3DE Express repository.

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So don't forget about this.

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There are some simulation gems and projects templates.

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My company also has a GitHub, of course,

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with plenty of open source related to open 3D engine,

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as we are the main contributor to this part of the engine.

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So if you start pulling the code,

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I also recommend to have a look into our repository.

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Many for the demos that we presented at Roscon 2021-24,

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2021-free 2022 and 2021.

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Those are the build projects.

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You can even find some pre-compiled projects.

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You can just start it on your computer,

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the quality of the graphics, and the quality of the engine.

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Starting with your own project is also very, very easy.

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You can download the SDK,

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so the whole system is made in a way

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that you can compile everything from the source,

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of course.

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You can use the SDK with everything building

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or you can exchange some parts with having some parts written

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from the source with some parts being modified by you,

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and you don't have to bother about compiling everything every time.

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For SDK, the only thing you do to start

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is you pull the simulation gems,

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as you can see on the first slide,

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then I have a pointer even.

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Then, of course, you create a project.

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You use one of the project templates

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and you click build.

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Hopefully it should run out of the box,

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and you can make your open 3D engine project

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in less than 10 minutes.

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There are three different templates available

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for you to start with.

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The first one is the one you also saw on the screenshots

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in the previous presentation,

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is with very simplistic warehouse,

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actually that's the warehouse

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that was imported from Gazibod directly

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with some on-person assets.

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It's just one robot in very small limited space,

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and you can use enough to

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and all the rows stack to manage the robot.

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Another template with the manipulation,

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manipulator trying to pick some objects from the table

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with all the physics of the manipulation,

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with physics 5 engine,

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the same engine as in Gazibod,

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working under the hood.

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The last template with the fleet of robots

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navigating through the warehouse scene,

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the warehouse scene itself is very detailed,

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very pretty,

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but not optimized at all.

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If you put too many robots,

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you already need a powerful computer for that.

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So how does it work with rows two?

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We have rows two gem.

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It's one of the modules of open 3D engine,

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and it's enough for you to import this module.

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You import this module into your open 3D engine,

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and it automatically creates rows two node,

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as you know, from any rows two package.

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The gem itself takes into consideration

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all the environment variables.

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So your rows two pipeline can work

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in exactly the same way as it used to be.

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So you create your workspace,

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you create your packages,

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you build it with co-con,

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you source to your rows workspace,

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and then you start with the same terminal,

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open 3D engine,

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and open 3D engine can discover everything

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that you've already done.

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For our base component,

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we use rows two frame component.

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This is corresponding to something you know,

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a process TF.

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So basically that's a spatial temporal representation

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of an object in the space,

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and for us it also serves a purpose

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of providing a name space to the system.

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So you can display the TF trees,

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you can display all the name spaces,

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and all services topics,

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and everything you have in there

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will get a proper name space.

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The rows two gem also implement the sensors.

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Those are the very basic implementations,

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for example, for camera.

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It just displays what the camera sees,

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without any extra distortions,

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without any extra noise models

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that we can apply later on to make our simulation

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even more realistic.

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There are also sensors like contact sensor,

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of course GPS,

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IMU, LiDAR,

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Automatry.

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LiDAR can work on either GPU or CPU,

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and Robotech AI has also

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LiDAR implementation for gazebo,

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that is definitely the fastest on the market,

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open source available to everyone.

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For Robotech Control,

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Robotech 2 package contains of the

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acarmon control, twist control,

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and a very basic rigid body control,

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so we can just move your robot around as you wish.

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We've simulating the robot fully,

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using acarmon,

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or simply with moving this as a break.

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It has a full control of joints,

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it can display the state,

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of course virus to services messages topics.

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It's exactly the same one as you would use with any other simulator,

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and it happens only after you include the gem,

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everything is available for you.

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There is a screenshot very similar to what you saw

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in the previous presentation,

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basically with move it to,

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and this move it to is connected to the template I displayed earlier,

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the template that was made to try to manipulate

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with some objects.

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So there is a camera on top of the gripper,

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next to the gripper,

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to see the object from the above,

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and move it can actually integrate with

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our simulation without any problems.

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Robotech 2 gem includes also implement

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also the importer,

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so if you have your simulation ready and gazebo,

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you can import your robot.

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I'm not going to say it will work out of the box,

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because O3D is slightly different than gazebo.

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Everything under the hood is different.

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All the sensors are different.

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There are some different options to configure.

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So of course it will help you to start,

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but it will not solve all the problems.

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So the importer itself, again,

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can use your rows to sourcing,

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so if you have any rows packages connected to your robot,

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if you have any specific sensors,

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with specific implementations connected to your robot,

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the importer will be able to read it.

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The importer supports Sakura and multiple mesh formats.

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There is a general open-free engine,

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it's not well documented.

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I'm doing my best to fill all the gaps between

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the projects I'm doing for different companies,

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but there is a tutorial about importing turtle but far,

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and all the problems that may happen

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actually happen when you import this robot,

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so it's a very good source of information

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and you want to try with your own robot.

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Since we are trying to compete with NVIDIA,

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of course this is not easy,

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we are also implementing USD support,

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and probably it will be done before the end of the year.

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So I'm a C++ guy.

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I don't have any experience with Python.

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I know that there is a lot of implementation happening

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with Python rows, especially in academia,

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but we want to be fast efficient and we want to use

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what open-free the engine gives to us.

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And open-free the engine gives us the possibility

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to implement rows called directly within the code

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of open-free the engine.

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So as a small example, I decided to show you

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how to implement a gem,

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applying to open-free the engine,

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that would publish the current light entity via rows two topic.

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It would also subscribe to a topic to allow the changes,

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and would also create a service for changing the same intensity.

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Don't get fooled by the picture.

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It's just different colors with the light rendered

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in open-free the engine.

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We are changing the intensity.

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So for two stats with the implementation,

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the only thing you need to do when you create your gem,

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that you can create either via a graphical user interface

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of open-free the engine or just with some scripts available

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within the engine, Python scripts.

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You get your new gem.

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You need to connect to rows two gem,

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so everything is available for you.

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All the goodies that are already implemented

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that are open source are available for you.

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Since open-free the engine is implemented in C++,

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but it's also available for iOS, Android and so on.

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The whole build system is, of course, a CMake,

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the most popular right now, I guess.

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And what you need to do if you want to connect

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to rows two gem additionally,

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you of course need to link to the library.

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That's built in the beforehand.

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Via CMake of rows two gem,

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we also let you connect to your rows two implementations.

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In this example, I'm not going to use any specific implementations

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other than standard messages and standard services.

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But as you can see, this magical command target depends

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on rows two packages would just do everything for you.

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And by doing everything for you,

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I mean that if you create your header,

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you can use includes, you know,

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from all the tutorials on rows two directly.

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Everything is available for you.

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Everything is there.

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This is a header of the component.

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I blurred out a bit because I didn't want to bother you

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with details that are automatically done by open-free the engine.

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But if we want to create a publisher,

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a subscriber and a service,

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the only thing we need to do is to include the headers,

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as we would do in any rows two package

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that we implement standalone from open-free the engine.

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And we would have to, of course,

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create or define at this point only.

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The service, the subscription, and the publisher.

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There is no difference between this code

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and between the tutorials on rows two documentation website,

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other than different names.

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In this code, in this example,

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I also connected my test component to tick bus

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to be able to answer to every tick in the simulation

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because I wanted to make it very simple.

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And I wanted to be sure that I publish a message

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on every tick of the simulator.

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And I created a helper method set lights intensity.

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And I connected to the entity with the lights.

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Because this is something I didn't mention.

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This simulator works in a way that you define objects,

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like entities.

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And those entities have some components,

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which might be, for example, a sensor,

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a texture, a collider, like in most of the simulators.

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For the code itself,

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we implement everything in the activate method.

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So, every time we activate this component,

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we want to have our publisher subscriber

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and the service ready.

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To start with service, first of all,

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I want to get access to rows two node.

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And rows two node is already in the system.

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After everything is linked with rows two gem,

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it's a single tone, it's available for you.

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And since we are not implementing stuff in Rust,

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as yesterday's presentation mentioned,

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we also need to check, of course,

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if there is no new pointer problem.

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We also try to get this basic component

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that I mentioned earlier, the frame component.

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And we want to get it to double check the namespace

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of our service that we create,

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because when we spawn 10 or 15 robots,

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we want to be sure that they get the proper namespaces

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and messages from different cameras can be observed separately.

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For creating the service itself,

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it doesn't differ from the code you know.

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So, we get a node and we create a service.

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The service here is very basic.

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So, we use the trigger, standard service trigger.

15:34.000 --> 15:36.000
We don't care, of course, about request,

15:36.000 --> 15:38.000
hands may be unused.

15:38.000 --> 15:40.000
We only care about response.

15:40.000 --> 15:41.000
And there are responses, of course,

15:41.000 --> 15:43.000
false, if we cannot set the light on,

15:43.000 --> 15:46.000
and true, in case of success.

15:46.000 --> 15:49.000
So, first, we check if the light entity is there,

15:49.000 --> 15:52.000
because we need this object with light.

15:52.000 --> 15:55.000
If the lights are not there, we cannot switch them on.

15:55.000 --> 15:58.000
So, we can give an extra hint to the user

15:58.000 --> 16:01.000
within the service response that the lights

16:01.000 --> 16:03.000
are not there in the scene.

16:03.000 --> 16:05.000
Other than that, we use the internal method

16:05.000 --> 16:08.000
set lights entity, intensity sorry,

16:08.000 --> 16:11.000
to change the light intensity.

16:11.000 --> 16:15.000
For subscriber and publisher,

16:15.000 --> 16:20.000
again, it stays unchanged when compared to any rows to package.

16:20.000 --> 16:24.000
So, we just use the node to create subscription.

16:24.000 --> 16:28.000
In this case, we will use float to give the defined,

16:28.000 --> 16:30.000
predefined intensity.

16:30.000 --> 16:34.000
And as you can see, we use this helper methods from rows to jam

16:34.000 --> 16:37.000
to get namespace to name of the topic.

16:37.000 --> 16:41.000
So, we get the namespace, we add the current topic setting.

16:41.000 --> 16:46.000
And we set the QOS, which also comes from the subscriber configuration.

16:46.000 --> 16:50.000
It's a nice tool that is already implemented there

16:50.000 --> 16:53.000
within rows to jam, that when you edit your objects

16:53.000 --> 16:55.000
in the editor of the simulation,

16:55.000 --> 17:00.000
you can just use the drop list to select the proper configuration of QOS

17:00.000 --> 17:02.000
and so on.

17:02.000 --> 17:06.000
So, this is just a callback that uses our internal helper

17:06.000 --> 17:08.000
method set light intensity.

17:08.000 --> 17:12.000
In case of publisher, what we do is just the same stuff,

17:12.000 --> 17:15.000
so taking the name and taking the QOS,

17:15.000 --> 17:17.000
and we create the publisher.

17:17.000 --> 17:19.000
Some are there down there in the code,

17:19.000 --> 17:22.000
when we implement the ontic method,

17:22.000 --> 17:25.000
on every tick we publish a message,

17:25.000 --> 17:32.000
we read the intensity of the light from the O3DE rendering bus.

17:32.000 --> 17:36.000
So, O3D works in the same way as most of the engine

17:36.000 --> 17:38.000
that most of the game engines,

17:38.000 --> 17:41.000
that it defines buses for communication,

17:41.000 --> 17:44.000
and you can communicate via those buses.

17:44.000 --> 17:47.000
You use the entity as the address,

17:47.000 --> 17:51.000
and you ask what is the light component

17:52.000 --> 17:54.000
within the entity,

17:54.000 --> 17:59.000
and what is the intensity of this light component within the given entity.

17:59.000 --> 18:02.000
We get the response that started in this current intensity,

18:02.000 --> 18:04.000
that was pretty fine to minus 100,

18:04.000 --> 18:08.000
just in case before we create a standard rows message

18:08.000 --> 18:11.000
float for T2, where we put the intensity,

18:11.000 --> 18:13.000
and we just publish this intensity.

18:13.000 --> 18:17.000
So, the code stays exactly the same as it will stay

18:17.000 --> 18:20.000
in a standalone rows package,

18:20.000 --> 18:23.000
and from my perspective as a robotic developer,

18:23.000 --> 18:26.000
this is the biggest advantage of open 3D engine,

18:26.000 --> 18:28.000
that I have access to everything directly,

18:28.000 --> 18:31.000
there are no bridges, no man in the middle,

18:31.000 --> 18:35.000
so basically one component less to maintain.

18:35.000 --> 18:37.000
There is a bonus,

18:37.000 --> 18:41.000
because I mentioned that in open 3D engine,

18:41.000 --> 18:44.000
we can use C++, we can use Lua,

18:44.000 --> 18:47.000
to some extent it's also possible to use Python,

18:47.000 --> 18:49.000
but there is also something called script canvas,

18:49.000 --> 18:53.000
which is just an interface for drawing the pipelines of your choice.

18:53.000 --> 18:56.000
For example, you can on start of the graph,

18:56.000 --> 18:58.000
on start of the pipeline,

18:58.000 --> 19:00.000
when this script is initialized,

19:00.000 --> 19:03.000
we initialize the object that is responsible

19:03.000 --> 19:06.000
for triggering some messages once in a while,

19:06.000 --> 19:08.000
it's called hardbeat,

19:08.000 --> 19:12.000
and every 100 milliseconds on our pools,

19:12.000 --> 19:15.000
we will publish a message to Topic Hello,

19:15.000 --> 19:17.000
that is called Hello World.

19:17.000 --> 19:19.000
So with such a simple script,

19:19.000 --> 19:21.000
we don't even have to type C++ code,

19:21.000 --> 19:25.000
we can just get a script canvas and we can draw it.

19:25.000 --> 19:27.000
Very fast for prototyping,

19:27.000 --> 19:31.000
very fast for doing anything you want to do.

19:31.000 --> 19:34.000
Even when doing commercial products in my company,

19:34.000 --> 19:37.000
we use a lot of that because it's simple and fast.

19:37.000 --> 19:40.000
The same stuff can be done using Lua,

19:40.000 --> 19:44.000
with the only difference that this Lua one-liner publishes,

19:44.000 --> 19:47.000
the message once I didn't write the full loop here.

19:47.000 --> 19:51.000
So yeah, actually this is very, very brief presentation

19:51.000 --> 19:52.000
of Open3D Engine.

19:52.000 --> 19:54.000
I was afraid I would run out of time,

19:54.000 --> 19:59.000
but I recommend to have a look into it

19:59.000 --> 20:02.000
if you want to get nice rendering,

20:02.000 --> 20:04.000
if you want to get nice effects,

20:04.000 --> 20:07.000
because this is what Open3D Engine gives.

20:07.000 --> 20:12.000
And since I have one more minute or even two more minutes,

20:12.000 --> 20:17.000
I can show you a short video with a track

20:17.000 --> 20:21.000
going through the mine facility in Chile.

20:21.000 --> 20:24.000
This is a digital twin of huge mine facility.

20:24.000 --> 20:27.000
Maybe it's not perfectly visible when it's under the ground.

20:27.000 --> 20:29.000
We use it for simulation.

20:29.000 --> 20:33.000
We use that for our client to provide answers

20:33.000 --> 20:36.000
where the tracks should be in the mine.

20:36.000 --> 20:39.000
This is the demo from Roscon 2020 free.

20:40.000 --> 20:44.000
We did it to show that Open3D Engine can handle a lot.

20:44.000 --> 20:47.000
There are 12 robotic arms here.

20:47.000 --> 20:52.000
There are 56 AMRs all equipped with LiDAR sensors

20:52.000 --> 20:54.000
and camera sensors.

20:54.000 --> 20:59.000
So there are 72 LiDAR's more than 50 cameras in the scene

20:59.000 --> 21:02.000
and it works on my notebook in a real time.

21:02.000 --> 21:03.000
This is another demo.

21:03.000 --> 21:04.000
Okay, those are recordings,

21:04.000 --> 21:07.000
but it could work on my notebook in real time.

21:08.000 --> 21:11.000
The agricultural demo, the demo with some robots,

21:11.000 --> 21:13.000
I decided to show you this video.

21:13.000 --> 21:16.000
Mainly to show you the quality of the rendering.

21:16.000 --> 21:20.000
Of course, you cannot see it well in the screen,

21:20.000 --> 21:23.000
but displaying it in a 4K screen,

21:23.000 --> 21:25.000
having all this data at the same time

21:25.000 --> 21:27.000
and running it on notebook.

21:27.000 --> 21:29.000
Okay, with Nvidia graphic card, of course,

21:29.000 --> 21:33.000
but still notebook, it's still very, very cool.

21:33.000 --> 21:35.000
So yeah, I guess that's all.

21:35.000 --> 21:36.000
I will go back.

21:37.000 --> 21:38.000
Thank you.

21:54.000 --> 21:55.000
Hi.

21:55.000 --> 21:57.000
I just wanted to ask,

21:57.000 --> 21:59.000
because one of the biggest reasons

21:59.000 --> 22:02.000
are sometimes in industry

22:03.000 --> 22:06.000
people choose to use game engines instead of a zebra,

22:06.000 --> 22:09.000
for example, not because of the simulation of the robot,

22:09.000 --> 22:13.000
but because if you want to do highly dynamic environments,

22:13.000 --> 22:16.000
it's an absolute pain to do that in a zebra.

22:16.000 --> 22:20.000
So I wanted to ask how easy it is to, for example,

22:20.000 --> 22:23.000
add tons of actors, moving parts,

22:23.000 --> 22:28.000
things flying around, things that add the simulation in.

22:28.000 --> 22:31.000
It's perfectly doable.

22:31.000 --> 22:35.000
We have it in our simulators for our clients.

22:35.000 --> 22:38.000
Some parts are available, open source,

22:38.000 --> 22:40.000
some parts, unfortunately,

22:40.000 --> 22:43.000
we need to hide behind the paywall.

22:43.000 --> 22:47.000
We have levels maybe made for agriculture,

22:47.000 --> 22:51.000
where we have more than 100 people walking around

22:51.000 --> 22:56.000
and automated way with all the robots moving between them.

22:56.000 --> 23:01.000
We simulate different weather with rain, snow,

23:01.000 --> 23:04.000
and other things falling from the sky.

23:04.000 --> 23:05.000
We simulate fogs.

23:05.000 --> 23:08.000
Everything is possible with open 3D engine.

23:08.000 --> 23:10.000
I'm not saying it's easy.

23:10.000 --> 23:12.000
I'm saying it's doable.

23:12.000 --> 23:15.000
And I don't know other game engines,

23:15.000 --> 23:17.000
but as a C++ person,

23:17.000 --> 23:21.000
for me implementing staff and open 3D engine is easier

23:21.000 --> 23:22.000
than for example, new unity.

23:22.000 --> 23:25.000
I don't have comparison with Unreal at all.

23:25.000 --> 23:27.000
But only with unity.

23:27.000 --> 23:30.000
We also did many things for

23:30.000 --> 23:33.000
outdoor foundation with unity.

23:33.000 --> 23:36.000
Simulating the city, my company is responsible

23:36.000 --> 23:39.000
for digital twins of Japanese cities.

23:39.000 --> 23:42.000
And we are porting that to open 3D engine

23:42.000 --> 23:46.000
and it looks way better and it works much faster than any unity.

23:49.000 --> 23:50.000
Hello, Jan.

23:50.000 --> 23:52.000
Thank you for your presentation.

23:52.000 --> 23:57.000
Do you have any plans on integration with the drone code stack?

23:57.000 --> 24:00.000
We don't have drones,

24:00.000 --> 24:05.000
or the objects that are just moving on splines in the sky.

24:05.000 --> 24:10.000
This is the biggest missing point of open 3D engine.

24:10.000 --> 24:13.000
There is no wind, no water simulation.

24:13.000 --> 24:16.000
So unless you simulate it yourself,

24:16.000 --> 24:20.000
what we did in one small project was, as I said,

24:20.000 --> 24:25.000
it was just an object that was moving on a spline

24:25.000 --> 24:27.000
with some additional noise to it.

24:27.000 --> 24:29.000
But we didn't have anything more than that.

24:29.000 --> 24:33.000
So you're not planning to integrate it with PX4.

24:33.000 --> 24:35.000
For the moment,

24:35.000 --> 24:38.000
we don't have projects like that with clients.

24:38.000 --> 24:42.000
And this is how we roll and how we try to support the open source community

24:42.000 --> 24:47.000
that we always do projects that can give us some money to live.

24:47.000 --> 24:50.000
And we try to publish as much code open source as possible.

24:50.000 --> 24:53.000
So as long as we don't get any projects,

24:53.000 --> 24:55.000
we won't have the capacity for that.

24:55.000 --> 24:57.000
But of course, it's open-source.

24:57.000 --> 24:58.000
We are invited to help us.

24:58.000 --> 25:02.000
And then maybe we will get someone to help you.

25:04.000 --> 25:07.000
Thank you, Jan, for the wonderful presentation.

25:07.000 --> 25:12.000
Since I just started to mention the AI and similar stuff,

25:13.000 --> 25:18.000
would this, did you ever try or would this be able to handle,

25:18.000 --> 25:24.000
I don't know, some really fast image object classification or object acquisition?

25:24.000 --> 25:27.000
Because I see it can be used there.

25:27.000 --> 25:30.000
So this is just a simulator.

25:30.000 --> 25:33.000
And what happens here is that we produce objects.

25:33.000 --> 25:35.000
Sorry, we produce images.

25:35.000 --> 25:39.000
And those are the images that you can analyze outside.

25:39.000 --> 25:43.000
You can get those images the simplest way would be via rows two topics.

25:43.000 --> 25:45.000
And then you can do it outside.

25:45.000 --> 25:49.000
You can send the response back what you detected was happening there.

25:49.000 --> 25:54.000
You can also integrate this into the code base of open 3D engine.

25:54.000 --> 26:00.000
This is one of the core parts of money actually to generate images for machine learning

26:00.000 --> 26:03.000
training and verifications and validation.

26:04.000 --> 26:07.000
Really realistic for that.

26:07.000 --> 26:09.000
Thank you, thank you for the response.

26:09.000 --> 26:14.000
And just to say this might be a really good alternative for my club's plugin

26:14.000 --> 26:15.000
for Unreal Engine.

26:15.000 --> 26:16.000
This could change it.

26:16.000 --> 26:19.000
And the pictures look even nicer than there.

26:19.000 --> 26:21.000
Thank you very much.

26:21.000 --> 26:26.000
I believe there is still a gap between Unreal and open 3D engine.

26:26.000 --> 26:29.000
But the nice thing is that here you get the source code.

26:29.000 --> 26:30.000
You can change anything you want.

26:30.000 --> 26:31.000
And just to your needs.

26:31.000 --> 26:36.000
And then if possible, if the customer allows you publish it.

26:36.000 --> 26:38.000
So to the community.

26:38.000 --> 26:42.000
The predefined objects looks most nicer than the five objects.

26:42.000 --> 26:43.000
Okay.

26:43.000 --> 26:44.000
Very good.

26:44.000 --> 26:45.000
Thank you.

26:45.000 --> 26:46.000
Okay.

26:46.000 --> 26:48.000
Thank you.

26:48.000 --> 26:50.000
Thank you.

26:50.000 --> 26:51.000
Thank you.