From 8d353baa9452b20c537da4129f04ee7fd3a93752 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Wed, 26 Jul 2023 11:41:40 +0200 Subject: [PATCH 01/20] Update to JupyterLab 4 --- .github/workflows/binder-on-pr.yml | 25 +- .github/workflows/build.yml | 43 +- .github/workflows/check-release.yml | 54 +- .github/workflows/enforce-label.yml | 13 + .github/workflows/prep-release.yml | 41 + .github/workflows/publish-release.yml | 57 + .../workflows/update-integration-tests.yml | 11 +- .gitignore | 13 + .yarnrc.yml | 1 + LICENSE | 2 +- README.md | 4 +- RELEASE.md | 74 +- binder/environment.yml | 6 +- examples/Untitled.ipynb | 6 + examples/nao.urdf | 2604 ++ examples/nao_description/CHANGELOG.rst | 121 + examples/nao_description/CMakeLists.txt | 29 + examples/nao_description/config/urdf.rviz | 542 + .../nao_description/launch/display.launch | 13 + .../launch/robot_state_publisher.launch | 12 + .../nao_description/launch/upload_nao.launch | 4 + examples/nao_description/package.xml | 36 + .../scripts/test_cam_transform.py | 109 + .../nao_description/src/base_footprint.cpp | 148 + .../urdf/naoV32_generated_urdf/nao.urdf | 2276 ++ .../naoV32_generated_urdf/naoGazebo.xacro | 869 + .../naoTransmission.xacro | 175 + .../urdf/naoV32_generated_urdf/nao_arms.xacro | 180 + .../naoV32_generated_urdf/nao_fingers.xacro | 230 + .../urdf/naoV32_generated_urdf/nao_head.xacro | 42 + .../urdf/naoV32_generated_urdf/nao_legs.xacro | 201 + .../naoV32_generated_urdf/nao_material.xacro | 18 + .../naoV32_generated_urdf/nao_robot.xacro | 15 + .../naoV32_generated_urdf/nao_sensors.xacro | 302 + .../naoV32_generated_urdf/nao_torso.xacro | 21 + .../nao_visual_collisions.xacro | 867 + .../urdf/naoV33_generated_urdf/nao.urdf | 2604 ++ .../naoV33_generated_urdf/naoGazebo.xacro | 869 + .../naoTransmission.xacro | 175 + .../urdf/naoV33_generated_urdf/nao_arms.xacro | 180 + .../naoV33_generated_urdf/nao_fingers.xacro | 230 + .../urdf/naoV33_generated_urdf/nao_head.xacro | 42 + 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100644 package-lock.json create mode 100644 tsconfig.test.json diff --git a/.github/workflows/binder-on-pr.yml b/.github/workflows/binder-on-pr.yml index d8416e2..87e9cd2 100644 --- a/.github/workflows/binder-on-pr.yml +++ b/.github/workflows/binder-on-pr.yml @@ -1,31 +1,14 @@ -# Reference https://mybinder.readthedocs.io/en/latest/howto/gh-actions-badges.html name: Binder Badge on: pull_request_target: types: [opened] -permissions: - pull-requests: write - - jobs: binder: runs-on: ubuntu-latest + permissions: + pull-requests: write steps: - - name: comment on PR with Binder link - uses: actions/github-script@v3 + - uses: jupyterlab/maintainer-tools/.github/actions/binder-link@v1 with: - github-token: ${{secrets.GITHUB_TOKEN}} - script: | - var PR_HEAD_USERREPO = process.env.PR_HEAD_USERREPO; - var PR_HEAD_REF = process.env.PR_HEAD_REF; - github.issues.createComment({ - issue_number: context.issue.number, - owner: context.repo.owner, - repo: context.repo.repo, - body: `[![Binder](https://mybinder.org/badge_logo.svg)](https://mybinder.org/v2/gh/${PR_HEAD_USERREPO}/${PR_HEAD_REF}?urlpath=lab) :point_left: Launch a Binder on branch _${PR_HEAD_USERREPO}/${PR_HEAD_REF}_` - }) - env: - PR_HEAD_REF: ${{ github.event.pull_request.head.ref }} - PR_HEAD_USERREPO: ${{ github.event.pull_request.head.repo.full_name }} - + github_token: ${{ secrets.github_token }} diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 7e27b4d..20bb1f5 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -12,20 +12,19 @@ jobs: steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Base Setup uses: jupyterlab/maintainer-tools/.github/actions/base-setup@v1 - name: Install dependencies - run: python -m pip install -U jupyterlab~=3.1 check-manifest + run: python -m pip install -U "jupyterlab>=4.0.0,<5" - name: Lint the extension run: | set -eux jlpm jlpm run lint:check - - name: Test the extension run: | set -eux @@ -37,20 +36,19 @@ jobs: python -m pip install .[test] jupyter labextension list - jupyter labextension list 2>&1 | grep -ie "jupyterlab_urdf.*OK" + jupyter labextension list 2>&1 | grep -ie "jupyterlab-urdf.*OK" python -m jupyterlab.browser_check - name: Package the extension run: | set -eux - check-manifest -v pip install build python -m build pip uninstall -y "jupyterlab_urdf" jupyterlab - name: Upload extension packages - uses: actions/upload-artifact@v2 + uses: actions/upload-artifact@v3 with: name: extension-artifacts path: dist/jupyterlab_urdf* @@ -62,13 +60,13 @@ jobs: steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Install Python - uses: actions/setup-python@v2 + uses: actions/setup-python@v4 with: python-version: '3.9' architecture: 'x64' - - uses: actions/download-artifact@v2 + - uses: actions/download-artifact@v3 with: name: extension-artifacts - name: Install and Test @@ -78,12 +76,12 @@ jobs: sudo rm -rf $(which node) sudo rm -rf $(which node) - pip install "jupyterlab~=3.1" jupyterlab_urdf*.whl + pip install "jupyterlab>=4.0.0,<5" jupyterlab_urdf*.whl jupyter labextension list - jupyter labextension list 2>&1 | grep -ie "jupyterlab_urdf.*OK" - python -m jupyterlab.browser_check --no-chrome-test + jupyter labextension list 2>&1 | grep -ie "jupyterlab-urdf.*OK" + python -m jupyterlab.browser_check --no-browser-test integration-tests: name: Integration tests @@ -95,20 +93,20 @@ jobs: steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Base Setup uses: jupyterlab/maintainer-tools/.github/actions/base-setup@v1 - name: Download extension package - uses: actions/download-artifact@v2 + uses: actions/download-artifact@v3 with: name: extension-artifacts - + - name: Install the extension run: | set -eux - python -m pip install "jupyterlab~=3.1" jupyterlab_urdf*.whl + python -m pip install "jupyterlab>=4.0.0,<5" jupyterlab_urdf*.whl - name: Install dependencies working-directory: ui-tests @@ -117,7 +115,7 @@ jobs: run: jlpm install - name: Set up browser cache - uses: actions/cache@v2 + uses: actions/cache@v3 with: path: | ${{ github.workspace }}/pw-browsers @@ -134,9 +132,18 @@ jobs: - name: Upload Playwright Test report if: always() - uses: actions/upload-artifact@v2 + uses: actions/upload-artifact@v3 with: name: jupyterlab_urdf-playwright-tests path: | ui-tests/test-results ui-tests/playwright-report + + check_links: + name: Check Links + runs-on: ubuntu-latest + timeout-minutes: 15 + steps: + - uses: actions/checkout@v3 + - uses: jupyterlab/maintainer-tools/.github/actions/base-setup@v1 + - uses: jupyterlab/maintainer-tools/.github/actions/check-links@v1 diff --git a/.github/workflows/check-release.yml b/.github/workflows/check-release.yml index 05f0d9c..9bf62b2 100644 --- a/.github/workflows/check-release.yml +++ b/.github/workflows/check-release.yml @@ -1,63 +1,29 @@ name: Check Release on: push: - branches: - - main + branches: ["main"] pull_request: - branches: - - main - -permissions: - contents: write + branches: ["*"] jobs: check_release: runs-on: ubuntu-latest steps: - name: Checkout - uses: actions/checkout@v2 - - name: Install Python - uses: actions/setup-python@v2 - with: - python-version: 3.9 - architecture: 'x64' - - name: Install node - uses: actions/setup-node@v2 - with: - node-version: '14.x' - - - - name: Get pip cache dir - id: pip-cache - run: | - echo "::set-output name=dir::$(pip cache dir)" - - name: Cache pip - uses: actions/cache@v1 - with: - path: ${{ steps.pip-cache.outputs.dir }} - key: ${{ runner.os }}-pip-${{ hashFiles('package.json') }} - restore-keys: | - ${{ runner.os }}-pip- - - name: Cache checked links - uses: actions/cache@v2 - with: - path: ~/.cache/pytest-link-check - key: ${{ runner.os }}-linkcheck-${{ hashFiles('**/.md') }}-md-links - restore-keys: | - ${{ runner.os }}-linkcheck- - - name: Upgrade packaging dependencies - run: | - pip install --upgrade pip setuptools wheel jupyter-packaging~=0.10 --user + uses: actions/checkout@v3 + - name: Base Setup + uses: jupyterlab/maintainer-tools/.github/actions/base-setup@v1 - name: Install Dependencies run: | - pip install . + pip install -e . - name: Check Release - uses: jupyter-server/jupyter_releaser/.github/actions/check-release@v1 + uses: jupyter-server/jupyter_releaser/.github/actions/check-release@v2 with: + token: ${{ secrets.GITHUB_TOKEN }} - + - name: Upload Distributions - uses: actions/upload-artifact@v2 + uses: actions/upload-artifact@v3 with: name: jupyterlab_urdf-releaser-dist-${{ github.run_number }} path: .jupyter_releaser_checkout/dist diff --git a/.github/workflows/enforce-label.yml b/.github/workflows/enforce-label.yml new file mode 100644 index 0000000..725feab --- /dev/null +++ b/.github/workflows/enforce-label.yml @@ -0,0 +1,13 @@ +name: Enforce PR label + +on: + pull_request: + types: [labeled, unlabeled, opened, edited, synchronize] +jobs: + enforce-label: + runs-on: ubuntu-latest + permissions: + pull-requests: write + steps: + - name: enforce-triage-label + uses: jupyterlab/maintainer-tools/.github/actions/enforce-label@v1 diff --git a/.github/workflows/prep-release.yml b/.github/workflows/prep-release.yml new file mode 100644 index 0000000..6f09281 --- /dev/null +++ b/.github/workflows/prep-release.yml @@ -0,0 +1,41 @@ +name: "Step 1: Prep Release" +on: + workflow_dispatch: + inputs: + version_spec: + description: "New Version Specifier" + default: "next" + required: false + branch: + description: "The branch to target" + required: false + post_version_spec: + description: "Post Version Specifier" + required: false + since: + description: "Use PRs with activity since this date or git reference" + required: false + since_last_stable: + description: "Use PRs with activity since the last stable git tag" + required: false + type: boolean +jobs: + prep_release: + runs-on: ubuntu-latest + steps: + - uses: jupyterlab/maintainer-tools/.github/actions/base-setup@v1 + + - name: Prep Release + id: prep-release + uses: jupyter-server/jupyter_releaser/.github/actions/prep-release@v2 + with: + token: ${{ secrets.ADMIN_GITHUB_TOKEN }} + version_spec: ${{ github.event.inputs.version_spec }} + post_version_spec: ${{ github.event.inputs.post_version_spec }} + branch: ${{ github.event.inputs.branch }} + since: ${{ github.event.inputs.since }} + since_last_stable: ${{ github.event.inputs.since_last_stable }} + + - name: "** Next Step **" + run: | + echo "Optional): Review Draft Release: ${{ steps.prep-release.outputs.release_url }}" diff --git a/.github/workflows/publish-release.yml b/.github/workflows/publish-release.yml new file mode 100644 index 0000000..1ddf2e2 --- /dev/null +++ b/.github/workflows/publish-release.yml @@ -0,0 +1,57 @@ +name: "Step 2: Publish Release" +on: + workflow_dispatch: + inputs: + branch: + description: "The target branch" + required: false + release_url: + description: "The URL of the draft GitHub release" + required: false + steps_to_skip: + description: "Comma separated list of steps to skip" + required: false + +jobs: + publish_release: + runs-on: ubuntu-latest + permissions: + # This is useful if you want to use PyPI trusted publisher + # and NPM provenance + id-token: write + steps: + - uses: jupyterlab/maintainer-tools/.github/actions/base-setup@v1 + + - name: Populate Release + id: populate-release + uses: jupyter-server/jupyter_releaser/.github/actions/populate-release@v2 + with: + token: ${{ secrets.ADMIN_GITHUB_TOKEN }} + branch: ${{ github.event.inputs.branch }} + release_url: ${{ github.event.inputs.release_url }} + steps_to_skip: ${{ github.event.inputs.steps_to_skip }} + + - name: Finalize Release + id: finalize-release + env: + # The following are needed if you use legacy PyPI set up + # PYPI_TOKEN: ${{ secrets.PYPI_TOKEN }} + # PYPI_TOKEN_MAP: ${{ secrets.PYPI_TOKEN_MAP }} + # TWINE_USERNAME: __token__ + NPM_TOKEN: ${{ secrets.NPM_TOKEN }} + uses: jupyter-server/jupyter-releaser/.github/actions/finalize-release@v2 + with: + token: ${{ secrets.ADMIN_GITHUB_TOKEN }} + release_url: ${{ steps.populate-release.outputs.release_url }} + + - name: "** Next Step **" + if: ${{ success() }} + run: | + echo "Verify the final release" + echo ${{ steps.finalize-release.outputs.release_url }} + + - name: "** Failure Message **" + if: ${{ failure() }} + run: | + echo "Failed to Publish the Draft Release Url:" + echo ${{ steps.populate-release.outputs.release_url }} diff --git a/.github/workflows/update-integration-tests.yml b/.github/workflows/update-integration-tests.yml index 0939768..4426dca 100644 --- a/.github/workflows/update-integration-tests.yml +++ b/.github/workflows/update-integration-tests.yml @@ -9,15 +9,13 @@ permissions: pull-requests: write jobs: - - update-snapshots: if: ${{ github.event.issue.pull_request && contains(github.event.comment.body, 'please update playwright snapshots') }} runs-on: ubuntu-latest steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 with: token: ${{ secrets.GITHUB_TOKEN }} @@ -29,7 +27,13 @@ jobs: env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + - name: Base Setup + uses: jupyterlab/maintainer-tools/.github/actions/base-setup@v1 + - name: Install dependencies + run: python -m pip install -U "jupyterlab>=4.0.0,<5" + + - name: Install extension run: | set -eux jlpm @@ -41,4 +45,3 @@ jobs: # Playwright knows how to start JupyterLab server start_server_script: 'null' test_folder: ui-tests - \ No newline at end of file diff --git a/.gitignore b/.gitignore index 90e6386..5b828f0 100644 --- a/.gitignore +++ b/.gitignore @@ -13,6 +13,15 @@ jupyterlab_urdf/labextension *devel/ *logs/ *catkin_tools/ +*.log +.eslintcache +.stylelintcache +*.egg-info/ +.ipynb_checkpoints +*.tsbuildinfo +jupyterlab_urdf/labextension +# Version file is handled by hatchling +jupyterlab_urdf/_version.py # Integration tests ui-tests/test-results/ @@ -68,6 +77,7 @@ htmlcov/ .coverage.* .cache nosetests.xml +coverage/ coverage.xml *.cover .hypothesis/ @@ -122,3 +132,6 @@ dmypy.json # OSX files .DS_Store + +# Yarn cache +.yarn/ diff --git a/.yarnrc.yml b/.yarnrc.yml new file mode 100644 index 0000000..3186f3f --- /dev/null +++ b/.yarnrc.yml @@ -0,0 +1 @@ +nodeLinker: node-modules diff --git a/LICENSE b/LICENSE index 982f31f..d221bd8 100644 --- a/LICENSE +++ b/LICENSE @@ -1,6 +1,6 @@ BSD 3-Clause License -Copyright (c) 2022, Isabel Paredes +Copyright (c) 2023, Isabel Paredes All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/README.md b/README.md index bb8a7ab..656d029 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,7 @@ A URDF viewer and editor extension for JupyterLab. ## Requirements -- JupyterLab >= 3.0 +- JupyterLab >= 4.0.0 ## Install @@ -72,7 +72,7 @@ pip uninstall jupyterlab-urdf In development mode, you will also need to remove the symlink created by `jupyter labextension develop` command. To find its location, you can run `jupyter labextension list` to figure out where the `labextensions` -folder is located. Then you can remove the symlink named `jupyterlab_urdf` within that folder. +folder is located. Then you can remove the symlink named `jupyterlab-urdf` within that folder. ### Testing the extension diff --git a/RELEASE.md b/RELEASE.md index 17ca984..4c294a7 100644 --- a/RELEASE.md +++ b/RELEASE.md @@ -6,13 +6,31 @@ The extension can be published to `PyPI` and `npm` manually or using the [Jupyte ### Python package -This extension can be distributed as Python -packages. All of the Python -packaging instructions in the `pyproject.toml` file to wrap your extension in a -Python package. Before generating a package, we first need to install `build`. +This extension can be distributed as Python packages. All of the Python +packaging instructions are in the `pyproject.toml` file to wrap your extension in a +Python package. Before generating a package, you first need to install some tools: ```bash -pip install build twine +pip install build twine hatch +``` + +Bump the version using `hatch`. By default this will create a tag. +See the docs on [hatch-nodejs-version](https://github.com/agoose77/hatch-nodejs-version#semver) for details. + +```bash +hatch version +``` + +Make sure to clean up all the development files before building the package: + +```bash +jlpm clean:all +``` + +You could also clean up the local git repository: + +```bash +git clean -dfX ``` To create a Python source package (`.tar.gz`) and the binary package (`.whl`) in the `dist/` directory, do: @@ -42,17 +60,49 @@ npm publish --access public The extension repository should already be compatible with the Jupyter Releaser. -Check out the [workflow documentation](https://github.com/jupyter-server/jupyter_releaser#typical-workflow) for more information. +Check out the [workflow documentation](https://jupyter-releaser.readthedocs.io/en/latest/get_started/making_release_from_repo.html) for more information. Here is a summary of the steps to cut a new release: -- Fork the [`jupyter-releaser` repo](https://github.com/jupyter-server/jupyter_releaser) -- Add `ADMIN_GITHUB_TOKEN`, `PYPI_TOKEN` and `NPM_TOKEN` to the Github Secrets in the fork +- Add tokens to the [Github Secrets](https://docs.github.com/en/actions/security-guides/encrypted-secrets) in the repository: + - `ADMIN_GITHUB_TOKEN` (with "public_repo" and "repo:status" permissions); see the [documentation](https://docs.github.com/en/authentication/keeping-your-account-and-data-secure/creating-a-personal-access-token) + - `NPM_TOKEN` (with "automation" permission); see the [documentation](https://docs.npmjs.com/creating-and-viewing-access-tokens) +- Set up PyPI + +
Using PyPI trusted publisher (modern way) + +- Set up your PyPI project by [adding a trusted publisher](https://docs.pypi.org/trusted-publishers/adding-a-publisher/) + - The _workflow name_ is `publish-release.yml` and the _environment_ should be left blank. +- Ensure the publish release job as `permissions`: `id-token : write` (see the [documentation](https://docs.pypi.org/trusted-publishers/using-a-publisher/)) + +
+ +
Using PyPI token (legacy way) + +- If the repo generates PyPI release(s), create a scoped PyPI [token](https://packaging.python.org/guides/publishing-package-distribution-releases-using-github-actions-ci-cd-workflows/#saving-credentials-on-github). We recommend using a scoped token for security reasons. + +- You can store the token as `PYPI_TOKEN` in your fork's `Secrets`. + + - Advanced usage: if you are releasing multiple repos, you can create a secret named `PYPI_TOKEN_MAP` instead of `PYPI_TOKEN` that is formatted as follows: + + ```text + owner1/repo1,token1 + owner2/repo2,token2 + ``` + + If you have multiple Python packages in the same repository, you can point to them as follows: + + ```text + owner1/repo1/path/to/package1,token1 + owner1/repo1/path/to/package2,token2 + ``` + +
+ - Go to the Actions panel -- Run the "Draft Changelog" workflow -- Merge the Changelog PR -- Run the "Draft Release" workflow -- Run the "Publish Release" workflow +- Run the "Step 1: Prep Release" workflow +- Check the draft changelog +- Run the "Step 2: Publish Release" workflow ## Publishing to `conda-forge` diff --git a/binder/environment.yml b/binder/environment.yml index a593c5b..2dd2c59 100644 --- a/binder/environment.yml +++ b/binder/environment.yml @@ -11,10 +11,10 @@ channels: dependencies: # runtime dependencies - - python >=3.8,<3.9.0a0 - - jupyterlab >=3,<4.0.0a0 + - python >=3.10,<3.11.0a0 + - jupyterlab >=4.0.0,<5 # labextension build dependencies - - nodejs >=14,<15 + - nodejs >=18,<19 - pip - wheel # additional packages for demos diff --git a/examples/Untitled.ipynb b/examples/Untitled.ipynb new file mode 100644 index 0000000..363fcab --- /dev/null +++ b/examples/Untitled.ipynb @@ -0,0 +1,6 @@ +{ + "cells": [], + "metadata": {}, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/nao.urdf b/examples/nao.urdf new file mode 100644 index 0000000..09935d2 --- /dev/null +++ b/examples/nao.urdf @@ -0,0 +1,2604 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ PositionJointInterface + + + + PositionJointInterface + 201.3 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 130.85 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 130.85 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 130.85 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 201.3 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 201.3 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 201.3 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 130.85 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 130.85 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 130.85 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + 201.3 + + + diff --git a/examples/nao_description/CHANGELOG.rst b/examples/nao_description/CHANGELOG.rst new file mode 100644 index 0000000..7ff665f --- /dev/null +++ b/examples/nao_description/CHANGELOG.rst @@ -0,0 +1,121 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package nao_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.5.15 (2016-11-23) +------------------- + +0.5.14 (2016-01-23) +------------------- +* removed nao_dcm namespace to match changes made to nao_control +* added gui:=true to match pepper_description display.launch +* Contributors: Mikael Arguedas + +0.5.13 (2016-01-16) +------------------- +* Fix bad arm values. + This fixes `#25 `_. +* Contributors: Vincent Rabaud + +0.5.12 (2016-01-01) +------------------- +* remove type from naoTransmission +* update the Gazebo .xacro and the corresponding .urdf +* update the .xacro / .urdf to the latest version of naoqi_tools +* Contributors: Mikael Arguedas, Vincent Rabaud + +0.5.11 (2015-08-11) +------------------- + +0.5.10 (2015-07-31) +------------------- + +0.5.9 (2015-07-30) +------------------ + +0.5.8 (2015-07-30) +------------------ + +0.5.7 (2015-03-27) +------------------ +* update full .urdf file using xacro +* fixed ankle drift +* Contributors: Mikael Arguedas, Vincent Rabaud + +0.5.6 (2015-02-27) +------------------ +* properly fix 535d34474d9f64ddb60f6f163656c10fcdf92774 + The automatic generator was used to generate inertia +* dirty fix for naoqi_bridge/issues/31 +* Minor fix to load RViz config file in display.launch +* fixing typo +* Cleanup and rename launch files +* Contributors: Karsten Knese, Konstantinos Chatzilygeroudis, Mikael Arguedas, Vincent Rabaud + +0.5.5 (2015-02-17) +------------------ +* update to the latest version of the generation script +* Contributors: Vincent Rabaud + +0.5.4 (2015-02-17) +------------------ +* restore sensor in naoGazebo.xacro +* Contributors: Mikael Arguedas + +0.5.3 (2014-12-14) +------------------ + +0.5.2 (2014-12-04) +------------------ +* fixed gazebo tags used by nao_gazebo_plugin +* remove trailing spaces +* update generated urdf files, add gazebo plugins +* Added xacro and urdf dependencies +* Contributors: Arguedas Mikael, Mikael ARGUEDAS + +0.5.1 (2014-11-13) +------------------ + +0.5.0 (2014-11-06) +------------------ +* transfer nao_robot +* 0.4.1 +* update changelogs +* added camera and sonar to naoGazebo.xacro +* get the accent right in Séverin's name +* 0.4.0 +* update changelogs +* urdf generated files, launchfiles and config files + generated files updated + updated mesh file path + add xacro macro for fingers in naohands + update nao.urdf based on new macros for fingers + export with meshes + remove useless imu frame +* 0.3.0 +* update changelogs +* update maintainers + Armin, thank you for all your work, in ROS, Octomap and NAO. + Good luck out of the university ! +* Revert "Merge pull request `#26 `_ from vrabaud/fix_xacro" + Breaks groovy (xacro no catkin package), but will be required from hydro on + This reverts commit 321424a634a309ea9c284cf027074cdeda2a3c67, reversing + changes made to 383d285e01997e585bfa731525ce5f17a6cc3165. +* fix the missing dependency on xacro +* "0.2.3" +* Changelogs +* {ahornung->ros-nao} +* {ahornung->ros-nao} +* Fix `#17 `_: add dependency on sensor_msgs in nao_description +* "0.2.2" +* changelog +* "0.2.1" +* Changelogs +* [nao_description] Added missing include dirs in CMakeLists +* "0.2.0" +* Adding (edited) catkin-generated changelogs +* Adding bugtracker and repo URLs to package manifests +* Adding base_footprint node to nao_description, publishes footprint according + to REP-120 (based on previous node nao_remote/remap_odometry). Fixes Issue `#10 `_. +* Moved nao_description from nao_common to nao_robot +* Contributors: Armin Hornung, Karsten Knese, Séverin Lemaignan, Vincent Rabaud, margueda diff --git a/examples/nao_description/CMakeLists.txt b/examples/nao_description/CMakeLists.txt new file mode 100644 index 0000000..8f81929 --- /dev/null +++ b/examples/nao_description/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 2.8.3) +project(nao_description) + +# We need to find catkin for the rest of the script to work +find_package(catkin REQUIRED COMPONENTS + roscpp + tf + message_filters + sensor_msgs +) + +# Nothing that can be imported by other modules +catkin_package() + +include_directories(${catkin_INCLUDE_DIRS}) +add_executable(base_footprint src/base_footprint.cpp) +target_link_libraries(base_footprint ${catkin_LIBRARIES}) + +install(TARGETS base_footprint + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +# Instructions to install launch files +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch ) + +# Instructions to install urdf files +install(DIRECTORY urdf/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf) + diff --git a/examples/nao_description/config/urdf.rviz b/examples/nao_description/config/urdf.rviz new file mode 100644 index 0000000..3f5c28a --- /dev/null +++ b/examples/nao_description/config/urdf.rviz @@ -0,0 +1,542 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 565 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.7 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + CameraTop_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LBicep: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LElbow: + Alpha: 1 + Show Axes: false + Show Trail: false + LFeet: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger11: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger12: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger13: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger21: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger22: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LFinger23: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LForeArm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LHip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LPelvis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LShoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LSonar: + Alpha: 1 + Show Axes: false + Show Trail: false + LThigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LThumb1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LThumb2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LTibia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + Neck: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RBicep: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RElbow: + Alpha: 1 + Show Axes: false + Show Trail: false + RFeet: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger11: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger12: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger13: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger21: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger22: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RFinger23: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RForeArm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RHip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RPelvis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RShoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RSonar: + Alpha: 1 + Show Axes: false + Show Trail: false + RThigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RThumb1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RThumb2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RTibia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gaze: + Alpha: 1 + Show Axes: false + Show Trail: false + l_ankle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + l_sole: + Alpha: 1 + Show Axes: false + Show Trail: false + l_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_ankle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + r_sole: + Alpha: 1 + Show Axes: false + Show Trail: false + r_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + CameraTop_frame: + Value: true + Head: + Value: true + LBicep: + Value: true + LElbow: + Value: true + LFeet: + Value: true + LFinger11: + Value: true + LFinger12: + Value: true + LFinger13: + Value: true + LFinger21: + Value: true + LFinger22: + Value: true + LFinger23: + Value: true + LForeArm: + Value: true + LHip: + Value: true + LPelvis: + Value: true + LShoulder: + Value: true + LSonar: + Value: true + LThigh: + Value: true + LThumb1: + Value: true + LThumb2: + Value: true + LTibia: + Value: true + Neck: + Value: true + RBicep: + Value: true + RElbow: + Value: true + RFeet: + Value: true + RFinger11: + Value: true + RFinger12: + Value: true + RFinger13: + Value: true + RFinger21: + Value: true + RFinger22: + Value: true + RFinger23: + Value: true + RForeArm: + Value: true + RHip: + Value: true + RPelvis: + Value: true + RShoulder: + Value: true + RSonar: + Value: true + RThigh: + Value: true + RThumb1: + Value: true + RThumb2: + Value: true + RTibia: + Value: true + base_link: + Value: true + gaze: + Value: true + l_ankle: + Value: true + l_gripper: + Value: true + l_sole: + Value: true + l_wrist: + Value: true + r_ankle: + Value: true + r_gripper: + Value: true + r_sole: + Value: true + r_wrist: + Value: true + torso: + Value: true + Marker Scale: 0.3 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + torso: + LPelvis: + LHip: + LThigh: + LTibia: + l_ankle: + LFeet: + l_sole: + {} + LShoulder: + LBicep: + LElbow: + LForeArm: + l_wrist: + LFinger11: + LFinger12: + LFinger13: + {} + LFinger21: + LFinger22: + LFinger23: + {} + LThumb1: + LThumb2: + {} + l_gripper: + {} + LSonar: + {} + Neck: + Head: + CameraTop_frame: + gaze: + {} + RPelvis: + RHip: + RThigh: + RTibia: + r_ankle: + RFeet: + r_sole: + {} + RShoulder: + RBicep: + RElbow: + RForeArm: + r_wrist: + RFinger11: + RFinger12: + RFinger13: + {} + RFinger21: + RFinger22: + RFinger23: + {} + RThumb1: + RThumb2: + {} + r_gripper: + {} + RSonar: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: torso + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.32784 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.055398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.000398632 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 55 + Y: 40 diff --git a/examples/nao_description/launch/display.launch b/examples/nao_description/launch/display.launch new file mode 100644 index 0000000..b7ed2cd --- /dev/null +++ b/examples/nao_description/launch/display.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/examples/nao_description/launch/robot_state_publisher.launch b/examples/nao_description/launch/robot_state_publisher.launch new file mode 100644 index 0000000..d4a2299 --- /dev/null +++ b/examples/nao_description/launch/robot_state_publisher.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/examples/nao_description/launch/upload_nao.launch b/examples/nao_description/launch/upload_nao.launch new file mode 100644 index 0000000..bd6d63d --- /dev/null +++ b/examples/nao_description/launch/upload_nao.launch @@ -0,0 +1,4 @@ + + + + diff --git a/examples/nao_description/package.xml b/examples/nao_description/package.xml new file mode 100644 index 0000000..8b5162e --- /dev/null +++ b/examples/nao_description/package.xml @@ -0,0 +1,36 @@ + + nao_description + 0.5.15 + + + Description of the Nao robot model that can be used with robot_state_publisher to display the robot's state of joint angles. + + + Armin Hornung + Stefan Osswald + Séverin Lemaignan + Vincent Rabaud + BSD + + http://www.ros.org/wiki/nao_description + https://github.com/ros-nao/nao_robot/issues + https://github.com/ros-nao/nao_robot + + catkin + + roscpp + tf + message_filters + sensor_msgs + urdf + xacro + + roscpp + robot_state_publisher + tf + message_filters + sensor_msgs + urdf + xacro + + diff --git a/examples/nao_description/scripts/test_cam_transform.py b/examples/nao_description/scripts/test_cam_transform.py new file mode 100755 index 0000000..f93d0db --- /dev/null +++ b/examples/nao_description/scripts/test_cam_transform.py @@ -0,0 +1,109 @@ +#!/usr/bin/env python +import sys +import roslib +roslib.load_manifest('nao_description') +import rospy +import tf +import numpy as np +from tf import TransformListener +from tf import transformations + +try: + import motion + from naoqi import ALProxy +except ImportError: + print("Error importing NaoQI. Please make sure that Aldebaran's NaoQI API is in your PYTHONPATH.") + exit(1) + + +# bla +def space_to_str(space): + if space == motion.SPACE_TORSO: + return "Torso" + elif space == motion.SPACE_WORLD: + return "Odom" + elif space == motion.SPACE_NAO: + return "BaseFootprint" + +def transform_to_str(result): + tstr = '' + maxColumnWidth = 20 + for i in range(0,4): + row = result[4*i:4*i+4] + rstr = ''.join(["%s" %str(k).center(maxColumnWidth) for k in (row)] ) + rstr = rstr + '\n' + tstr = tstr+rstr + #tstr.append('\n') + return tstr + +def np_mat_to_str(m): + mm = list() + for i in range(0,4): + for j in range(0,4): + mm.append(m[i,j]) + + return transform_to_str(mm) + +def cam_rotation_matrix(): + return np.matrix('0 0 1 0;-1 0 0 0; 0 -1 0 0; 0 0 0 1') + +if __name__ == '__main__': + rospy.init_node('test_tf') + listener = TransformListener() + ip = "ra.local" + port = 9559 + proxy = ALProxy("ALMotion", ip, port) + print "motionproxy ready" + space = motion.SPACE_TORSO + chainName = "Head" + currentSensor = proxy.getPosition(chainName, space, True) + current = proxy.getPosition(chainName, space, False) + print "Position of %s in space %s:"%(chainName, space_to_str(space)) + print currentSensor + print current + rpy = currentSensor[3:] + print rpy + DCM = apply(transformations.euler_matrix,rpy) + print DCM + tTHSensor = proxy.getTransform(chainName, space, True) + tTH = proxy.getTransform(chainName, space, False) + print "Transform %s to %s:"%(space_to_str(space),chainName) + print transform_to_str(tTHSensor) + #print transform_to_str(tTH) + chainName = "CameraTop" + tTCSensor = proxy.getTransform(chainName, space, True) + tTC = proxy.getTransform(chainName, space, False) + print "Transform %s to %s:"%(space_to_str(space),chainName) + print transform_to_str(tTCSensor) + print + T = np.matrix([tTCSensor[0:4],tTCSensor[4:8],tTCSensor[8:12],tTCSensor[12:]]) + #print cam_rotation_matrix() + DCM = T*cam_rotation_matrix() + print "Transform %s to %s (with rotated coordinate frame):"%(space_to_str(space),chainName) + print np_mat_to_str(DCM) + + stamp = rospy.Time() + frame1 = 'Torso_link' + frame2 = 'CameraTop_frame' + try: + listener.waitForTransform(frame1,frame2,stamp,rospy.Duration(1.0)) + (trans,rot) = listener.lookupTransform(frame1,frame2,stamp) + except tf.Exception as e: + print "ERROR using TF" + print "%s"%(e) + sys.exit(-1) + + m = transformations.quaternion_matrix(rot) + for i in range(0,3): + m[i,3] = trans[i] + print "[tf] Transform %s to %s:"%(frame1,frame2) + print np_mat_to_str(m) + + e = np.linalg.norm(DCM - m) + print "Error is: ",e + if e > 1e-5: + print "ERROR: Something is wrong with your TF transformations. Transforms do not match!" + else: + print "Test ok. Done" + + diff --git a/examples/nao_description/src/base_footprint.cpp b/examples/nao_description/src/base_footprint.cpp new file mode 100644 index 0000000..95c4dd0 --- /dev/null +++ b/examples/nao_description/src/base_footprint.cpp @@ -0,0 +1,148 @@ + +/* + * Publish the Nao humanoid's base_footprint frame according to REP-120 + * Based on nao_common/remap_odometry.cpp + * + * Copyright 2013 Armin Hornung, Stefan Osswald, University of Freiburg + * http://www.ros.org/wiki/nao + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the University of Freiburg nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include +#include +#include + +class BaseFootprint +{ +public: + BaseFootprint(); + ~BaseFootprint(); + + +private: + void jsCallback(const sensor_msgs::JointState::ConstPtr & msg); + + ros::NodeHandle m_nh; + ros::NodeHandle m_privateNh; + + // for base_footprint_frame: broadcasts frame between right and left foot, coinciding with the ground + message_filters::Subscriber * m_jsSub; + tf::MessageFilter * m_jsFilter; + tf::TransformBroadcaster m_brBaseFootPrint; + tf::TransformListener m_listener; + + std::string m_odomFrameId; + std::string m_baseFrameId; + std::string m_lfootFrameId; + std::string m_rfootFrameId; + std::string m_baseFootPrintID; + +}; + +BaseFootprint::BaseFootprint() + : m_privateNh("~"), m_odomFrameId("odom"), m_baseFrameId("base_link"), + m_lfootFrameId("l_sole"), m_rfootFrameId("r_sole"), + m_baseFootPrintID("base_footprint") +{ + // Read parameters + m_privateNh.param("odom_frame_id", m_odomFrameId, m_odomFrameId); + m_privateNh.param("base_frame_id", m_baseFrameId, m_baseFrameId); + m_privateNh.param("base_footprint_frame_id", m_baseFootPrintID, m_baseFootPrintID); + + + // Resolve TF frames using ~tf_prefix parameter + + m_odomFrameId = m_listener.resolve(m_odomFrameId); + m_baseFrameId = m_listener.resolve(m_baseFrameId); + m_baseFootPrintID = m_listener.resolve(m_baseFootPrintID); + m_lfootFrameId = m_listener.resolve(m_lfootFrameId); + m_rfootFrameId = m_listener.resolve(m_rfootFrameId); + + // subscribe to joint_states to provide a clock signal for synchronization + // since the frames are computed based on the joint state, all should be available + // with the same time stamps + m_jsSub = new message_filters::Subscriber(m_nh, "joint_states", 50); + m_jsFilter = new tf::MessageFilter(*m_jsSub, m_listener, m_rfootFrameId, 50); + std::vector frames; + frames.push_back(m_rfootFrameId); + frames.push_back(m_odomFrameId); + m_jsFilter->setTargetFrames(frames); + m_jsFilter->registerCallback(boost::bind(&BaseFootprint::jsCallback, this, _1)); +} + +BaseFootprint::~BaseFootprint(){ + delete m_jsFilter; + delete m_jsSub; +} + +void BaseFootprint::jsCallback(const sensor_msgs::JointState::ConstPtr & ptr) +{ + ros::Time time = ptr->header.stamp; + tf::StampedTransform tf_odom_to_base, tf_odom_to_left_foot, tf_odom_to_right_foot; + + ROS_DEBUG("JointState callback function, computing frame %s", m_baseFootPrintID.c_str()); + try { + m_listener.lookupTransform(m_odomFrameId, m_lfootFrameId, time, tf_odom_to_left_foot); + m_listener.lookupTransform(m_odomFrameId, m_rfootFrameId, time, tf_odom_to_right_foot); + m_listener.lookupTransform(m_odomFrameId, m_baseFrameId, time, tf_odom_to_base); + } catch (const tf::TransformException& ex){ + ROS_ERROR("%s",ex.what()); + return ; + } + + tf::Vector3 new_origin = (tf_odom_to_right_foot.getOrigin() + tf_odom_to_left_foot.getOrigin())/2.0; // middle of both feet + double height = std::min(tf_odom_to_left_foot.getOrigin().getZ(), tf_odom_to_right_foot.getOrigin().getZ()); // fix to lowest foot + new_origin.setZ(height); + + // adjust yaw according to torso orientation, all other angles 0 (= in z-plane) + double roll, pitch, yaw; + tf_odom_to_base.getBasis().getRPY(roll, pitch, yaw); + + tf::Transform tf_odom_to_footprint(tf::createQuaternionFromYaw(yaw), new_origin); + tf::Transform tf_base_to_footprint = tf_odom_to_base.inverse() * tf_odom_to_footprint; + + // publish transform with parent m_baseFrameId and new child m_baseFootPrintID + // i.e. transform from m_baseFrameId to m_baseFootPrintID + m_brBaseFootPrint.sendTransform(tf::StampedTransform(tf_base_to_footprint, time, m_baseFrameId, m_baseFootPrintID)); + ROS_DEBUG("Published Transform %s --> %s", m_baseFrameId.c_str(), m_baseFootPrintID.c_str()); + + return; + +} + +int main(int argc, char** argv){ + ros::init(argc, argv, "base_footprint"); + BaseFootprint baseFootprint; + ros::spin(); + + return 0; +} + + diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao.urdf b/examples/nao_description/urdf/naoV32_generated_urdf/nao.urdf new file mode 100644 index 0000000..0607f82 --- /dev/null +++ b/examples/nao_description/urdf/naoV32_generated_urdf/nao.urdf @@ -0,0 +1,2276 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/examples/nao_description/urdf/naoV32_generated_urdf/nao_fingers.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_fingers.xacro new file mode 100644 index 0000000..9e795a6 --- /dev/null +++ b/examples/nao_description/urdf/naoV32_generated_urdf/nao_fingers.xacro @@ -0,0 +1,230 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_head.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_head.xacro new file mode 100644 index 0000000..bc0cf2a --- /dev/null +++ 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${side_small}_gripper + + + + + + + ${side}Hand + ${side}Finger${num}1 + -${PI/4} + ${PI/4} + + + ${side}Hand + ${side}Finger${num}2 + -${PI/4} + ${PI/4} + + + ${side}Hand + ${side}Finger${num}3 + -${PI/4} + ${PI/4} + + + + + + ${side}Hand + ${side}Thumb1 + -${PI/4} + ${PI/4} + + + ${side}Hand + ${side}Thumb2 + -${PI/4} + ${PI/4} + + + + + + + + + gazebo_ros_control/DefaultRobotHWSim + + + + + + LHipYawPitch + RHipYawPitch + 1.0 + 0.0 + + + + + + + + + + + + + + + + + 0.5 + 0.5 + false + false + + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + + + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + true + + + 0.5 + 0.5 + false + false + + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + false + + + 0.5 + 0.5 + false + true + + + + + + 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transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + ${speed_red_type3A} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + ${speed_red_type3B} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + ${speed_red_type3A} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + ${speed_red_type3B} + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + ${speed_red_type2A} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + ${speed_red_type2B} + + + + + + + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + ${speed_red_type1A} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + ${speed_red_type1A} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + ${speed_red_type1B} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + ${speed_red_type1B} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + ${speed_red_type1B} + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + + PositionJointInterface + ${speed_red_type1A} + + + + + + diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_arms.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_arms.xacro new file mode 100644 index 0000000..4a6cfec --- /dev/null +++ b/examples/nao_description/urdf/naoV40_generated_urdf/nao_arms.xacro @@ -0,0 +1,180 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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--git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_head.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_head.xacro new file mode 100644 index 0000000..7f11c94 --- /dev/null +++ b/examples/nao_description/urdf/naoV40_generated_urdf/nao_head.xacro @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_legs.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_legs.xacro new file mode 100644 index 0000000..865da50 --- /dev/null +++ b/examples/nao_description/urdf/naoV40_generated_urdf/nao_legs.xacro @@ -0,0 +1,201 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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7834 3004 2499 7835 3004 2499 7836 3020 2515 7837 3022 2517 7838 3006 2501 7839 3005 2500 7840 3024 2519 7841 3019 2514 7842 3009 2504 7843 3026 2521 7844 3010 2505 7845 3019 2514 7846 3027 2522 7847 3012 2507 7848 3011 2506 7849 3029 2524 7850 3015 2510 7851 3030 2525 7852 3016 2511 7853 3014 2509 7854 3013 2508 7855 3033 2528 7856 3017 2512 7857 3034 2529 7858 3018 2513 7859 3016 2511 7860 3031 2526 7861 3017 2512 7862 3015 2510 7863 3014 2509 7864 3030 2525 7865 3013 2508 7866 3012 2507 7867 3032 2527 7868 3011 2506 7869 3010 2505 7870 3028 2523 7871 3009 2504 7872 3008 2503 7873 3025 2520 7874 3008 2503 7875 3007 2502 7876 3036 2531 7877 3007 2502 7878 3006 2501 7879 3037 2532 7880 3005 2500 7881 3004 2499 7882 3023 2518 7883 3023 2518 7884 3022 2517 7885 3039 2534 7886 3037 2532 7887 3024 2519 7888 3041 2536 7889 3036 2531 7890 3037 2532 7891 3042 2537 7892 3025 2520 7893 3036 2531 7894 3043 2538 7895 3028 2523 7896 3027 2522 7897 3045 2540 7898 3032 2527 7899 3029 2524 7900 3047 2542 7901 3030 2525 7902 3033 2528 7903 3049 2544 7904 3031 2526 7905 3050 2545 7906 3034 2529 7907 3034 2529 7908 3051 2546 7909 3035 2530 7910 3033 2528 7911 3032 2527 7912 3048 2543 7913 3030 2525 7914 3049 2544 7915 3031 2526 7916 3029 2524 7917 3028 2523 7918 3046 2541 7919 3027 2522 7920 3026 2521 7921 3044 2539 7922 3026 2521 7923 3025 2520 7924 3053 2548 7925 3024 2519 7926 3023 2518 7927 3040 2535 7928 3022 2517 7929 3021 2516 7930 3038 2533 7931 3038 2533 7932 3054 2549 7933 3056 2551 7934 3040 2535 7935 3039 2534 7936 3058 2553 7937 3053 2548 7938 3043 2538 7939 3060 2555 7940 3044 2539 7941 3053 2548 7942 3061 2556 7943 3046 2541 7944 3045 2540 7945 3063 2558 7946 3049 2544 7947 3064 2559 7948 3050 2545 7949 3048 2543 7950 3047 2542 7951 3067 2562 7952 3051 2546 7953 3068 2563 7954 3052 2547 7955 3050 2545 7956 3065 2560 7957 3051 2546 7958 3049 2544 7959 3048 2543 7960 3064 2559 7961 3047 2542 7962 3046 2541 7963 3066 2561 7964 3045 2540 7965 3044 2539 7966 3062 2557 7967 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2003 2361 6208 2005 2363 6209 2006 2364 6210 2004 2362 6211 1998 2352 6212 2492 2355 6213 2493 2365 6214 2418 2057 6215 2432 2059 6216 2519 2366 6217 2520 2358 6218 1355 1580 6219 1353 1578 6220 2007 2367 6221 2008 2368 6222 1354 1579 6223 1357 1581 6224 2001 2359 6225 2007 2367 6226 2009 2369 6227 2010 2370 6228 2008 2368 6229 2002 2360 6230 2003 2361 6231 2009 2369 6232 2011 2371 6233 2012 2372 6234 2010 2370 6235 2004 2362 6236 2494 2373 6237 1482 1707 6238 2418 2057 6239 2518 2374 6240 2519 2366 6241 2432 2059 6242 1029 1254 6243 2013 2375 6244 2014 2376 6245 1032 1256 6246 2584 2377 6247 2016 2378 6248 2583 2379 6249 2017 2380 6250 2018 2381 6251 2585 2382 6252 2016 2378 6253 2020 2383 6254 2463 2384 6255 2464 2385 6256 2021 2386 6257 2023 2387 6258 2546 2388 6259 2545 2389 6260 2477 2390 6261 2435 2021 6262 1801 2019 6263 2535 2391 6264 2536 2392 6265 1802 2020 6266 1014 1240 6267 2025 2393 6268 2013 2375 6269 1015 1244 6270 1032 1256 6271 2015 2394 6272 2025 2393 6273 2027 2395 6274 2017 2380 6275 2026 2396 6276 2585 2382 6277 2019 2397 6278 2464 2385 6279 2465 2398 6280 2029 2399 6281 2030 2400 6282 2547 2401 6283 2546 2388 6284 2478 2402 6285 2436 2032 6286 2435 2021 6287 2534 2403 6288 2535 2391 6289 2439 2023 6290 1013 1239 6291 2031 2404 6292 2025 2393 6293 1016 1241 6294 1015 1244 6295 2026 2396 6296 2031 2404 6297 2033 2405 6298 2027 2395 6299 2032 2406 6300 2026 2396 6301 2028 2407 6302 2466 2408 6303 2035 2409 6304 2029 2399 6305 2548 2410 6306 2547 2401 6307 2030 2400 6308 2479 2411 6309 1818 2036 6310 2436 2032 6311 2533 2412 6312 2534 2403 6313 2438 2034 6314 1013 1239 6315 1002 1228 6316 2037 2413 6317 2038 2414 6318 1003 1232 6319 1016 1241 6320 2031 2404 6321 2037 2413 6322 2039 2415 6323 2040 2416 6324 2038 2414 6325 2032 2406 6326 2466 2408 6327 2467 2417 6328 2041 2418 6329 2042 2419 6330 2549 2420 6331 2548 2410 6332 2480 2421 6333 1825 2048 6334 1818 2036 6335 2532 2422 6336 2533 2412 6337 1820 2038 6338 1002 1228 6339 2405 2314 6340 1977 2316 6341 1978 2319 6342 2401 2315 6343 1003 1232 6344 2037 2413 6345 1977 2316 6346 1979 2423 6347 1980 2424 6348 1978 2319 6349 2038 2414 6350 2468 2425 6351 1981 2321 6352 2041 2418 6353 2550 2322 6354 2549 2420 6355 2042 2419 6356 2481 2426 6357 2406 2325 6358 1825 2048 6359 2531 2326 6360 2532 2422 6361 1826 2045 6362 2440 2427 6363 1308 1534 6364 2043 2428 6365 2045 2429 6366 1310 1535 6367 2442 2430 6368 2044 2431 6369 2043 2428 6370 2047 2432 6371 2049 2433 6372 2045 2429 6373 2046 2434 6374 2574 2435 6375 2573 2436 6376 2051 2437 6377 2053 2438 6378 2579 2439 6379 2580 2440 6380 2497 2441 6381 1529 1753 6382 1504 1729 6383 2515 2442 6384 2516 2443 6385 1506 1730 6386 1308 1534 6387 1307 1531 6388 1923 2210 6389 1924 2213 6390 1309 1532 6391 1310 1535 6392 2043 2428 6393 1923 2210 6394 1925 2444 6395 1926 2445 6396 1924 2213 6397 2045 2429 6398 2573 2436 6399 2572 2446 6400 1927 2215 6401 1928 2217 6402 2578 2216 6403 2579 2439 6404 2498 2447 6405 1533 1757 6406 1529 1753 6407 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2485 6541 2076 2493 6542 2457 2494 6543 2463 2384 6544 2022 2495 6545 2024 2496 6546 2545 2389 6547 2539 2497 6548 2455 2490 6549 2476 2498 6550 1801 2019 6551 1802 2020 6552 2536 2392 6553 2537 2491 6554 2091 2499 6555 2103 2500 6556 2079 2501 6557 2100 2502 6558 2104 2503 6559 2092 2504 6560 2091 2499 6561 2080 2505 6562 2083 2506 6563 2092 2504 6564 2111 2507 6565 2112 2508 6566 2110 2509 6567 2594 2510 6568 2595 2511 6569 2084 2512 6570 2085 2513 6571 2607 2514 6572 2087 2515 6573 2110 2509 6574 2082 2516 6575 2088 2517 6576 2089 2518 6577 2085 2513 6578 2090 2519 6579 2590 2520 6580 2589 2521 6581 2093 2522 6582 2094 2523 6583 2611 2524 6584 2102 2525 6585 2095 2526 6586 2096 2527 6587 2097 2528 6588 2098 2529 6589 2094 2523 6590 2086 2530 6591 2082 2516 6592 2101 2531 6593 2089 2518 6594 2106 2532 6595 2099 2533 6596 2082 2516 6597 2595 2511 6598 2586 2534 6599 2085 2513 6600 2099 2533 6601 2609 2535 6602 2600 2536 6603 2588 2537 6604 2587 2538 6605 2617 2539 6606 2619 2540 6607 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1124 1179 3096 1083 1138 3097 1085 1140 3098 1125 1180 3099 1085 1140 3100 1087 1181 3101 1087 1181 3102 1089 1143 3103 1127 1182 3104 1127 1182 3105 1089 1143 3106 1091 1145 3107 1128 1183 3108 1091 1145 3109 1093 1147 3110 1129 1184 3111 1093 1147 3112 1095 1149 3113 1130 1185 3114 1095 1149 3115 1097 1151 3116 1131 1186 3117 1097 1151 3118 1099 1153 3119 1132 1187 3120 1099 1153 3121 1101 1155 3122 1133 1188 3123 1101 1155 3124 1038 1094 3125 3927 1189 3126 3926 1190 3127 892 888 3128 892 888 3129 3926 1190 3130 3925 1191 3131 3925 1191 3132 3924 1192 3133 925 920 3134 925 920 3135 3924 1192 3136 3955 1193 3137 927 922 3138 3955 1193 3139 3954 1194 3140 890 886 3141 3954 1194 3142 3953 1195 3143 888 884 3144 3953 1195 3145 3952 1196 3146 887 883 3147 3952 1196 3148 3951 1197 3149 885 881 3150 3951 1197 3151 3950 1198 3152 3950 1198 3153 3949 1199 3154 882 1200 3155 3949 1199 3156 3948 1201 3157 880 877 3158 3948 1201 3159 3947 1202 3160 878 875 3161 3947 1202 3162 3946 1203 3163 877 874 3164 3946 1203 3165 3945 1204 3166 875 872 3167 3945 1204 3168 3944 1205 3169 867 864 3170 3944 1205 3171 3943 1206 3172 865 862 3173 865 862 3174 3943 1206 3175 3942 1207 3176 864 861 3177 3942 1207 3178 3941 1208 3179 859 856 3180 3941 1208 3181 3940 1209 3182 846 843 3183 3940 1209 3184 3939 1210 3185 844 841 3186 3939 1210 3187 3938 1211 3188 3938 1211 3189 3937 1212 3190 849 846 3191 3937 1212 3192 3936 1213 3193 847 844 3194 3936 1213 3195 3935 1214 3196 895 893 3197 3935 1214 3198 3934 1215 3199 897 897 3200 897 897 3201 3934 1215 3202 3933 1216 3203 899 894 3204 3933 1216 3205 3932 1217 3206 906 901 3207 3932 1217 3208 3931 1218 3209 903 908 3210 3931 1218 3211 3930 1219 3212 912 910 3213 3930 1219 3214 3929 1220 3215 914 1221 3216 3929 1220 3217 3928 1222 3218 923 918 3219 3928 1222 3220 3927 1189 3221 1134 1223 3222 1170 1224 3223 1173 1225 3224 1175 1226 3225 1174 1227 3226 1135 1228 3227 1170 1224 3228 1134 1223 3229 1136 1229 3230 1176 1230 3231 1135 1228 3232 1174 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1196 1251 3300 1134 1223 3301 1148 1253 3302 1201 1254 3303 1135 1228 3304 1199 1252 3305 1148 1253 3306 1134 1223 3307 1149 1255 3308 1204 1256 3309 1135 1228 3310 1201 1254 3311 1149 1255 3312 1134 1223 3313 1150 1257 3314 1151 1258 3315 1135 1228 3316 1204 1256 3317 1150 1257 3318 1134 1223 3319 1152 1259 3320 1153 1260 3321 1135 1228 3322 1151 1258 3323 1152 1259 3324 1134 1223 3325 1154 1261 3326 1155 1262 3327 1135 1228 3328 1153 1260 3329 1154 1261 3330 1134 1223 3331 1207 1263 3332 1156 1264 3333 1135 1228 3334 1155 1262 3335 1207 1263 3336 1134 1223 3337 1208 1265 3338 1157 1266 3339 1135 1228 3340 1156 1264 3341 1208 1265 3342 1134 1223 3343 1210 1267 3344 1158 1268 3345 1135 1228 3346 1157 1266 3347 1210 1267 3348 1134 1223 3349 1159 1269 3350 1160 1270 3351 1135 1228 3352 1158 1268 3353 1159 1269 3354 1134 1223 3355 1212 1271 3356 1213 1272 3357 1135 1228 3358 1160 1270 3359 1212 1271 3360 1134 1223 3361 1161 1273 3362 1214 1274 3363 1135 1228 3364 1213 1272 3365 1161 1273 3366 1134 1223 3367 1162 1275 3368 1163 1276 3369 1135 1228 3370 1214 1274 3371 1162 1275 3372 1134 1223 3373 1164 1277 3374 1165 1278 3375 1135 1228 3376 1163 1276 3377 1164 1277 3378 1134 1223 3379 1166 1279 3380 1217 1280 3381 1135 1228 3382 1165 1278 3383 1166 1279 3384 1134 1223 3385 1167 1281 3386 1220 1282 3387 1135 1228 3388 1217 1280 3389 1167 1281 3390 1134 1223 3391 1168 1283 3392 1223 1284 3393 1135 1228 3394 1220 1282 3395 1168 1283 3396 1134 1223 3397 1224 1285 3398 1225 1286 3399 1135 1228 3400 1223 1284 3401 1224 1285 3402 1134 1223 3403 1169 1287 3404 1226 1288 3405 1135 1228 3406 1225 1286 3407 1169 1287 3408 1134 1223 3409 1173 1225 3410 1175 1226 3411 1135 1228 3412 1226 1288 3413 3957 1289 3414 1171 1290 3415 1172 1291 3416 1230 1292 3417 1229 1293 3418 3994 1294 3419 3956 1295 3420 1231 1296 3421 1171 1290 3422 3993 1297 3423 3994 1294 3424 1229 1293 3425 3987 1298 3426 1235 1299 3427 1231 1296 3428 3992 1300 3429 3993 1297 3430 1234 1301 3431 3986 1302 3432 1179 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1200 1343 3500 4012 1348 3501 4013 1344 3502 1258 1349 3503 3975 1346 3504 3974 1350 3505 1261 1351 3506 1263 1352 3507 4011 1353 3508 4012 1348 3509 3974 1350 3510 3973 1354 3511 1205 1355 3512 1265 1356 3513 4010 1357 3514 4011 1353 3515 3973 1354 3516 3972 1358 3517 1266 1359 3518 1206 1360 3519 4009 1361 3520 4010 1357 3521 3972 1358 3522 3971 1362 3523 1268 1363 3524 1270 1364 3525 4008 1365 3526 4009 1361 3527 3971 1362 3528 3970 1366 3529 1209 1367 3530 1271 1368 3531 4007 1369 3532 4008 1365 3533 3970 1366 3534 3969 1370 3535 1272 1371 3536 1274 1372 3537 4006 1373 3538 4007 1369 3539 3969 1370 3540 3968 1374 3541 1275 1375 3542 1211 1376 3543 4005 1377 3544 4006 1373 3545 3968 1374 3546 3967 1378 3547 1277 1379 3548 1279 1380 3549 4004 1381 3550 4005 1377 3551 3967 1378 3552 3966 1382 3553 1280 1383 3554 1282 1384 3555 4003 1385 3556 4004 1381 3557 3966 1382 3558 3965 1386 3559 1215 1387 3560 1284 1388 3561 4002 1389 3562 4003 1385 3563 3965 1386 3564 3964 1390 3565 1285 1391 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2013 2387 5700 2018 2391 5701 2019 2392 5702 2016 2389 5703 2014 2388 5704 2019 2392 5705 1999 2375 5706 1998 2374 5707 2012 2386 5708 1999 2375 5709 2015 2393 5710 2017 2390 5711 2001 2394 5712 2000 2376 5713 1938 2322 5714 1938 2322 5715 2000 2376 5716 2003 2395 5717 2021 2396 5718 2022 2397 5719 2023 2398 5720 2023 2398 5721 2022 2397 5722 2025 2399 5723 2023 2398 5724 1987 2364 5725 1986 2400 5726 1990 2367 5727 1987 2364 5728 2023 2398 5729 2027 2401 5730 2008 2381 5731 1936 2402 5732 2027 2401 5733 1939 2323 5734 1941 2325 5735 2028 2403 5736 4289 2404 5737 2030 2405 5738 2030 2405 5739 2032 2406 5740 2033 2407 5741 2035 2408 5742 4288 2409 5743 2029 2410 5744 2035 2408 5745 2036 2411 5746 4287 2412 5747 2038 2413 5748 2039 2414 5749 2517 2415 5750 2040 2416 5751 2041 2417 5752 2042 2418 5753 2031 2419 5754 2043 2420 5755 2044 2421 5756 2031 2419 5757 2033 2407 5758 2045 2422 5759 2047 2423 5760 2048 2424 5761 2451 2425 5762 2515 2426 5763 2452 2427 5764 2050 2428 5765 2093 2429 5766 2018 2391 5767 2013 2387 5768 2016 2389 5769 2020 2430 5770 2051 2431 5771 2053 2432 5772 1993 2369 5773 1992 2373 5774 2054 2433 5775 2052 2434 5776 1992 2373 5777 2053 2432 5778 2052 2434 5779 2019 2392 5780 2054 2433 5781 2020 2430 5782 2019 2392 5783 2055 2435 5784 2009 2382 5785 2008 2381 5786 2011 2384 5787 2010 2383 5788 2055 2435 5789 2044 2421 5790 2043 2420 5791 2056 2436 5792 2056 2436 5793 2043 2420 5794 2045 2422 5795 2060 2437 5796 2009 2382 5797 2055 2435 5798 2061 2438 5799 2059 2439 5800 2055 2435 5801 4317 2440 5802 2451 2425 5803 2048 2424 5804 4498 2441 5805 2521 2442 5806 2049 2443 5807 4311 2327 5808 1942 2326 5809 2063 2444 5810 2063 2444 5811 1948 2331 5812 4313 2330 5813 2056 2436 5814 2064 2445 5815 2065 2446 5816 2056 2436 5817 2058 2447 5818 2066 2448 5819 2059 2439 5820 2067 2449 5821 2068 2450 5822 2059 2439 5823 2061 2438 5824 2069 2451 5825 2071 2452 5826 2072 2453 5827 2073 2454 5828 2071 2452 5829 2074 2455 5830 2075 2456 5831 1994 2370 5832 2073 2454 5833 2072 2453 5834 2072 2453 5835 2075 2456 5836 1996 2457 5837 2064 2445 5838 2076 2458 5839 2077 2459 5840 2064 2445 5841 2066 2448 5842 2078 2460 5843 2021 2396 5844 2077 2459 5845 2076 2458 5846 2076 2458 5847 2078 2460 5848 2025 2399 5849 1942 2326 5850 2079 2461 5851 2080 2462 5852 2080 2462 5853 2081 2463 5854 1948 2331 5855 2067 2449 5856 2080 2462 5857 2079 2461 5858 2067 2449 5859 2069 2451 5860 2081 2463 5861 2070 2464 5862 2082 2465 5863 2083 2466 5864 2074 2455 5865 2071 2452 5866 2083 2466 5867 2039 2414 5868 2085 2467 5869 2086 2468 5870 2587 2469 5871 2042 2418 5872 2088 2470 5873 2089 2471 5874 2094 2472 5875 2013 2387 5876 2062 2473 5877 2017 2390 5878 2016 2389 5879 1988 2365 5880 2083 2466 5881 2082 2465 5882 2084 2474 5883 2083 2466 5884 1988 2365 5885 2085 2467 5886 2105 2475 5887 2090 2476 5888 2091 2477 5889 2092 2478 5890 2087 2479 5891 4318 2480 5892 2523 2481 5893 2527 2482 5894 4497 2483 5895 4496 2484 5896 2097 2485 5897 2093 2429 5898 2098 2486 5899 2018 2391 5900 2020 2430 5901 2099 2487 5902 2051 2431 5903 4319 2488 5904 2527 2482 5905 2502 2489 5906 4496 2484 5907 4495 2490 5908 2100 2491 5909 2101 2492 5910 1936 2402 5911 2008 2381 5912 2102 2493 5913 2007 2385 5914 2011 2384 5915 2105 2475 5916 2103 2494 5917 2104 2495 5918 2526 2496 5919 4434 2497 5920 2092 2478 5921 2101 2492 5922 4381 2498 5923 4382 2499 5924 4433 2500 5925 2106 2501 5926 2102 2493 5927 1952 2333 5928 1951 2332 5929 2108 2502 5930 1953 2503 5931 2109 2504 5932 2108 2502 5933 1943 2334 5934 1952 2333 5935 4310 2505 5936 4266 2506 5937 1953 2503 5938 1947 2336 5939 2034 2507 5940 2029 2410 5941 4290 2508 5942 2036 2411 5943 2112 2509 5944 2113 2510 5945 2114 2511 5946 2028 2403 5947 2044 2421 5948 2045 2422 5949 2033 2407 5950 2116 2512 5951 2118 2513 5952 4381 2498 5953 2101 2492 5954 2102 2493 5955 2106 2501 5956 4435 2514 5957 2120 2515 5958 2018 2391 5959 2098 2486 5960 2099 2487 5961 2020 2430 5962 2121 2516 5963 2123 2517 5964 2124 2518 5965 2021 2396 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2463 6033 2147 2543 6034 1949 2544 6035 2142 2537 6036 2148 2545 6037 2070 2464 6038 2074 2455 6039 2149 2546 6040 2143 2538 6041 4291 2547 6042 2111 2548 6043 2114 2511 6044 2152 2549 6045 2153 2550 6046 2116 2512 6047 2068 2450 6048 2154 2551 6049 1964 2345 6050 1966 2346 6051 2155 2552 6052 2069 2451 6053 2068 2450 6054 2079 2461 6055 2146 2553 6056 2069 2451 6057 2155 2552 6058 2147 2543 6059 2103 2494 6060 4380 2554 6061 2156 2555 6062 2532 2556 6063 2119 2557 6064 4434 2497 6065 2148 2545 6066 2157 2558 6067 2082 2465 6068 2084 2474 6069 2158 2559 6070 2149 2546 6071 4380 2554 6072 2588 2560 6073 2530 2561 6074 2119 2557 6075 2532 2556 6076 2159 2562 6077 2130 2563 6078 2534 2564 6079 2160 2565 6080 2164 2566 6081 2161 2567 6082 2131 2568 6083 2162 2569 6084 2127 2521 6085 2120 2515 6086 2121 2516 6087 2128 2522 6088 2163 2570 6089 2157 2558 6090 2165 2571 6091 1989 2366 6092 1991 2368 6093 2166 2572 6094 2158 2559 6095 2114 2511 6096 2115 2526 6097 2167 2573 6098 2116 2512 6099 2153 2550 6100 2168 2574 6101 2004 2378 6102 2118 2513 6103 2005 2380 6104 2007 2385 6105 4435 2514 6106 2006 2379 6107 2162 2569 6108 2169 2575 6109 2134 2529 6110 2135 2530 6111 2170 2576 6112 2163 2570 6113 2165 2571 6114 2171 2577 6115 1986 2400 6116 1990 2367 6117 2172 2578 6118 2166 2572 6119 2167 2573 6120 2115 2526 6121 2132 2535 6122 2133 2536 6123 2117 2528 6124 2168 2574 6125 2169 2575 6126 2175 2579 6127 2136 2531 6128 2137 2532 6129 2176 2580 6130 2170 2576 6131 2160 2565 6132 2534 2564 6133 2498 2581 6134 2164 2566 6135 2178 2582 6136 2179 2583 6137 2138 2539 6138 2124 2518 6139 2181 2584 6140 2139 2533 6141 2182 2585 6142 2183 2586 6143 2124 2518 6144 2123 2517 6145 2184 2587 6146 2185 2588 6147 2126 2519 6148 2125 2534 6149 2175 2579 6150 2186 2589 6151 2142 2537 6152 2143 2538 6153 2187 2590 6154 2176 2580 6155 2173 2591 6156 2132 2535 6157 2140 2592 6158 2141 2593 6159 2133 2536 6160 2174 2594 6161 1952 2333 6162 2190 2595 6163 2191 2596 6164 1953 2503 6165 4266 2506 6166 2193 2597 6167 2140 2592 6168 2144 2540 6169 2194 2598 6170 2141 2593 6171 2189 2599 6172 2195 2600 6173 2144 2540 6174 2138 2539 6175 2180 2601 6176 2145 2541 6177 2195 2600 6178 2182 2585 6179 2107 2602 6180 2196 2603 6181 2190 2595 6182 2192 2604 6183 2197 2605 6184 2109 2504 6185 1965 2606 6186 1964 2345 6187 2154 2551 6188 1969 2607 6189 2199 2608 6190 2155 2552 6191 2186 2589 6192 2200 2609 6193 2148 2545 6194 2149 2546 6195 2201 2610 6196 2187 2590 6197 4309 2611 6198 2202 2612 6199 1945 2542 6200 1949 2544 6201 2203 2613 6202 4267 2614 6203 2146 2553 6204 1945 2542 6205 2202 2612 6206 2147 2543 6207 2205 2615 6208 2203 2613 6209 2216 2616 6210 2215 2617 6211 2206 2618 6212 2207 2619 6213 2208 2620 6214 2209 2621 6215 2204 2622 6216 2198 2623 6217 2154 2551 6218 2205 2615 6219 2147 2543 6220 2155 2552 6221 4324 2624 6222 4326 2625 6223 2210 2626 6224 2500 2627 6225 4479 2628 6226 4477 2629 6227 2169 2575 6228 2162 2569 6229 2212 2630 6230 2170 2576 6231 2213 2631 6232 4475 2632 6233 4341 2633 6234 4340 2634 6235 2210 2626 6236 2500 2627 6237 2214 2635 6238 4474 2636 6239 4377 2637 6240 4378 2638 6241 2004 2378 6242 4438 2639 6243 1968 2348 6244 2006 2379 6245 2191 2596 6246 2190 2595 6247 2218 2640 6248 2219 2641 6249 2192 2604 6250 2193 2597 6251 2200 2609 6252 2220 2642 6253 2157 2558 6254 2158 2559 6255 2221 2643 6256 2201 2610 6257 2211 2644 6258 4342 2645 6259 2175 2579 6260 2213 2631 6261 2170 2576 6262 2176 2580 6263 2223 2646 6264 4341 2633 6265 2505 2647 6266 4473 2648 6267 2224 2649 6268 2506 2650 6269 2196 2603 6270 2225 2651 6271 2226 2652 6272 2227 2653 6273 2228 2654 6274 2197 2605 6275 2223 2646 6276 2539 2655 6277 2577 2656 6278 4473 2648 6279 2230 2657 6280 2579 2658 6281 2231 2659 6282 1981 2359 6283 2184 2587 6284 2185 2588 6285 1984 2362 6286 2232 2660 6287 2215 2617 6288 2453 2661 6289 2233 2662 6290 2541 2663 6291 2454 2664 6292 2217 2665 6293 2186 2589 6294 2175 2579 6295 4342 2645 6296 2222 2666 6297 2176 2580 6298 2187 2590 6299 2234 2667 6300 2167 2573 6301 2173 2591 6302 2174 2594 6303 2168 2574 6304 2236 2668 6305 2229 2669 6306 2577 2656 6307 2239 2670 6308 2230 2657 6309 2240 2671 6310 2544 2672 6311 2220 2642 6312 2241 2673 6313 2165 2571 6314 2166 2572 6315 2242 2674 6316 2221 2643 6317 4343 2675 6318 2238 2676 6319 2200 2609 6320 2201 2610 6321 4471 2677 6322 4472 2678 6323 2180 2601 6324 2181 2584 6325 2244 2679 6326 2182 2585 6327 2245 2680 6328 2246 2681 6329 2181 2584 6330 2184 2587 6331 1981 2359 6332 1984 2362 6333 2185 2588 6334 2183 2586 6335 2453 2661 6336 2455 2682 6337 2247 2683 6338 2248 2684 6339 2456 2685 6340 2454 2664 6341 2250 2686 6342 2247 2683 6343 2455 2682 6344 2559 2687 6345 2457 2688 6346 2456 2685 6347 2235 2689 6348 2173 2591 6349 2188 2690 6350 2189 2599 6351 2174 2594 6352 2237 2691 6353 2251 2692 6354 2188 2690 6355 2194 2598 6356 2195 2600 6357 2189 2599 6358 2252 2693 6359 2194 2598 6360 2180 2601 6361 2243 2694 6362 2195 2600 6363 2254 2695 6364 2245 2680 6365 2238 2676 6366 4345 2696 6367 2220 2642 6368 2221 2643 6369 2257 2697 6370 4471 2677 6371 4344 2698 6372 2239 2670 6373 2255 2699 6374 2545 2700 6375 2544 2672 6376 2240 2671 6377 4308 2701 6378 2258 2702 6379 2202 2612 6380 4268 2703 6381 4267 2614 6382 2203 2613 6383 2241 2673 6384 2231 2659 6385 2171 2577 6386 2172 2578 6387 2232 2660 6388 2242 2674 6389 1981 2359 6390 2231 2659 6391 1982 2360 6392 1983 2361 6393 2232 2660 6394 1984 2362 6395 2560 2704 6396 2250 2686 6397 2249 2705 6398 2457 2688 6399 2559 2687 6400 2261 2706 6401 2576 2707 6402 2268 2708 6403 2256 2709 6404 2263 2710 6405 2545 2700 6406 4470 2711 6407 2204 2622 6408 2264 2712 6409 2265 2713 6410 2205 2615 6411 2199 2608 6412 2267 2714 6413 2241 2673 6414 2220 2642 6415 4345 2696 6416 2257 2697 6417 2221 2643 6418 2242 2674 6419 2269 2715 6420 2560 2704 6421 2260 2716 6422 2461 2717 6423 2261 2706 6424 2563 2718 6425 2271 2719 6426 2272 2720 6427 2273 2721 6428 2275 2722 6429 4285 2723 6430 2276 2724 6431 2218 2640 6432 2190 2595 6433 2226 2652 6434 2219 2641 6435 2278 2725 6436 2227 2653 6437 2280 2726 6438 2150 2727 6439 2234 2667 6440 2281 2728 6441 2282 2729 6442 2236 2668 6443 2460 2730 6444 2283 2731 6445 2564 2732 6446 2284 2733 6447 4444 2734 6448 2270 2735 6449 4334 2736 6450 4347 2737 6451 2268 2708 6452 4487 2738 6453 2263 2710 6454 2262 2739 6455 2279 2740 6456 2234 2667 6457 2235 2689 6458 2237 2691 6459 2236 2668 6460 2282 2729 6461 1982 2360 6462 2231 2659 6463 2286 2741 6464 4468 2742 6465 2232 2660 6466 1983 2361 6467 1982 2360 6468 2585 2743 6469 2290 2744 6470 1983 2361 6471 1985 2363 6472 2582 2745 6473 2288 2746 6474 2235 2689 6475 2251 2692 6476 2252 2693 6477 2237 2691 6478 2289 2747 6479 2253 2748 6480 2293 2749 6481 2291 2750 6482 2254 2695 6483 2252 2693 6484 2292 2751 6485 2295 2752 6486 2293 2749 6487 2253 2748 6488 2254 2695 6489 2294 2753 6490 2296 2754 6491 2226 2652 6492 2225 2651 6493 2297 2755 6494 2298 2756 6495 2228 2654 6496 2227 2653 6497 2243 2694 6498 2244 2679 6499 2299 2757 6500 2300 2758 6501 2246 2681 6502 2245 2680 6503 2290 2744 6504 4350 2759 6505 1980 2358 6506 1985 2363 6507 2301 2760 6508 2582 2745 6509 2302 2761 6510 2303 2762 6511 2272 2720 6512 2305 2763 6513 2275 2722 6514 2274 2764 6515 2306 2765 6516 2307 2766 6517 2303 2762 6518 2304 2767 6519 2308 2768 6520 2309 2769 6521 2265 2713 6522 2311 2770 6523 2312 2771 6524 2267 2714 6525 2314 2772 6526 2315 2773 6527 2474 2774 6528 2310 2775 6529 2312 2771 6530 2315 2773 6531 2314 2772 6532 2316 2776 6533 2279 2740 6534 2317 2777 6535 2318 2778 6536 2282 2729 6537 2281 2728 6538 2320 2779 6539 4293 2780 6540 4292 2781 6541 2280 2726 6542 2281 2728 6543 4284 2782 6544 4283 2783 6545 2264 2712 6546 2258 2702 6547 2321 2784 6548 2323 2785 6549 2259 2786 6550 2266 2787 6551 2265 2713 6552 2264 2712 6553 2322 2788 6554 2324 2789 6555 2266 2787 6556 2267 2714 6557 4294 2790 6558 4293 2780 6559 2318 2778 6560 4282 2791 6561 2326 2792 6562 2320 2779 6563 2327 2793 6564 2488 2794 6565 2546 2795 6566 2329 2796 6567 2330 2797 6568 4465 2798 6569 2317 2777 6570 2279 2740 6571 2288 2746 6572 2289 2747 6573 2282 2729 6574 2319 2799 6575 2332 2800 6576 2288 2746 6577 2291 2750 6578 2292 2751 6579 2289 2747 6580 2333 2801 6581 4351 2802 6582 2336 2803 6583 2295 2752 6584 4464 2804 6585 2300 2758 6586 2296 2754 6587 2293 2749 6588 2295 2752 6589 2336 2803 6590 2337 2805 6591 2296 2754 6592 2294 2753 6593 2311 2770 6594 2340 2806 6595 2341 2807 6596 2313 2808 6597 2315 2773 6598 4446 2809 6599 2317 2777 6600 2343 2810 6601 2325 2811 6602 2319 2799 6603 2320 2779 6604 2326 2792 6605 2345 2812 6606 2346 2813 6607 2307 2766 6608 2308 2768 6609 2347 2814 6610 2348 2815 6611 2328 2816 6612 2546 2795 6613 2350 2817 6614 2331 2818 6615 2351 2819 6616 2486 2820 6617 2352 2821 6618 2353 2822 6619 4306 2823 6620 2355 2824 6621 2356 2825 6622 2357 2826 6623 2322 2788 6624 2321 2784 6625 1956 2338 6626 1958 2827 6627 2323 2785 6628 2324 2789 6629 2311 2770 6630 2322 2788 6631 1955 2337 6632 1959 2340 6633 2324 2789 6634 2313 2808 6635 2358 2828 6636 2359 2829 6637 2349 2830 6638 2351 2819 6639 2360 2831 6640 2361 2832 6641 2336 2803 6642 4353 2833 6643 2338 2834 6644 2339 2835 6645 4462 2836 6646 2337 2805 6647 4296 2837 6648 2363 2838 6649 2346 2813 6650 2347 2814 6651 2364 2839 6652 2365 2840 6653 2359 2829 6654 2358 2828 6655 2549 2841 6656 2360 2831 6657 2371 2842 6658 2550 2843 6659 2366 2844 6660 2334 2845 6661 2338 2834 6662 2339 2835 6663 2335 2846 6664 2368 2847 6665 4353 2833 6666 2370 2848 6667 2367 2849 6668 2369 2850 6669 4461 2851 6670 4462 2836 6671 2367 2849 6672 2370 2848 6673 4355 2852 6674 2375 2853 6675 4461 2851 6676 2369 2850 6677 4354 2854 6678 2549 2841 6679 2372 2855 6680 2374 2856 6681 2550 2843 6682 2371 2842 6683 1956 2338 6684 4306 2823 6685 2353 2822 6686 2356 2825 6687 2355 2824 6688 1958 2827 6689 2376 2857 6690 2377 2858 6691 4369 2859 6692 2378 2860 6693 2379 2861 6694 2553 2862 6695 2380 2863 6696 2376 2857 6697 2458 2864 6698 2512 2865 6699 4448 2866 6700 2459 2867 6701 1971 2349 6702 2353 2822 6703 2352 2821 6704 1975 2352 6705 1974 2868 6706 2357 2826 6707 1957 2339 6708 2353 2822 6709 1971 2349 6710 1961 2342 6711 1979 2357 6712 1975 2352 6713 4295 2869 6714 2381 2870 6715 2382 2871 6716 4281 2872 6717 4280 2873 6718 2384 2874 6719 2385 2875 6720 4298 2876 6721 2387 2877 6722 2389 2878 6723 2390 2879 6724 4279 2880 6725 1978 2356 6726 2393 2881 6727 1954 2882 6728 1979 2357 6729 1961 2342 6730 1960 2341 6731 2382 2871 6732 2381 2870 6733 2394 2883 6734 2396 2884 6735 2383 2885 6736 2384 2874 6737 4297 2886 6738 2362 2887 6739 2382 2871 6740 2384 2874 6741 4280 2873 6742 2391 2888 6743 2404 2889 6744 4357 2890 6745 2395 2891 6746 4459 2892 6747 2396 2884 6748 2397 2893 6749 2403 2894 6750 2400 2895 6751 4356 2896 6752 2402 2897 6753 4458 2898 6754 2406 2899 6755 2403 2894 6756 2478 2900 6757 2411 2901 6758 2412 2902 6759 2480 2903 6760 2406 2899 6761 1954 2882 6762 2393 2881 6763 4367 2904 6764 2408 2905 6765 2410 2906 6766 1960 2341 6767 2407 2907 6768 4366 2908 6769 2508 2909 6770 2409 2910 6771 4449 2911 6772 4448 2866 6773 2398 2912 6774 2382 2871 6775 2395 2891 6776 2397 2893 6777 2384 2874 6778 2399 2913 6779 2398 2912 6780 2395 2891 6781 4357 2890 6782 2401 2914 6783 2397 2893 6784 2399 2913 6785 2411 2901 6786 2478 2900 6787 2413 2915 6788 2412 2902 6789 2424 2916 6790 2414 2917 6791 2416 2918 6792 1978 2356 6793 1970 2355 6794 2417 2919 6795 2418 2920 6796 1976 2353 6797 1970 2355 6798 1973 2351 6799 2419 2921 6800 2420 2922 6801 1977 2354 6802 1976 2353 6803 2393 2881 6804 1978 2356 6805 2416 2918 6806 2417 2919 6807 1979 2357 6808 2410 2906 6809 2398 2912 6810 4358 2923 6811 4359 2924 6812 4456 2925 6813 4457 2926 6814 2399 2913 6815 2425 2927 6816 4360 2928 6817 2423 2929 6818 2556 2930 6819 2414 2917 6820 2424 2916 6821 2427 2931 6822 2386 2932 6823 4359 2924 6824 4456 2925 6825 4278 2933 6826 4455 2934 6827 2428 2935 6828 2386 2932 6829 2427 2931 6830 2429 2936 6831 2430 2937 6832 4455 2934 6833 2431 2938 6834 2432 2939 6835 4360 2928 6836 2433 2940 6837 2556 2930 6838 2426 2941 6839 2415 2942 6840 2419 2921 6841 2434 2943 6842 4275 2944 6843 2420 2922 6844 2418 2920 6845 2415 2942 6846 2444 2945 6847 2421 2946 6848 2422 2947 6849 2438 2948 6850 2418 2920 6851 4361 2949 6852 2439 2950 6853 4300 2951 6854 2441 2952 6855 2442 2953 6856 2430 2937 6857 2509 2954 6858 4365 2955 6859 4364 2956 6860 2445 2957 6861 2446 2958 6862 4451 2959 6863 2432 2939 6864 2431 2938 6865 2571 2960 6866 2573 2961 6867 2433 2940 6868 4454 2962 6869 4361 2949 6870 4362 2963 6871 2439 2950 6872 2442 2953 6873 4453 2964 6874 2430 2937 6875 2571 2960 6876 2568 2965 6877 4363 2966 6878 2450 2967 6879 2570 2968 6880 2573 2961 6881 2444 2945 6882 2415 2942 6883 2435 2969 6884 2437 2970 6885 2418 2920 6886 2438 2948 6887 4364 2956 6888 4363 2966 6889 2568 2965 6890 2570 2968 6891 2450 2967 6892 4451 2959 6893 2140 2592 6894 2065 2446 6895 2144 2540 6896 2145 2541 6897 2066 2448 6898 2141 2593 6899 2150 2727 6900 2167 2573 6901 2234 2667 6902 2236 2668 6903 2168 2574 6904 2153 2550 6905 1986 2400 6906 2123 2517 6907 2024 2971 6908 2026 2520 6909 2126 2519 6910 1990 2367 6911 4321 2972 6912 4322 2973 6913 2120 2515 6914 2121 2516 6915 4493 2974 6916 2122 2975 6917 4315 2976 6918 4316 2977 6919 1998 2374 6920 2002 2377 6921 4428 2978 6922 4429 2979 6923 4376 2980 6924 4377 2637 6925 1962 2343 6926 1968 2348 6927 4438 2639 6928 4439 2981 6929 1962 2343 6930 4375 2982 6931 4376 2980 6932 4439 2981 6933 4440 2983 6934 1968 2348 6935 4374 2984 6936 4375 2982 6937 2310 2775 6938 2314 2772 6939 4440 2983 6940 4441 2985 6941 2310 2775 6942 2198 2623 6943 2265 2713 6944 2267 2714 6945 2199 2608 6946 2314 2772 6947 4368 2986 6948 2340 2806 6949 4367 2904 6950 2408 2905 6951 2342 2987 6952 4447 2988 6953 2474 2774 6954 4371 2989 6955 2310 2775 6956 2314 2772 6957 2285 2990 6958 2316 2776 6959 4371 2989 6960 4372 2991 6961 2310 2775 6962 2314 2772 6963 4443 2992 6964 2285 2990 6965 4372 2991 6966 4373 2993 6967 2310 2775 6968 2314 2772 6969 4442 2994 6970 4443 2992 6971 2310 2775 6972 4373 2993 6973 4374 2984 6974 4441 2985 6975 4442 2994 6976 2314 2772 6977 2341 2807 6978 2474 2774 6979 2312 2771 6980 2315 2773 6981 2316 2776 6982 4446 2809 6983 2340 2806 6984 4368 2986 6985 2341 2807 6986 4446 2809 6987 4447 2988 6988 2342 2987 6989 4304 2995 6990 2462 2996 6991 4303 2997 6992 4273 2998 6993 2463 2999 6994 4272 3000 6995 2385 2875 6996 2388 3001 6997 2363 2838 6998 4279 2880 6999 2365 2840 7000 2364 2839 7001 2110 3002 7002 4290 2508 7003 2151 3003 7004 2112 2509 7005 2276 2724 7006 4285 2723 7007 2114 2511 7008 2111 2548 7009 4289 2404 7010 2116 2512 7011 2033 2407 7012 2032 2406 7013 4292 2781 7014 4291 2547 7015 2150 2727 7016 2153 2550 7017 2152 2549 7018 4284 2782 7019 2464 3004 7020 2387 2877 7021 4298 2876 7022 2390 2879 7023 2389 2878 7024 2465 3005 7025 2440 3006 7026 4301 3007 7027 2467 3008 7028 4276 3009 7029 2468 3010 7030 2469 3011 7031 4302 3012 7032 2470 3013 7033 2467 3008 7034 4274 3014 7035 2436 3015 7036 2469 3011 7037 2466 3016 7038 2464 3004 7039 4299 3017 7040 2468 3010 7041 4276 3009 7042 4277 3018 7043 4303 2997 7044 2462 2996 7045 2470 3013 7046 2471 3019 7047 2463 2999 7048 4273 2998 7049 4304 2995 7050 4305 3020 7051 2472 3021 7052 2473 3022 7053 4271 3023 7054 4272 3000 7055 2520 3024 7056 2523 2481 7057 4318 2480 7058 2521 2442 7059 4498 2441 7060 4497 2483 7061 2535 3025 7062 2530 2561 7063 2588 2560 7064 2208 2620 7065 2207 2619 7066 2589 3026 7067 2038 2413 7068 2037 3027 7069 2047 2423 7070 2515 2426 7071 2041 2417 7072 2040 2416 7073 2283 2731 7074 4370 3028 7075 2475 3029 7076 2476 3030 7077 4445 3031 7078 4444 2734 7079 2377 2858 7080 2475 3029 7081 4370 3028 7082 2379 2861 7083 2378 2860 7084 4445 3031 7085 2509 2954 7086 2508 2909 7087 4366 2908 7088 2445 2957 7089 4450 3032 7090 4449 2911 7091 2477 3033 7092 4501 3034 7093 4500 3035 7094 4511 3036 7095 4510 3037 7096 2477 3033 7097 4499 3038 7098 2481 3039 7099 2479 3040 7100 2479 3040 7101 2481 3039 7102 4512 3041 7103 2481 3039 7104 4499 3038 7105 2405 3042 7106 2483 3043 7107 4512 3041 7108 2481 3039 7109 2484 3044 7110 2358 2828 7111 4339 3045 7112 4492 3046 7113 2361 2832 7114 2484 3044 7115 2487 3047 7116 4337 3048 7117 2581 3049 7118 2490 3050 7119 4490 3051 7120 2487 3047 7121 2491 3052 7122 2492 3053 7123 2493 3054 7124 2495 3055 7125 2496 3056 7126 2491 3052 7127 2497 3057 7128 4327 3058 7129 4325 3059 7130 4478 3060 7131 4480 3061 7132 2497 3057 7133 2501 3062 7134 2130 2563 7135 4395 3063 7136 4392 3064 7137 2131 2568 7138 2501 3062 7139 2504 3065 7140 4328 3066 7141 4327 3058 7142 4480 3061 7143 4481 3067 7144 2504 3065 7145 2508 2909 7146 2509 2954 7147 2510 3068 7148 2409 2910 7149 2507 3069 7150 2510 3068 7151 2380 2863 7152 2508 2909 7153 2507 3069 7154 2512 2865 7155 2511 3070 7156 2507 3069 7157 2513 3071 7158 4399 3072 7159 4400 3073 7160 4386 3074 7161 4387 3075 7162 2513 3071 7163 4402 3076 7164 4403 3077 7165 2518 3078 7166 4415 3079 7167 2516 3080 7168 2518 3078 7169 2519 3081 7170 4398 3082 7171 4399 3072 7172 4387 3075 7173 4388 3083 7174 2519 3081 7175 2522 3084 7176 4397 3085 7177 4398 3082 7178 4388 3083 7179 4389 3086 7180 2522 3084 7181 4403 3077 7182 4404 3087 7183 2524 3088 7184 4416 3089 7185 2518 3078 7186 2524 3088 7187 4404 3087 7188 4405 3090 7189 2525 3091 7190 4417 3092 7191 2524 3088 7192 2525 3091 7193 4393 3093 7194 4394 3094 7195 4396 3095 7196 4390 3096 7197 4391 3097 7198 4393 3093 7199 4406 3098 7200 4407 3099 7201 2531 3100 7202 4419 3101 7203 2529 3102 7204 2531 3100 7205 2533 3103 7206 2534 2564 7207 2130 2563 7208 2131 2568 7209 2161 2567 7210 2533 3103 7211 2499 3104 7212 4325 3059 7213 2534 2564 7214 2161 2567 7215 4478 3060 7216 2499 3104 7217 4407 3099 7218 4408 3105 7219 2536 3106 7220 4420 3107 7221 2531 3100 7222 2536 3106 7223 4408 3105 7224 4409 3108 7225 2537 3109 7226 4421 3110 7227 2536 3106 7228 2537 3109 7229 2538 3111 7230 4329 3112 7231 4328 3066 7232 4481 3067 7233 4482 3113 7234 2538 3111 7235 4409 3108 7236 4410 3114 7237 2540 3115 7238 4422 3116 7239 2537 3109 7240 2540 3115 7241 2542 3117 7242 4332 3118 7243 4331 3119 7244 4484 3120 7245 4485 3121 7246 2542 3117 7247 2489 3122 7248 2581 3049 7249 2492 3053 7250 2496 3056 7251 2490 3050 7252 2489 3122 7253 2485 3123 7254 4339 3045 7255 4338 3124 7256 4491 3125 7257 4492 3046 7258 2485 3123 7259 2548 3126 7260 2549 2841 7261 2358 2828 7262 2361 2832 7263 2550 2843 7264 2548 3126 7265 2377 2858 7266 2376 2857 7267 2552 3127 7268 2379 2861 7269 2551 3128 7270 2552 3127 7271 2554 3129 7272 2372 2855 7273 2549 2841 7274 2550 2843 7275 2374 2856 7276 2554 3129 7277 2555 3130 7278 4502 3131 7279 4501 3034 7280 4510 3037 7281 4509 3132 7282 2555 3130 7283 4405 3090 7284 4406 3098 7285 2529 3102 7286 4418 3133 7287 2525 3091 7288 2529 3102 7289 4410 3114 7290 4411 3134 7291 2557 3135 7292 4423 3136 7293 2540 3115 7294 2557 3135 7295 4411 3134 7296 4412 3137 7297 2558 3138 7298 4424 3139 7299 2557 3135 7300 2558 3138 7301 4412 3137 7302 4413 3140 7303 2561 3141 7304 4425 3142 7305 2558 3138 7306 2561 3141 7307 4413 3140 7308 4414 3143 7309 2562 3144 7310 4426 3145 7311 2561 3141 7312 2562 3144 7313 4414 3143 7314 2564 2732 7315 2565 3146 7316 4427 3147 7317 2562 3144 7318 2565 3146 7319 2475 3029 7320 2377 2858 7321 2551 3128 7322 2476 3030 7323 2566 3148 7324 2551 3128 7325 2376 2857 7326 2380 2863 7327 2511 3070 7328 2553 2862 7329 2552 3127 7330 2511 3070 7331 2509 2954 7332 2443 3149 7333 2567 3150 7334 2445 2957 7335 2510 3068 7336 2567 3150 7337 2443 3149 7338 4505 3151 7339 2569 3152 7340 2446 2958 7341 2567 3150 7342 2569 3152 7343 2569 3152 7344 4505 3151 7345 4504 3153 7346 4507 3154 7347 4506 3155 7348 2569 3152 7349 2574 3156 7350 4503 3157 7351 4502 3131 7352 4509 3132 7353 4508 3158 7354 2574 3156 7355 2572 3159 7356 4504 3153 7357 4503 3157 7358 4508 3158 7359 4507 3154 7360 2572 3159 7361 2482 3160 7362 2405 3042 7363 2372 2855 7364 2374 2856 7365 2483 3043 7366 2482 3160 7367 2547 3161 7368 4338 3124 7369 4337 3048 7370 4490 3051 7371 4491 3125 7372 2547 3161 7373 2575 3162 7374 4333 3163 7375 4332 3118 7376 4485 3121 7377 4486 3164 7378 2575 3162 7379 2494 3165 7380 2493 3054 7381 4333 3163 7382 4486 3164 7383 2495 3055 7384 2494 3165 7385 2543 3166 7386 4331 3119 7387 4330 3167 7388 4483 3168 7389 4484 3120 7390 2543 3166 7391 2578 3169 7392 4330 3167 7393 4329 3112 7394 4482 3113 7395 4483 3168 7396 2578 3169 7397 2528 3170 7398 4396 3095 7399 4397 3085 7400 4389 3086 7401 4390 3096 7402 2528 3170 7403 2514 3171 7404 4400 3073 7405 4401 3172 7406 4385 3173 7407 4386 3074 7408 2514 3171 7409 4401 3172 7410 4402 3076 7411 2516 3080 7412 4385 3173 7413 2580 3174 7414 2516 3080 7415 2564 2732 7416 2475 3029 7417 2566 3148 7418 2284 2733 7419 2565 3146 7420 2566 3148 7421 4349 3175 7422 4336 3176 7423 2488 2794 7424 4466 3177 7425 4465 2798 7426 2330 2797 7427 2373 3178 7428 2372 2855 7429 2405 3042 7430 2483 3043 7431 2374 2856 7432 4460 3179 7433 4316 2977 7434 2089 2471 7435 2012 2386 7436 4428 2978 7437 2002 2377 7438 2017 2390 7439 4315 2976 7440 1998 2374 7441 2001 2394 7442 4429 2979 7443 4430 3180 7444 2003 2395 7445 2332 2800 7446 2583 3181 7447 2343 2810 7448 2333 2801 7449 2319 2799 7450 2344 3182 7451 2583 3181 7452 2394 2883 7453 2381 2870 7454 2584 3183 7455 2344 3182 7456 2383 2885 7457 4295 2869 7458 4294 2790 7459 2325 2811 7460 2326 2792 7461 4282 2791 7462 4281 2872 7463 4295 2869 7464 2325 2811 7465 2343 2810 7466 4281 2872 7467 2383 2885 7468 2344 3182 7469 2334 2845 7470 2291 2750 7471 2293 2749 7472 2335 2846 7473 2339 2835 7474 2294 2753 7475 2334 2845 7476 2366 2844 7477 2583 3181 7478 2335 2846 7479 2333 2801 7480 2584 3183 7481 2394 2883 7482 2583 3181 7483 2366 2844 7484 2396 2884 7485 4459 2892 7486 2368 2847 7487 4355 2852 7488 2404 2889 7489 2366 2844 7490 2375 2853 7491 2369 2850 7492 2368 2847 7493 2171 2577 7494 2184 2587 7495 2123 2517 7496 2172 2578 7497 1990 2367 7498 2126 2519 7499 4336 3176 7500 4349 3175 7501 4348 3184 7502 4489 3185 7503 4488 3186 7504 4467 3187 7505 1980 2358 7506 2299 2757 7507 2244 2679 7508 1985 2363 7509 1984 2362 7510 2246 2681 7511 4350 2759 7512 4351 2802 7513 2299 2757 7514 2300 2758 7515 4464 2804 7516 2301 2760 7517 4334 2736 7518 4335 3188 7519 4348 3184 7520 4467 3187 7521 4488 3186 7522 4487 2738 7523 4384 3189 7524 4314 3190 7525 2001 2394 7526 2003 2395 7527 4430 3180 7528 4431 3191 7529 4382 2499 7530 4383 3192 7531 1936 2402 7532 4433 2500 7533 2102 2493 7534 1941 2325 7535 4383 3192 7536 4384 3189 7537 1937 2321 7538 4432 3193 7539 1941 2325 7540 1940 2324 7541 4379 3194 7542 2118 2513 7543 2004 2378 7544 4436 3195 7545 4437 3196 7546 2006 2379 7547 2472 3021 7548 4305 3020 7549 2354 3197 7550 2473 3022 7551 2298 2756 7552 4270 3198 7553 2297 2755 7554 2354 3197 7555 2277 3199 7556 2298 2756 7557 2227 2653 7558 2278 2725 7559 2321 2784 7560 4307 3200 7561 4306 2823 7562 2323 2785 7563 1958 2827 7564 2355 2824 7565 4307 3200 7566 2321 2784 7567 2258 2702 7568 4269 3201 7569 4268 2703 7570 2259 2786 7571 2258 2702 7572 2264 2712 7573 2204 2622 7574 2259 2786 7575 2203 2613 7576 2205 2615 7577 2398 2912 7578 4359 2924 7579 2386 2932 7580 4278 2933 7581 4456 2925 7582 2399 2913 7583 2435 2969 7584 2434 2943 7585 4300 2951 7586 2437 2970 7587 2442 2953 7588 2441 2952 7589 2439 2950 7590 4362 2963 7591 2449 3202 7592 2442 2953 7593 2437 2970 7594 4452 3203 7595 4346 3204 7596 2286 2741 7597 2231 2659 7598 4469 3205 7599 2242 2674 7600 2232 2660 7601 4352 3206 7602 4353 2833 7603 2336 2803 7604 4463 3207 7605 4464 2804 7606 2337 2805 7607 2310 2775 7608 1965 2606 7609 2198 2623 7610 2199 2608 7611 1969 2607 7612 2314 2772 7613 1965 2606 7614 2310 2775 7615 4375 2982 7616 1969 2607 7617 1968 2348 7618 4440 2983 7619 1954 2882 7620 4367 2904 7621 2340 2806 7622 1960 2341 7623 1959 2340 7624 2342 2987 7625 4323 3208 7626 2212 2630 7627 2162 2569 7628 4476 3209 7629 4493 2974 7630 2163 2570 7631 2591 3210 7632 2592 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zaVz=1E~Z3xnS(akBHB~uX*@^&{+IfqZ2{7Luiwg4YsJA|2qh(&C&dQUwb!4CKjdtm zIrtEjw)gwLc?Bw3?C)Qk{`Y46e|Oy~x-$HK_mcL%K#5(ifHc0{<+>ZDcTz07lJy_* dG}A_?boZbbNx3vs3<7?j<~F|-{CfKz{{teai--UK literal 0 HcmV?d00001 diff --git a/jest.config.js b/jest.config.js index 514c380..b0471e6 100644 --- a/jest.config.js +++ b/jest.config.js @@ -1,42 +1,28 @@ const jestJupyterLab = require('@jupyterlab/testutils/lib/jest-config'); const esModules = [ + '@codemirror', + '@jupyter/ydoc', '@jupyterlab/', 'lib0', - 'y\\-protocols', - 'y\\-websocket', + 'nanoid', + 'vscode-ws-jsonrpc', + 'y-protocols', + 'y-websocket', 'yjs' ].join('|'); -const jlabConfig = jestJupyterLab(__dirname); - -const { - moduleFileExtensions, - moduleNameMapper, - preset, - setupFilesAfterEnv, - setupFiles, - testPathIgnorePatterns, - transform -} = jlabConfig; +const baseConfig = jestJupyterLab(__dirname); module.exports = { - moduleFileExtensions, - moduleNameMapper, - preset, - setupFilesAfterEnv, - setupFiles, - testPathIgnorePatterns, - transform, + ...baseConfig, automock: false, - collectCoverageFrom: ['src/**/*.{ts,tsx}', '!src/**/*.d.ts'], - coverageDirectory: 'coverage', + collectCoverageFrom: [ + 'src/**/*.{ts,tsx}', + '!src/**/*.d.ts', + '!src/**/.ipynb_checkpoints/*' + ], coverageReporters: ['lcov', 'text'], - globals: { - 'ts-jest': { - tsconfig: 'tsconfig.json' - } - }, testRegex: 'src/.*/.*.spec.ts[x]?$', transformIgnorePatterns: [`/node_modules/(?!${esModules}).+`] }; diff --git a/jupyterlab_urdf/__init__.py b/jupyterlab_urdf/__init__.py index aa67233..73dc2b2 100644 --- a/jupyterlab_urdf/__init__.py +++ b/jupyterlab_urdf/__init__.py @@ -1,19 +1,16 @@ -import json -from pathlib import Path - -from ._version import __version__ - - -HERE = Path(__file__).parent.resolve() - - -with (HERE / "labextension" / "package.json").open() as fid: - data = json.load(fid) +try: + from ._version import __version__ +except ImportError: + # Fallback when using the package in dev mode without installing + # in editable mode with pip. It is highly recommended to install + # the package from a stable release or in editable mode: https://pip.pypa.io/en/stable/topics/local-project-installs/#editable-installs + import warnings + warnings.warn("Importing 'jupyterlab_urdf' outside a proper installation.") + __version__ = "dev" def _jupyter_labextension_paths(): return [{ "src": "labextension", - "dest": data["name"] + "dest": "jupyterlab-urdf" }] - diff --git a/jupyterlab_urdf/_version.py b/jupyterlab_urdf/_version.py index 89190b4..32daa7f 100644 --- a/jupyterlab_urdf/_version.py +++ b/jupyterlab_urdf/_version.py @@ -1,23 +1,4 @@ -import json -from pathlib import Path - -__all__ = ["__version__"] - -def _fetchVersion(): - HERE = Path(__file__).parent.resolve() - - for settings in HERE.rglob("package.json"): - try: - with settings.open() as f: - version = json.load(f)["version"] - return ( - version.replace("-alpha.", "a") - .replace("-beta.", "b") - .replace("-rc.", "rc") - ) - except FileNotFoundError: - pass - - raise FileNotFoundError(f"Could not find package.json under dir {HERE!s}") - -__version__ = _fetchVersion() +# This file is auto-generated by Hatchling. As such, do not: +# - modify +# - track in version control e.g. be sure to add to .gitignore +__version__ = VERSION = '0.2.1' diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 0000000..a11b1ec --- /dev/null +++ b/package-lock.json @@ -0,0 +1,21643 @@ +{ + "name": "jupyterlab-urdf", + "version": "0.2.1", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "jupyterlab-urdf", + "version": "0.2.1", + "license": "BSD-3-Clause", + "workspaces": [ + "ui-tests" + ], + "dependencies": { + "@jupyterlab/application": "^4.0.0", + "@jupyterlab/apputils": "^4.1.3", + "@jupyterlab/codemirror": "^4.0.3", + "@jupyterlab/docregistry": "^4.0.3", + "@jupyterlab/filebrowser": "^4.0.3", + "@jupyterlab/launcher": "^4.0.3", + "@jupyterlab/mainmenu": "^4.0.3", + "@jupyterlab/ui-components": "^4.0.3", + "@lumino/algorithm": "^2.0.0", + "@lumino/coreutils": "^2.1.1", + "@lumino/messaging": "^2.0.0", + "@lumino/signaling": "^2.1.1", + "@lumino/widgets": 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"node_modules/yocto-queue": { + "version": "0.1.0", + "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz", + "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==", + "dev": true, + "engines": { + "node": ">=10" + }, + "funding": { + "url": "https://github.com/sponsors/sindresorhus" + } + }, + "ui-tests": { + "name": "jupyterlab_urdf-ui-tests", + "version": "1.0.0", + "devDependencies": { + "@jupyterlab/galata": "^4.3.0" + } + } + } +} diff --git a/package.json b/package.json index 16c474b..af636aa 100644 --- a/package.json +++ b/package.json @@ -1,5 +1,5 @@ { - "name": "jupyterlab_urdf", + "name": "jupyterlab-urdf", "version": "0.2.1", "description": "A URDF viewer and editor extension for JupyterLab.", "keywords": [ @@ -27,16 +27,20 @@ "type": "git", "url": "https://github.com/jupyter-robotics/jupyterlab-urdf.git" }, + "workspaces": [ + "ui-tests" + ], "scripts": { "build": "jlpm build:lib && jlpm build:labextension:dev", - "build:prod": "jlpm clean && jlpm build:lib && jlpm build:labextension", + "build:prod": "jlpm clean && jlpm build:lib:prod && jlpm build:labextension", "build:labextension": "jupyter labextension build .", "build:labextension:dev": "jupyter labextension build --development True .", - "build:lib": "tsc", + "build:lib": "tsc --sourceMap", + "build:lib:prod": "tsc", "clean": "jlpm clean:lib", "clean:lib": "rimraf lib tsconfig.tsbuildinfo", "clean:lintcache": "rimraf .eslintcache .stylelintcache", - "clean:labextension": "rimraf jupyterlab_urdf/labextension", + "clean:labextension": "rimraf jupyterlab_urdf/labextension jupyterlab_urdf/_version.py", "clean:all": "jlpm clean:lib && jlpm clean:labextension && jlpm clean:lintcache", "eslint": "jlpm eslint:check --fix", "eslint:check": "eslint . --cache --ext .ts,.tsx", @@ -50,52 +54,53 @@ "stylelint:check": "stylelint --cache \"style/**/*.css\"", "test": "jest --coverage", "watch": "run-p watch:src watch:labextension", - "watch:src": "tsc -w", + "watch:src": "tsc -w --sourceMap", "watch:labextension": "jupyter labextension watch ." }, "dependencies": { - "@jupyterlab/application": "^3.4.0", - "@jupyterlab/apputils": "^3.4.0", - "@jupyterlab/codemirror": "^3.4.8", - "@jupyterlab/docregistry": "^3.4.0", - "@jupyterlab/filebrowser": "^3.4.0", - "@jupyterlab/launcher": "^3.4.0", - "@jupyterlab/mainmenu": "^3.4.0", - "@jupyterlab/ui-components": "^3.4.3", - "@lumino/algorithm": "^1.9.0", - "@lumino/coreutils": "^1.11.0", - "@lumino/messaging": "^1.10.0", - "@lumino/signaling": "^1.10.0", - "@lumino/widgets": "^1.30.0", - "@types/codemirror": "^5.60.5", - "@types/dat.gui": "^0.7.7", - "amphion": "npm:@robostack/amphion@^0.1.25", - "dat.gui": "^0.7.9", - "roslib": "npm:@robostack/roslib@^1.1.1" + "@jupyterlab/application": "^4.0.0", + "@jupyterlab/apputils": "^4.1.3", + "@jupyterlab/codemirror": "^4.0.0", + "@jupyterlab/docregistry": "^4.0.0", + "@jupyterlab/filebrowser": "^4.0.0", + "@jupyterlab/launcher": "^4.0.0", + "@jupyterlab/mainmenu": "^4.0.0", + "@jupyterlab/ui-components": "^4.0.0", + "@lumino/algorithm": "^2.0.0", + "@lumino/coreutils": "^2.1.1", + "@lumino/messaging": "^2.0.0", + "@lumino/signaling": "^2.1.1", + "@lumino/widgets": "^2.2.0", + "@robostack/amphion": "^0.1.25", + "@robostack/roslib": "^1.1.1", + "@types/codemirror": "^5.60.8", + "@types/dat.gui": "^0.7.10", + "dat.gui": "^0.7.9" }, "devDependencies": { - "@babel/core": "^7.0.0", - "@babel/preset-env": "^7.0.0", - "@jupyterlab/builder": "^3.4.0", - "@jupyterlab/testutils": "^3.4.0", - "@types/jest": "^26.0.0", - "@types/p5": "^1.4.2", - "@typescript-eslint/eslint-plugin": "^4.8.1", - "@typescript-eslint/parser": "^4.8.1", - "eslint": "^7.14.0", - "eslint-config-prettier": "^6.15.0", - "eslint-plugin-prettier": "^3.1.4", - "jest": "^26.0.0", + "@jupyterlab/builder": "^4.0.0", + "@jupyterlab/testutils": "^4.0.0", + "@types/jest": "^29.2.0", + "@types/json-schema": "^7.0.11", + "@types/react": "^18.0.26", + "@typescript-eslint/eslint-plugin": "^5.55.0", + "@typescript-eslint/parser": "^5.55.0", + "css-loader": "^6.7.1", + "eslint": "^8.36.0", + "eslint-config-prettier": "^8.8.0", + "eslint-plugin-prettier": "^5.0.0", + "jest": "^29.2.0", "npm-run-all": "^4.1.5", - "prettier": "^2.1.1", - "rimraf": "^3.0.2", - "stylelint": "^14.3.0", - "stylelint-config-prettier": "^9.0.3", - "stylelint-config-recommended": "^6.0.0", - "stylelint-config-standard": "~24.0.0", - "stylelint-prettier": "^2.0.0", - "ts-jest": "^26.0.0", - "typescript": "~4.1.3" + "prettier": "^3.0.0", + "rimraf": "^4.4.1", + "source-map-loader": "^1.0.2", + "style-loader": "^3.3.1", + "stylelint": "^15.10.1", + "stylelint-config-recommended": "^13.0.0", + "stylelint-config-standard": "^34.0.0", + "stylelint-prettier": "^4.0.0", + "typescript": "~5.0.2", + "yjs": "^13.5.0" }, "sideEffects": [ "style/*.css", @@ -107,18 +112,95 @@ }, "jupyterlab": { "extension": true, - "outputDir": "jupyterlab_urdf/labextension", - "webpackConfig": "./webpack.config-jlab.js" + "outputDir": "jupyterlab_urdf/labextension" }, - "jupyter-releaser": { - "hooks": { - "before-build-npm": [ - "python -m pip install jupyterlab~=3.0", - "jlpm" + "eslintIgnore": [ + "node_modules", + "dist", + "coverage", + "**/*.d.ts", + "tests", + "**/__tests__", + "ui-tests" + ], + "eslintConfig": { + "extends": [ + "eslint:recommended", + "plugin:@typescript-eslint/eslint-recommended", + "plugin:@typescript-eslint/recommended", + "plugin:prettier/recommended" + ], + "parser": "@typescript-eslint/parser", + "parserOptions": { + "project": "tsconfig.json", + "sourceType": "module" + }, + "plugins": [ + "@typescript-eslint" + ], + "rules": { + "@typescript-eslint/naming-convention": [ + "error", + { + "selector": "interface", + "format": [ + "PascalCase" + ], + "custom": { + "regex": "^I[A-Z]", + "match": true + } + } + ], + "@typescript-eslint/no-unused-vars": [ + "warn", + { + "args": "none" + } + ], + "@typescript-eslint/no-explicit-any": "off", + "@typescript-eslint/no-namespace": "off", + "@typescript-eslint/no-use-before-define": "off", + "@typescript-eslint/quotes": [ + "error", + "single", + { + "avoidEscape": true, + "allowTemplateLiterals": false + } ], - "before-build-python": [ - "jlpm clean:all" - ] + "curly": [ + "error", + "all" + ], + "eqeqeq": "error", + "prefer-arrow-callback": "error" + } + }, + "prettier": { + "singleQuote": true, + "trailingComma": "none", + "arrowParens": "avoid", + "endOfLine": "auto", + "overrides": [ + { + "files": "package.json", + "options": { + "tabWidth": 4 + } + } + ] + }, + "stylelint": { + "extends": [ + "stylelint-config-recommended", + "stylelint-config-standard", + "stylelint-prettier/recommended" + ], + "rules": { + "property-no-vendor-prefix": null, + "selector-no-vendor-prefix": null, + "value-no-vendor-prefix": null } } } diff --git a/pyproject.toml b/pyproject.toml index 60a8189..15733cc 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,17 +1,76 @@ [build-system] -requires = ["jupyter_packaging~=0.10,<2", "jupyterlab~=3.4"] -build-backend = "jupyter_packaging.build_api" +requires = ["hatchling>=1.5.0", "jupyterlab>=4.0.0,<5", "hatch-nodejs-version"] +build-backend = "hatchling.build" -[tool.jupyter-packaging.options] -skip-if-exists = ["jupyterlab_urdf/labextension/static/style.js"] -ensured-targets = ["jupyterlab_urdf/labextension/static/style.js", "jupyterlab_urdf/labextension/package.json"] +[project] +name = "jupyterlab_urdf" +readme = "README.md" +license = { file = "LICENSE" } +requires-python = ">=3.8" +classifiers = [ + "Framework :: Jupyter", + "Framework :: Jupyter :: JupyterLab", + "Framework :: Jupyter :: JupyterLab :: 4", + "Framework :: Jupyter :: JupyterLab :: Extensions", + "Framework :: Jupyter :: JupyterLab :: Extensions :: Prebuilt", + "License :: OSI Approved :: BSD License", + "Programming Language :: Python", + "Programming Language :: Python :: 3", + "Programming Language :: Python :: 3.8", + "Programming Language :: Python :: 3.9", + "Programming Language :: Python :: 3.10", + "Programming Language :: Python :: 3.11", +] +dependencies = [ +] +dynamic = ["version", "description", "authors", "urls", "keywords"] + +[tool.hatch.version] +source = "nodejs" + +[tool.hatch.metadata.hooks.nodejs] +fields = ["description", "authors", "urls"] -[tool.jupyter-packaging.builder] -factory = "jupyter_packaging.npm_builder" +[tool.hatch.build.targets.sdist] +artifacts = ["jupyterlab_urdf/labextension"] +exclude = [".github", "binder"] -[tool.jupyter-packaging.build-args] +[tool.hatch.build.targets.wheel.shared-data] +"jupyterlab_urdf/labextension" = "share/jupyter/labextensions/jupyterlab-urdf" +"install.json" = "share/jupyter/labextensions/jupyterlab-urdf/install.json" + +[tool.hatch.build.hooks.version] +path = "jupyterlab_urdf/_version.py" + +[tool.hatch.build.hooks.jupyter-builder] +dependencies = ["hatch-jupyter-builder>=0.5"] +build-function = "hatch_jupyter_builder.npm_builder" +ensured-targets = [ + "jupyterlab_urdf/labextension/static/style.js", + "jupyterlab_urdf/labextension/package.json", +] +skip-if-exists = ["jupyterlab_urdf/labextension/static/style.js"] + +[tool.hatch.build.hooks.jupyter-builder.build-kwargs] build_cmd = "build:prod" npm = ["jlpm"] -[tool.check-manifest] -ignore = ["jupyterlab_urdf/labextension/**", "yarn.lock", ".*", "package-lock.json"] +[tool.hatch.build.hooks.jupyter-builder.editable-build-kwargs] +build_cmd = "install:extension" +npm = ["jlpm"] +source_dir = "src" +build_dir = "jupyterlab_urdf/labextension" + +[tool.jupyter-releaser.options] +version_cmd = "hatch version" + +[tool.jupyter-releaser.hooks] +before-build-npm = [ + "python -m pip install 'jupyterlab>=4.0.0,<5'", + "jlpm", + "jlpm build:prod" +] +before-build-python = ["jlpm clean:all"] + +[tool.check-wheel-contents] +ignore = ["W002"] diff --git a/setup.py b/setup.py index 838a47a..bea2337 100644 --- a/setup.py +++ b/setup.py @@ -1,109 +1 @@ -""" -jupyterlab_urdf setup -""" -import json -import sys -from pathlib import Path - -import setuptools - -HERE = Path(__file__).parent.resolve() - -# Get the package info from package.json -pkg_json = json.loads((HERE / "package.json").read_bytes()) - -# The name of the project -name = "jupyterlab_urdf" - -lab_path = (HERE / pkg_json["jupyterlab"]["outputDir"]) - -# Representative files that should exist after a successful build -ensured_targets = [ - str(lab_path / "package.json"), - str(lab_path / "static/style.js") -] - -labext_name = pkg_json["name"] - -data_files_spec = [ - ("share/jupyter/labextensions/%s" % labext_name, str(lab_path.relative_to(HERE)), "**"), - ("share/jupyter/labextensions/%s" % labext_name, str("."), "install.json"), -] - -long_description = (HERE / "README.md").read_text() - -version = ( - pkg_json["version"] - .replace("-alpha.", "a") - .replace("-beta.", "b") - .replace("-rc.", "rc") -) - -setup_args = dict( - name=name, - version=version, - url=pkg_json["homepage"], - author=pkg_json["author"]["name"], - author_email=pkg_json["author"]["email"], - description=pkg_json["description"], - license=pkg_json["license"], - license_file="LICENSE", - long_description=long_description, - long_description_content_type="text/markdown", - packages=setuptools.find_packages(), - install_requires = [ - 'jupyter_rospkg>=0.3', - ], - extras_require = { - 'dev': [ - 'click', - 'jupyter_releaser>=0.22' - ], - 'docs': [ - 'jupyterlite-sphinx', - 'myst-parser', - 'sphinx', - 'sphinx-rtd-theme' - ] - }, - zip_safe=False, - include_package_data=True, - python_requires=">=3.7", - platforms="Linux, Mac OS X, Windows", - keywords=["Jupyter", "JupyterLab", "JupyterLab3"], - classifiers=[ - "License :: OSI Approved :: BSD License", - "Programming Language :: Python", - "Programming Language :: Python :: 3", - "Programming Language :: Python :: 3.7", - "Programming Language :: Python :: 3.8", - "Programming Language :: Python :: 3.9", - "Programming Language :: Python :: 3.10", - "Framework :: Jupyter", - "Framework :: Jupyter :: JupyterLab", - "Framework :: Jupyter :: JupyterLab :: 3", - "Framework :: Jupyter :: JupyterLab :: Extensions", - "Framework :: Jupyter :: JupyterLab :: Extensions :: Prebuilt", - ], -) - -try: - from jupyter_packaging import ( - wrap_installers, - npm_builder, - get_data_files - ) - post_develop = npm_builder( - build_cmd="install:extension", source_dir="src", build_dir=lab_path - ) - setup_args["cmdclass"] = wrap_installers(post_develop=post_develop, ensured_targets=ensured_targets) - setup_args["data_files"] = get_data_files(data_files_spec) -except ImportError as e: - import logging - logging.basicConfig(format="%(levelname)s: %(message)s") - logging.warning("Build tool `jupyter-packaging` is missing. Install it with pip or conda.") - if not ("--name" in sys.argv or "--version" in sys.argv): - raise e - -if __name__ == "__main__": - setuptools.setup(**setup_args) +__import__('setuptools').setup() diff --git a/src/__tests__/jupyterlab_urdf.spec.ts b/src/__tests__/jupyterlab_urdf.spec.ts index 7f113ec..935b24a 100644 --- a/src/__tests__/jupyterlab_urdf.spec.ts +++ b/src/__tests__/jupyterlab_urdf.spec.ts @@ -2,7 +2,7 @@ * Example of [Jest](https://jestjs.io/docs/getting-started) unit tests */ -describe('jupyterlab_urdf', () => { +describe('jupyterlab-urdf', () => { it('should be tested', () => { expect(1 + 1).toEqual(2); }); diff --git a/src/index.ts b/src/index.ts index e995ec0..01bd3fa 100644 --- a/src/index.ts +++ b/src/index.ts @@ -27,7 +27,7 @@ import { UrdfWidgetFactory } from './factory'; import { urdf_icon } from './icons'; // For syntax highlighting -import { Mode } from '@jupyterlab/codemirror'; +// import { Mode } from '@jupyterlab/codemirror'; // FIXME: // Name of the factory that creates the URDF widgets const FACTORY = 'URDF Widget Factory'; @@ -93,13 +93,13 @@ const extension: JupyterFrontEndPlugin = { tracker.add(widget); }); - // Syntax highlighting - Mode.getModeInfo().push({ - name: 'URDF', - mime: 'text/xml', - mode: 'xml', - ext: ['urdf', 'xacro'] - }); + // FIXME: // Syntax highlighting + // Mode.getModeInfo().push({ + // name: 'URDF', + // mime: 'text/xml', + // mode: 'xml', + // ext: ['urdf', 'xacro'] + // }); // Register widget and model factories app.docRegistry.addWidgetFactory(widgetFactory); @@ -123,10 +123,10 @@ const extension: JupyterFrontEndPlugin = { iconClass: 'jp-URDFIcon', caption: 'Create a new URDF', execute: () => { - const cwd = browserFactory.defaultBrowser.model.path; + // FIXME: const cwd = browserFactory.defaultBrowser.model.path; commands .execute('docmanager:new-untitled', { - path: cwd, + // FIXME: path: cwd, type: 'file', ext: '.urdf' }) @@ -153,7 +153,8 @@ const extension: JupyterFrontEndPlugin = { const urdfMenu: Menu = new Menu({ commands }); urdfMenu.title.label = 'URDF'; urdfMenu.addItem({ command: 'urdf:create-new' }); - menu.addMenu(urdfMenu, { rank: 20 }); + // FIXME: menu.addMenu(urdfMenu, { rank: 20 }); + menu.addMenu(urdfMenu); } // Add palette item if palette is available diff --git a/src/layout.ts b/src/layout.ts index 0f8fd77..7876dca 100644 --- a/src/layout.ts +++ b/src/layout.ts @@ -1,6 +1,7 @@ import { Message } from '@lumino/messaging'; import { PanelLayout, Widget } from '@lumino/widgets'; -import { ArrayIterator, IIterator } from '@lumino/algorithm'; +// https://github.com/jupyterlab/lumino/pull/346 +// import { ArrayIterator, IIterator } from '@lumino/algorithm'; import ROSLIB from 'roslib'; import Amphion from 'amphion'; @@ -55,8 +56,8 @@ export class URDFLayout extends PanelLayout { /** * Create an iterator over the widgets in the layout */ - iter(): IIterator { - return new ArrayIterator([]); + iter(): Iterator { + return [][Symbol.iterator](); } /** diff --git a/tsconfig.json b/tsconfig.json index 3dd05b4..7038fbd 100644 --- a/tsconfig.json +++ b/tsconfig.json @@ -18,7 +18,7 @@ "rootDir": "src", "strict": true, "strictNullChecks": true, - "target": "es2017", + "target": "ES2018", "types": ["jest"] }, "include": ["src/**/*"] diff --git a/tsconfig.test.json b/tsconfig.test.json new file mode 100644 index 0000000..1c66acf --- /dev/null +++ b/tsconfig.test.json @@ -0,0 +1,3 @@ +{ + "extends": "./tsconfig" +} diff --git a/ui-tests/README.md b/ui-tests/README.md index dd4752a..dbe6e8a 100644 --- a/ui-tests/README.md +++ b/ui-tests/README.md @@ -5,14 +5,15 @@ This folder contains the integration tests of the extension. They are defined using [Playwright](https://playwright.dev/docs/intro) test runner and [Galata](https://github.com/jupyterlab/jupyterlab/tree/master/galata) helper. -The Playwright configuration is defined in [playwright.config.js](./playwright.config.js) -in the root directory. +The Playwright configuration is defined in [playwright.config.js](./playwright.config.js). The JupyterLab server configuration to use for the integration test is defined -in [jupyter_server_test_config.py](./jupyter_server_test_config.py) in the root directory. +in [jupyter_server_test_config.py](./jupyter_server_test_config.py). The default configuration will produce video for failing tests and an HTML report. +> There is a new experimental UI mode that you may fall in love with; see [that video](https://www.youtube.com/watch?v=jF0yA-JLQW0). + ## Run the tests > All commands are assumed to be executed from the root directory @@ -110,7 +111,14 @@ jlpm playwright install cd .. ``` -3. Execute the [Playwright code generator](https://playwright.dev/docs/codegen): +3. Start the server: + +```sh +cd ./ui-tests +jlpm start +``` + +4. Execute the [Playwright code generator](https://playwright.dev/docs/codegen) in **another terminal**: ```sh cd ./ui-tests @@ -145,5 +153,15 @@ cd .. ```sh cd ./ui-tests -PWDEBUG=1 jlpm playwright test +jlpm playwright test --debug +``` + +## Upgrade Playwright and the browsers + +To update the web browser versions, you must update the package `@playwright/test`: + +```sh +cd ./ui-tests +jlpm up "@playwright/test" +jlpm playwright install ``` diff --git a/ui-tests/jupyter_server_test_config.py b/ui-tests/jupyter_server_test_config.py index 5ba7a91..f2a9478 100644 --- a/ui-tests/jupyter_server_test_config.py +++ b/ui-tests/jupyter_server_test_config.py @@ -4,17 +4,9 @@ opens the server to the world and provide access to JupyterLab JavaScript objects through the global window variable. """ -from tempfile import mkdtemp +from jupyterlab.galata import configure_jupyter_server -c.ServerApp.port = 8888 -c.ServerApp.port_retries = 0 -c.ServerApp.open_browser = False - -c.ServerApp.root_dir = mkdtemp(prefix='galata-test-') -c.ServerApp.token = "" -c.ServerApp.password = "" -c.ServerApp.disable_check_xsrf = True -c.LabApp.expose_app_in_browser = True +configure_jupyter_server(c) # Uncomment to set server log level to debug level # c.ServerApp.log_level = "DEBUG" diff --git a/ui-tests/package.json b/ui-tests/package.json index 1f3a79d..61d3027 100644 --- a/ui-tests/package.json +++ b/ui-tests/package.json @@ -1,13 +1,15 @@ { - "name": "jupyterlab_urdf-ui-tests", + "name": "jupyterlab-urdf-ui-tests", "version": "1.0.0", - "description": "JupyterLab jupyterlab_urdf Integration Tests", + "description": "JupyterLab jupyterlab-urdf Integration Tests", "private": true, "scripts": { "start": "jupyter lab --config jupyter_server_test_config.py", - "test": "jlpm playwright test" + "test": "jlpm playwright test", + "test:update": "jlpm playwright test --update-snapshots" }, "devDependencies": { - "@jupyterlab/galata": "^4.3.0" + "@jupyterlab/galata": "^5.0.0", + "@playwright/test": "^1.32.0" } } diff --git a/yarn.lock b/yarn.lock index 1bebab3..c98aa22 100644 --- a/yarn.lock +++ b/yarn.lock @@ -1,10694 +1,12532 @@ -# THIS IS AN AUTOGENERATED FILE. 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from 'three'; import dat from 'dat.gui'; // Modify URLs for the RobotModel: //https://github.com/RoboStack/amphion/blob/879045327e879d0bb6fe2c8eac54664de46ef675/src/core/urdf.ts#L22 -DefaultLoadingManager.setURLModifier(url => { +DefaultLoadingManager.setURLModifier((url: string) => { console.debug('THREE MANAGER:', url); return '/ros/pkgs' + url; }); diff --git a/src/types.ts b/src/types.ts index 5d1e7b8..82b4ad8 100644 --- a/src/types.ts +++ b/src/types.ts @@ -1,2 +1,2 @@ -declare module 'amphion'; -declare module 'roslib'; +declare module '@robostack/amphion'; +declare module '@robostack/roslib'; diff --git a/yarn.lock b/yarn.lock index c98aa22..8f2b094 100644 --- a/yarn.lock +++ b/yarn.lock @@ -2573,16 +2573,7 @@ __metadata: languageName: node linkType: hard -"@jupyterlab/nbformat@npm:^3.0.0 || ^4.0.0-alpha.21 || ^4.0.0": - version: 3.6.5 - resolution: "@jupyterlab/nbformat@npm:3.6.5" - dependencies: - "@lumino/coreutils": ^1.11.0 - checksum: 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dependencies: @@ -10708,7 +10686,16 @@ __metadata: languageName: node linkType: hard -"string_decoder@npm:^1.1.1, string_decoder@npm:~1.1.1": +"string_decoder@npm:^1.1.1": + version: 1.3.0 + resolution: "string_decoder@npm:1.3.0" + dependencies: + safe-buffer: ~5.2.0 + checksum: 8417646695a66e73aefc4420eb3b84cc9ffd89572861fe004e6aeb13c7bc00e2f616247505d2dbbef24247c372f70268f594af7126f43548565c68c117bdeb56 + languageName: node + linkType: hard + +"string_decoder@npm:~1.1.1": version: 1.1.1 resolution: "string_decoder@npm:1.1.1" dependencies: From 04147c39b5721beb3ae1df1f15e4cb9718b51b1e Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Wed, 26 Jul 2023 14:21:01 +0200 Subject: [PATCH 03/20] Clean up --- .gitignore | 3 + examples/nao.urdf | 2604 ----------------- examples/nao_description/CHANGELOG.rst | 121 - examples/nao_description/CMakeLists.txt | 29 - examples/nao_description/config/urdf.rviz | 542 ---- .../nao_description/launch/display.launch | 13 - .../launch/robot_state_publisher.launch | 12 - .../nao_description/launch/upload_nao.launch | 4 - examples/nao_description/package.xml | 36 - .../scripts/test_cam_transform.py | 109 - .../nao_description/src/base_footprint.cpp | 148 - .../urdf/naoV32_generated_urdf/nao.urdf | 2276 -------------- .../naoV32_generated_urdf/naoGazebo.xacro | 869 ------ .../naoTransmission.xacro | 175 -- .../urdf/naoV32_generated_urdf/nao_arms.xacro | 180 -- .../naoV32_generated_urdf/nao_fingers.xacro | 230 -- .../urdf/naoV32_generated_urdf/nao_head.xacro | 42 - .../urdf/naoV32_generated_urdf/nao_legs.xacro | 201 -- .../naoV32_generated_urdf/nao_material.xacro | 18 - .../naoV32_generated_urdf/nao_robot.xacro | 15 - .../naoV32_generated_urdf/nao_sensors.xacro | 302 -- .../naoV32_generated_urdf/nao_torso.xacro | 21 - .../nao_visual_collisions.xacro | 867 ------ .../urdf/naoV33_generated_urdf/nao.urdf | 2604 ----------------- .../naoV33_generated_urdf/naoGazebo.xacro | 869 ------ .../naoTransmission.xacro | 175 -- .../urdf/naoV33_generated_urdf/nao_arms.xacro | 180 -- .../naoV33_generated_urdf/nao_fingers.xacro | 230 -- .../urdf/naoV33_generated_urdf/nao_head.xacro | 42 - .../urdf/naoV33_generated_urdf/nao_legs.xacro | 201 -- .../naoV33_generated_urdf/nao_material.xacro | 18 - .../naoV33_generated_urdf/nao_robot.xacro | 15 - .../naoV33_generated_urdf/nao_sensors.xacro | 344 --- .../naoV33_generated_urdf/nao_torso.xacro | 21 - .../nao_visual_collisions.xacro | 867 ------ .../urdf/naoV40_generated_urdf/nao.urdf | 2604 ----------------- .../naoV40_generated_urdf/naoGazebo.xacro | 869 ------ .../naoTransmission.xacro | 175 -- .../urdf/naoV40_generated_urdf/nao_arms.xacro | 180 -- .../naoV40_generated_urdf/nao_fingers.xacro | 230 -- .../urdf/naoV40_generated_urdf/nao_head.xacro | 42 - .../urdf/naoV40_generated_urdf/nao_legs.xacro | 201 -- .../naoV40_generated_urdf/nao_material.xacro | 18 - .../naoV40_generated_urdf/nao_robot.xacro | 15 - .../naoV40_generated_urdf/nao_sensors.xacro | 344 --- .../naoV40_generated_urdf/nao_torso.xacro | 21 - .../nao_visual_collisions.xacro | 867 ------ .../urdf/naoV50_generated_urdf/nao.urdf | 2576 ---------------- .../naoV50_generated_urdf/naoGazebo.xacro | 869 ------ .../naoTransmission.xacro | 175 -- .../urdf/naoV50_generated_urdf/nao_arms.xacro | 180 -- .../naoV50_generated_urdf/nao_fingers.xacro | 230 -- .../urdf/naoV50_generated_urdf/nao_head.xacro | 42 - .../urdf/naoV50_generated_urdf/nao_legs.xacro | 201 -- .../naoV50_generated_urdf/nao_material.xacro | 18 - .../naoV50_generated_urdf/nao_robot.xacro | 15 - .../naoV50_generated_urdf/nao_sensors.xacro | 316 -- .../naoV50_generated_urdf/nao_torso.xacro | 21 - .../nao_visual_collisions.xacro | 867 ------ .../urdf/nao_robot_v3.urdf.xacro | 31 - .../urdf/nao_robot_v3_structure.urdf.xacro | 443 --- .../urdf/nao_robot_v4.urdf.xacro | 24 - .../urdf/nao_robot_v4_structure.urdf.xacro | 456 --- examples/nao_description/urdf/visuals.xacro | 136 - examples/nao_meshes/meshes/V40/HeadPitch.dae | 396 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /nao_dcm - gazebo_ros_control/DefaultRobotHWSim - - - - - - LHipYawPitch - RHipYawPitch - 1.0 - 0.0 - - - LHand - LFinger11 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger12 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger13 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger21 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger22 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger23 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger11 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger12 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger13 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger21 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger22 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger23 - -0.785398163398 - 0.785398163398 - - - LHand - LThumb1 - -0.785398163398 - 0.785398163398 - - - LHand - LThumb2 - -0.785398163398 - 0.785398163398 - - - RHand - RThumb1 - -0.785398163398 - 0.785398163398 - - - RHand - RThumb2 - -0.785398163398 - 0.785398163398 - - - LFinger11_link - - - LFinger12_link - - - LFinger13_link - - - LFinger21_link - - - LFinger22_link - - - LFinger23_link - - - LThumb1_link - - - LThumb2_link - - - l_gripper - - - RFinger11_link - - - RFinger12_link - - - RFinger13_link - - - RFinger21_link - - - RFinger22_link - - - RFinger23_link - - - RThumb1_link - - - RThumb2_link - - - r_gripper - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - - 5 - 1 - -0.13 - 0.13 - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - diff --git a/examples/nao_description/CHANGELOG.rst b/examples/nao_description/CHANGELOG.rst deleted file mode 100644 index 7ff665f..0000000 --- a/examples/nao_description/CHANGELOG.rst +++ /dev/null @@ -1,121 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package nao_description -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.5.15 (2016-11-23) -------------------- - -0.5.14 (2016-01-23) -------------------- -* removed nao_dcm namespace to match changes made to nao_control -* added gui:=true to match pepper_description display.launch -* Contributors: Mikael Arguedas - -0.5.13 (2016-01-16) -------------------- -* Fix bad arm values. - This fixes `#25 `_. -* Contributors: Vincent Rabaud - -0.5.12 (2016-01-01) -------------------- -* remove type from naoTransmission -* update the Gazebo .xacro and the corresponding .urdf -* update the .xacro / .urdf to the latest version of naoqi_tools -* Contributors: Mikael Arguedas, Vincent Rabaud - -0.5.11 (2015-08-11) -------------------- - -0.5.10 (2015-07-31) -------------------- - -0.5.9 (2015-07-30) ------------------- - -0.5.8 (2015-07-30) ------------------- - -0.5.7 (2015-03-27) ------------------- -* update full .urdf file using xacro -* fixed ankle drift -* Contributors: Mikael Arguedas, Vincent Rabaud - -0.5.6 (2015-02-27) ------------------- -* properly fix 535d34474d9f64ddb60f6f163656c10fcdf92774 - The automatic generator was used to generate inertia -* dirty fix for naoqi_bridge/issues/31 -* Minor fix to load RViz config file in display.launch -* fixing typo -* Cleanup and rename launch files -* Contributors: Karsten Knese, Konstantinos Chatzilygeroudis, Mikael Arguedas, Vincent Rabaud - -0.5.5 (2015-02-17) ------------------- -* update to the latest version of the generation script -* Contributors: Vincent Rabaud - -0.5.4 (2015-02-17) ------------------- -* restore sensor in naoGazebo.xacro -* Contributors: Mikael Arguedas - -0.5.3 (2014-12-14) ------------------- - -0.5.2 (2014-12-04) ------------------- -* fixed gazebo tags used by nao_gazebo_plugin -* remove trailing spaces -* update generated urdf files, add gazebo plugins -* Added xacro and urdf dependencies -* Contributors: Arguedas Mikael, Mikael ARGUEDAS - -0.5.1 (2014-11-13) ------------------- - -0.5.0 (2014-11-06) ------------------- -* transfer nao_robot -* 0.4.1 -* update changelogs -* added camera and sonar to naoGazebo.xacro -* get the accent right in Séverin's name -* 0.4.0 -* update changelogs -* urdf generated files, launchfiles and config files - generated files updated - updated mesh file path - add xacro macro for fingers in naohands - update nao.urdf based on new macros for fingers - export with meshes - remove useless imu frame -* 0.3.0 -* update changelogs -* update maintainers - Armin, thank you for all your work, in ROS, Octomap and NAO. - Good luck out of the university ! -* Revert "Merge pull request `#26 `_ from vrabaud/fix_xacro" - Breaks groovy (xacro no catkin package), but will be required from hydro on - This reverts commit 321424a634a309ea9c284cf027074cdeda2a3c67, reversing - changes made to 383d285e01997e585bfa731525ce5f17a6cc3165. -* fix the missing dependency on xacro -* "0.2.3" -* Changelogs -* {ahornung->ros-nao} -* {ahornung->ros-nao} -* Fix `#17 `_: add dependency on sensor_msgs in nao_description -* "0.2.2" -* changelog -* "0.2.1" -* Changelogs -* [nao_description] Added missing include dirs in CMakeLists -* "0.2.0" -* Adding (edited) catkin-generated changelogs -* Adding bugtracker and repo URLs to package manifests -* Adding base_footprint node to nao_description, publishes footprint according - to REP-120 (based on previous node nao_remote/remap_odometry). Fixes Issue `#10 `_. -* Moved nao_description from nao_common to nao_robot -* Contributors: Armin Hornung, Karsten Knese, Séverin Lemaignan, Vincent Rabaud, margueda diff --git a/examples/nao_description/CMakeLists.txt b/examples/nao_description/CMakeLists.txt deleted file mode 100644 index 8f81929..0000000 --- a/examples/nao_description/CMakeLists.txt +++ /dev/null @@ -1,29 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(nao_description) - -# We need to find catkin for the rest of the script to work -find_package(catkin REQUIRED COMPONENTS - roscpp - tf - message_filters - sensor_msgs -) - -# Nothing that can be imported by other modules -catkin_package() - -include_directories(${catkin_INCLUDE_DIRS}) -add_executable(base_footprint src/base_footprint.cpp) -target_link_libraries(base_footprint ${catkin_LIBRARIES}) - -install(TARGETS base_footprint - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -# Instructions to install launch files -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch ) - -# Instructions to install urdf files -install(DIRECTORY urdf/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf) - diff --git a/examples/nao_description/config/urdf.rviz b/examples/nao_description/config/urdf.rviz deleted file mode 100644 index 3f5c28a..0000000 --- a/examples/nao_description/config/urdf.rviz +++ /dev/null @@ -1,542 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 565 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 0.7 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - CameraTop_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Head: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LBicep: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LElbow: - Alpha: 1 - Show Axes: false - Show Trail: false - LFeet: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LFinger11: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LFinger12: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LFinger13: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LFinger21: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LFinger22: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LFinger23: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LForeArm: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LHip: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LPelvis: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LShoulder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LSonar: - Alpha: 1 - Show Axes: false - Show Trail: false - LThigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LThumb1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LThumb2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LTibia: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Link Tree Style: Links in Alphabetic Order - Neck: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RBicep: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RElbow: - Alpha: 1 - Show Axes: false - Show Trail: false - RFeet: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RFinger11: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RFinger12: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RFinger13: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RFinger21: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RFinger22: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RFinger23: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RForeArm: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RHip: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RPelvis: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RShoulder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RSonar: - Alpha: 1 - Show Axes: false - Show Trail: false - RThigh: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RThumb1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RThumb2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RTibia: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gaze: - Alpha: 1 - Show Axes: false - Show Trail: false - l_ankle: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - l_gripper: - Alpha: 1 - Show Axes: false - Show Trail: false - l_sole: - Alpha: 1 - Show Axes: false - Show Trail: false - l_wrist: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_ankle: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - r_gripper: - Alpha: 1 - Show Axes: false - Show Trail: false - r_sole: - Alpha: 1 - Show Axes: false - Show Trail: false - r_wrist: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - CameraTop_frame: - Value: true - Head: - Value: true - LBicep: - Value: true - LElbow: - Value: true - LFeet: - Value: true - LFinger11: - Value: true - LFinger12: - Value: true - LFinger13: - Value: true - LFinger21: - Value: true - LFinger22: - Value: true - LFinger23: - Value: true - LForeArm: - Value: true - LHip: - Value: true - LPelvis: - Value: true - LShoulder: - Value: true - LSonar: - Value: true - LThigh: - Value: true - LThumb1: - Value: true - LThumb2: - Value: true - LTibia: - Value: true - Neck: - Value: true - RBicep: - Value: true - RElbow: - Value: true - RFeet: - Value: true - RFinger11: - Value: true - RFinger12: - Value: true - RFinger13: - Value: true - RFinger21: - Value: true - RFinger22: - Value: true - RFinger23: - Value: true - RForeArm: - Value: true - RHip: - Value: true - RPelvis: - Value: true - RShoulder: - Value: true - RSonar: - Value: true - RThigh: - Value: true - RThumb1: - Value: true - RThumb2: - Value: true - RTibia: - Value: true - base_link: - Value: true - gaze: - Value: true - l_ankle: - Value: true - l_gripper: - Value: true - l_sole: - Value: true - l_wrist: - Value: true - r_ankle: - Value: true - r_gripper: - Value: true - r_sole: - Value: true - r_wrist: - Value: true - torso: - Value: true - Marker Scale: 0.3 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - base_link: - torso: - LPelvis: - LHip: - LThigh: - LTibia: - l_ankle: - LFeet: - l_sole: - {} - LShoulder: - LBicep: - LElbow: - LForeArm: - l_wrist: - LFinger11: - LFinger12: - LFinger13: - {} - LFinger21: - LFinger22: - LFinger23: - {} - LThumb1: - LThumb2: - {} - l_gripper: - {} - LSonar: - {} - Neck: - Head: - CameraTop_frame: - gaze: - {} - RPelvis: - RHip: - RThigh: - RTibia: - r_ankle: - RFeet: - r_sole: - {} - RShoulder: - RBicep: - RElbow: - RForeArm: - r_wrist: - RFinger11: - RFinger12: - RFinger13: - {} - RFinger21: - RFinger22: - RFinger23: - {} - RThumb1: - RThumb2: - {} - r_gripper: - {} - RSonar: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: torso - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 1.32784 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.055398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.000398632 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 55 - Y: 40 diff --git a/examples/nao_description/launch/display.launch b/examples/nao_description/launch/display.launch deleted file mode 100644 index b7ed2cd..0000000 --- a/examples/nao_description/launch/display.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/examples/nao_description/launch/robot_state_publisher.launch b/examples/nao_description/launch/robot_state_publisher.launch deleted file mode 100644 index d4a2299..0000000 --- a/examples/nao_description/launch/robot_state_publisher.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - diff --git a/examples/nao_description/launch/upload_nao.launch b/examples/nao_description/launch/upload_nao.launch deleted file mode 100644 index bd6d63d..0000000 --- a/examples/nao_description/launch/upload_nao.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - - diff --git a/examples/nao_description/package.xml b/examples/nao_description/package.xml deleted file mode 100644 index 8b5162e..0000000 --- a/examples/nao_description/package.xml +++ /dev/null @@ -1,36 +0,0 @@ - - nao_description - 0.5.15 - - - Description of the Nao robot model that can be used with robot_state_publisher to display the robot's state of joint angles. - - - Armin Hornung - Stefan Osswald - Séverin Lemaignan - Vincent Rabaud - BSD - - http://www.ros.org/wiki/nao_description - https://github.com/ros-nao/nao_robot/issues - https://github.com/ros-nao/nao_robot - - catkin - - roscpp - tf - message_filters - sensor_msgs - urdf - xacro - - roscpp - robot_state_publisher - tf - message_filters - sensor_msgs - urdf - xacro - - diff --git a/examples/nao_description/scripts/test_cam_transform.py b/examples/nao_description/scripts/test_cam_transform.py deleted file mode 100755 index f93d0db..0000000 --- a/examples/nao_description/scripts/test_cam_transform.py +++ /dev/null @@ -1,109 +0,0 @@ -#!/usr/bin/env python -import sys -import roslib -roslib.load_manifest('nao_description') -import rospy -import tf -import numpy as np -from tf import TransformListener -from tf import transformations - -try: - import motion - from naoqi import ALProxy -except ImportError: - print("Error importing NaoQI. Please make sure that Aldebaran's NaoQI API is in your PYTHONPATH.") - exit(1) - - -# bla -def space_to_str(space): - if space == motion.SPACE_TORSO: - return "Torso" - elif space == motion.SPACE_WORLD: - return "Odom" - elif space == motion.SPACE_NAO: - return "BaseFootprint" - -def transform_to_str(result): - tstr = '' - maxColumnWidth = 20 - for i in range(0,4): - row = result[4*i:4*i+4] - rstr = ''.join(["%s" %str(k).center(maxColumnWidth) for k in (row)] ) - rstr = rstr + '\n' - tstr = tstr+rstr - #tstr.append('\n') - return tstr - -def np_mat_to_str(m): - mm = list() - for i in range(0,4): - for j in range(0,4): - mm.append(m[i,j]) - - return transform_to_str(mm) - -def cam_rotation_matrix(): - return np.matrix('0 0 1 0;-1 0 0 0; 0 -1 0 0; 0 0 0 1') - -if __name__ == '__main__': - rospy.init_node('test_tf') - listener = TransformListener() - ip = "ra.local" - port = 9559 - proxy = ALProxy("ALMotion", ip, port) - print "motionproxy ready" - space = motion.SPACE_TORSO - chainName = "Head" - currentSensor = proxy.getPosition(chainName, space, True) - current = proxy.getPosition(chainName, space, False) - print "Position of %s in space %s:"%(chainName, space_to_str(space)) - print currentSensor - print current - rpy = currentSensor[3:] - print rpy - DCM = apply(transformations.euler_matrix,rpy) - print DCM - tTHSensor = proxy.getTransform(chainName, space, True) - tTH = proxy.getTransform(chainName, space, False) - print "Transform %s to %s:"%(space_to_str(space),chainName) - print transform_to_str(tTHSensor) - #print transform_to_str(tTH) - chainName = "CameraTop" - tTCSensor = proxy.getTransform(chainName, space, True) - tTC = proxy.getTransform(chainName, space, False) - print "Transform %s to %s:"%(space_to_str(space),chainName) - print transform_to_str(tTCSensor) - print - T = np.matrix([tTCSensor[0:4],tTCSensor[4:8],tTCSensor[8:12],tTCSensor[12:]]) - #print cam_rotation_matrix() - DCM = T*cam_rotation_matrix() - print "Transform %s to %s (with rotated coordinate frame):"%(space_to_str(space),chainName) - print np_mat_to_str(DCM) - - stamp = rospy.Time() - frame1 = 'Torso_link' - frame2 = 'CameraTop_frame' - try: - listener.waitForTransform(frame1,frame2,stamp,rospy.Duration(1.0)) - (trans,rot) = listener.lookupTransform(frame1,frame2,stamp) - except tf.Exception as e: - print "ERROR using TF" - print "%s"%(e) - sys.exit(-1) - - m = transformations.quaternion_matrix(rot) - for i in range(0,3): - m[i,3] = trans[i] - print "[tf] Transform %s to %s:"%(frame1,frame2) - print np_mat_to_str(m) - - e = np.linalg.norm(DCM - m) - print "Error is: ",e - if e > 1e-5: - print "ERROR: Something is wrong with your TF transformations. Transforms do not match!" - else: - print "Test ok. Done" - - diff --git a/examples/nao_description/src/base_footprint.cpp b/examples/nao_description/src/base_footprint.cpp deleted file mode 100644 index 95c4dd0..0000000 --- a/examples/nao_description/src/base_footprint.cpp +++ /dev/null @@ -1,148 +0,0 @@ - -/* - * Publish the Nao humanoid's base_footprint frame according to REP-120 - * Based on nao_common/remap_odometry.cpp - * - * Copyright 2013 Armin Hornung, Stefan Osswald, University of Freiburg - * http://www.ros.org/wiki/nao - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the University of Freiburg nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include -#include -#include -#include -#include -#include - -class BaseFootprint -{ -public: - BaseFootprint(); - ~BaseFootprint(); - - -private: - void jsCallback(const sensor_msgs::JointState::ConstPtr & msg); - - ros::NodeHandle m_nh; - ros::NodeHandle m_privateNh; - - // for base_footprint_frame: broadcasts frame between right and left foot, coinciding with the ground - message_filters::Subscriber * m_jsSub; - tf::MessageFilter * m_jsFilter; - tf::TransformBroadcaster m_brBaseFootPrint; - tf::TransformListener m_listener; - - std::string m_odomFrameId; - std::string m_baseFrameId; - std::string m_lfootFrameId; - std::string m_rfootFrameId; - std::string m_baseFootPrintID; - -}; - -BaseFootprint::BaseFootprint() - : m_privateNh("~"), m_odomFrameId("odom"), m_baseFrameId("base_link"), - m_lfootFrameId("l_sole"), m_rfootFrameId("r_sole"), - m_baseFootPrintID("base_footprint") -{ - // Read parameters - m_privateNh.param("odom_frame_id", m_odomFrameId, m_odomFrameId); - m_privateNh.param("base_frame_id", m_baseFrameId, m_baseFrameId); - m_privateNh.param("base_footprint_frame_id", m_baseFootPrintID, m_baseFootPrintID); - - - // Resolve TF frames using ~tf_prefix parameter - - m_odomFrameId = m_listener.resolve(m_odomFrameId); - m_baseFrameId = m_listener.resolve(m_baseFrameId); - m_baseFootPrintID = m_listener.resolve(m_baseFootPrintID); - m_lfootFrameId = m_listener.resolve(m_lfootFrameId); - m_rfootFrameId = m_listener.resolve(m_rfootFrameId); - - // subscribe to joint_states to provide a clock signal for synchronization - // since the frames are computed based on the joint state, all should be available - // with the same time stamps - m_jsSub = new message_filters::Subscriber(m_nh, "joint_states", 50); - m_jsFilter = new tf::MessageFilter(*m_jsSub, m_listener, m_rfootFrameId, 50); - std::vector frames; - frames.push_back(m_rfootFrameId); - frames.push_back(m_odomFrameId); - m_jsFilter->setTargetFrames(frames); - m_jsFilter->registerCallback(boost::bind(&BaseFootprint::jsCallback, this, _1)); -} - -BaseFootprint::~BaseFootprint(){ - delete m_jsFilter; - delete m_jsSub; -} - -void BaseFootprint::jsCallback(const sensor_msgs::JointState::ConstPtr & ptr) -{ - ros::Time time = ptr->header.stamp; - tf::StampedTransform tf_odom_to_base, tf_odom_to_left_foot, tf_odom_to_right_foot; - - ROS_DEBUG("JointState callback function, computing frame %s", m_baseFootPrintID.c_str()); - try { - m_listener.lookupTransform(m_odomFrameId, m_lfootFrameId, time, tf_odom_to_left_foot); - m_listener.lookupTransform(m_odomFrameId, m_rfootFrameId, time, tf_odom_to_right_foot); - m_listener.lookupTransform(m_odomFrameId, m_baseFrameId, time, tf_odom_to_base); - } catch (const tf::TransformException& ex){ - ROS_ERROR("%s",ex.what()); - return ; - } - - tf::Vector3 new_origin = (tf_odom_to_right_foot.getOrigin() + tf_odom_to_left_foot.getOrigin())/2.0; // middle of both feet - double height = std::min(tf_odom_to_left_foot.getOrigin().getZ(), tf_odom_to_right_foot.getOrigin().getZ()); // fix to lowest foot - new_origin.setZ(height); - - // adjust yaw according to torso orientation, all other angles 0 (= in z-plane) - double roll, pitch, yaw; - tf_odom_to_base.getBasis().getRPY(roll, pitch, yaw); - - tf::Transform tf_odom_to_footprint(tf::createQuaternionFromYaw(yaw), new_origin); - tf::Transform tf_base_to_footprint = tf_odom_to_base.inverse() * tf_odom_to_footprint; - - // publish transform with parent m_baseFrameId and new child m_baseFootPrintID - // i.e. transform from m_baseFrameId to m_baseFootPrintID - m_brBaseFootPrint.sendTransform(tf::StampedTransform(tf_base_to_footprint, time, m_baseFrameId, m_baseFootPrintID)); - ROS_DEBUG("Published Transform %s --> %s", m_baseFrameId.c_str(), m_baseFootPrintID.c_str()); - - return; - -} - -int main(int argc, char** argv){ - ros::init(argc, argv, "base_footprint"); - BaseFootprint baseFootprint; - ros::spin(); - - return 0; -} - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao.urdf b/examples/nao_description/urdf/naoV32_generated_urdf/nao.urdf deleted file mode 100644 index 0607f82..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao.urdf +++ /dev/null @@ -1,2276 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /nao_dcm - 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-0.785398163398 - 0.785398163398 - - - LFinger11_link - - - LFinger12_link - - - LFinger13_link - - - LFinger21_link - - - LFinger22_link - - - LFinger23_link - - - LThumb1_link - - - LThumb2_link - - - l_gripper - - - RFinger11_link - - - RFinger12_link - - - RFinger13_link - - - RFinger21_link - - - RFinger22_link - - - RFinger23_link - - - RThumb1_link - - - RThumb2_link - - - r_gripper - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - - 5 - 1 - -0.13 - 0.13 - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/naoGazebo.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/naoGazebo.xacro deleted file mode 100644 index 4c6130f..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/naoGazebo.xacro +++ /dev/null @@ -1,869 +0,0 @@ - - - - - - - ${side}Finger11_link - - - ${side}Finger12_link - - - ${side}Finger13_link - - - ${side}Finger21_link - - - ${side}Finger22_link - - - ${side}Finger23_link - - - ${side}Thumb1_link - - - ${side}Thumb2_link - - - ${side_small}_gripper - - - - - - - ${side}Hand - ${side}Finger${num}1 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Finger${num}2 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Finger${num}3 - -${PI/4} - ${PI/4} - - - - - - ${side}Hand - ${side}Thumb1 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Thumb2 - -${PI/4} - ${PI/4} - - - - - - - - /nao_dcm - gazebo_ros_control/DefaultRobotHWSim - - - - - - LHipYawPitch - RHipYawPitch - 1.0 - 0.0 - - - - - - - - - - - - - - - - - 0.5 - 0.5 - false - false - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - LFsrFL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - - -0.2617993877991494 - 0.2617993877991494 - - - - - 5 - 1 - - -0.13 - 0.13 - - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/naoTransmission.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/naoTransmission.xacro deleted file mode 100644 index 0ab13c9..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/naoTransmission.xacro +++ /dev/null @@ -1,175 +0,0 @@ - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type3B} - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3B} - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type2A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type2B} - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_arms.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_arms.xacro deleted file mode 100644 index fc34415..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_arms.xacro +++ /dev/null @@ -1,180 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_fingers.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_fingers.xacro deleted file mode 100644 index 9e795a6..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_fingers.xacro +++ /dev/null @@ -1,230 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_head.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_head.xacro deleted file mode 100644 index bc0cf2a..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_head.xacro +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_legs.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_legs.xacro deleted file mode 100644 index 6802563..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_legs.xacro +++ /dev/null @@ -1,201 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_material.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_material.xacro deleted file mode 100644 index 398533e..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_material.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_robot.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_robot.xacro deleted file mode 100644 index 9a8594d..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_robot.xacro +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_sensors.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_sensors.xacro deleted file mode 100644 index 5c7bee4..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_sensors.xacro +++ /dev/null @@ -1,302 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_torso.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_torso.xacro deleted file mode 100644 index 436f1eb..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_torso.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV32_generated_urdf/nao_visual_collisions.xacro b/examples/nao_description/urdf/naoV32_generated_urdf/nao_visual_collisions.xacro deleted file mode 100644 index f690401..0000000 --- a/examples/nao_description/urdf/naoV32_generated_urdf/nao_visual_collisions.xacro +++ /dev/null @@ -1,867 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao.urdf b/examples/nao_description/urdf/naoV33_generated_urdf/nao.urdf deleted file mode 100644 index 4c5e5a6..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao.urdf +++ /dev/null @@ -1,2604 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /nao_dcm - gazebo_ros_control/DefaultRobotHWSim - - - - - - LHipYawPitch - RHipYawPitch - 1.0 - 0.0 - - - LHand - LFinger11 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger12 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger13 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger21 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger22 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger23 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger11 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger12 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger13 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger21 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger22 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger23 - -0.785398163398 - 0.785398163398 - - - LHand - LThumb1 - -0.785398163398 - 0.785398163398 - - - LHand - LThumb2 - -0.785398163398 - 0.785398163398 - - - RHand - RThumb1 - -0.785398163398 - 0.785398163398 - - - RHand - RThumb2 - -0.785398163398 - 0.785398163398 - - - LFinger11_link - - - LFinger12_link - - - LFinger13_link - - - LFinger21_link - - - LFinger22_link - - - LFinger23_link - - - LThumb1_link - - - LThumb2_link - - - l_gripper - - - RFinger11_link - - - RFinger12_link - - - RFinger13_link - - - RFinger21_link - - - RFinger22_link - - - RFinger23_link - - - RThumb1_link - - - RThumb2_link - - - r_gripper - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - - 5 - 1 - -0.13 - 0.13 - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/naoGazebo.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/naoGazebo.xacro deleted file mode 100644 index 4c6130f..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/naoGazebo.xacro +++ /dev/null @@ -1,869 +0,0 @@ - - - - - - - ${side}Finger11_link - - - ${side}Finger12_link - - - ${side}Finger13_link - - - ${side}Finger21_link - - - ${side}Finger22_link - - - ${side}Finger23_link - - - ${side}Thumb1_link - - - ${side}Thumb2_link - - - ${side_small}_gripper - - - - - - - ${side}Hand - ${side}Finger${num}1 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Finger${num}2 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Finger${num}3 - -${PI/4} - ${PI/4} - - - - - - ${side}Hand - ${side}Thumb1 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Thumb2 - -${PI/4} - ${PI/4} - - - - - - - - /nao_dcm - gazebo_ros_control/DefaultRobotHWSim - - - - - - LHipYawPitch - RHipYawPitch - 1.0 - 0.0 - - - - - - - - - - - - - - - - - 0.5 - 0.5 - false - false - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - LFsrFL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - - -0.2617993877991494 - 0.2617993877991494 - - - - - 5 - 1 - - -0.13 - 0.13 - - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/naoTransmission.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/naoTransmission.xacro deleted file mode 100644 index 0ab13c9..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/naoTransmission.xacro +++ /dev/null @@ -1,175 +0,0 @@ - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type3B} - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3B} - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type2A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type2B} - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_arms.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_arms.xacro deleted file mode 100644 index 149e685..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_arms.xacro +++ /dev/null @@ -1,180 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_fingers.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_fingers.xacro deleted file mode 100644 index 23e252b..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_fingers.xacro +++ /dev/null @@ -1,230 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_head.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_head.xacro deleted file mode 100644 index 598969f..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_head.xacro +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_legs.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_legs.xacro deleted file mode 100644 index ba7aea4..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_legs.xacro +++ /dev/null @@ -1,201 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_material.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_material.xacro deleted file mode 100644 index 398533e..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_material.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_robot.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_robot.xacro deleted file mode 100644 index b3b42e4..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_robot.xacro +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_sensors.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_sensors.xacro deleted file mode 100644 index a5ac5bf..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_sensors.xacro +++ /dev/null @@ -1,344 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_torso.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_torso.xacro deleted file mode 100644 index fd93479..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_torso.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV33_generated_urdf/nao_visual_collisions.xacro b/examples/nao_description/urdf/naoV33_generated_urdf/nao_visual_collisions.xacro deleted file mode 100644 index 074e0ae..0000000 --- a/examples/nao_description/urdf/naoV33_generated_urdf/nao_visual_collisions.xacro +++ /dev/null @@ -1,867 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao.urdf b/examples/nao_description/urdf/naoV40_generated_urdf/nao.urdf deleted file mode 100644 index 09935d2..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao.urdf +++ /dev/null @@ -1,2604 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /nao_dcm - gazebo_ros_control/DefaultRobotHWSim - - - - - - LHipYawPitch - RHipYawPitch - 1.0 - 0.0 - - - LHand - LFinger11 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger12 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger13 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger21 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger22 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger23 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger11 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger12 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger13 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger21 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger22 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger23 - -0.785398163398 - 0.785398163398 - - - LHand - LThumb1 - -0.785398163398 - 0.785398163398 - - - LHand - LThumb2 - -0.785398163398 - 0.785398163398 - - - RHand - RThumb1 - -0.785398163398 - 0.785398163398 - - - RHand - RThumb2 - -0.785398163398 - 0.785398163398 - - - LFinger11_link - - - LFinger12_link - - - LFinger13_link - - - LFinger21_link - - - LFinger22_link - - - LFinger23_link - - - LThumb1_link - - - LThumb2_link - - - l_gripper - - - RFinger11_link - - - RFinger12_link - - - RFinger13_link - - - RFinger21_link - - - RFinger22_link - - - RFinger23_link - - - RThumb1_link - - - RThumb2_link - - - r_gripper - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - - 5 - 1 - -0.13 - 0.13 - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/naoGazebo.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/naoGazebo.xacro deleted file mode 100644 index c63db7e..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/naoGazebo.xacro +++ /dev/null @@ -1,869 +0,0 @@ - - - - - - - ${side}Finger11_link - - - ${side}Finger12_link - - - ${side}Finger13_link - - - ${side}Finger21_link - - - ${side}Finger22_link - - - ${side}Finger23_link - - - ${side}Thumb1_link - - - ${side}Thumb2_link - - - ${side_small}_gripper - - - - - - - ${side}Hand - ${side}Finger${num}1 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Finger${num}2 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Finger${num}3 - -${PI/4} - ${PI/4} - - - - - - ${side}Hand - ${side}Thumb1 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Thumb2 - -${PI/4} - ${PI/4} - - - - - - - - - gazebo_ros_control/DefaultRobotHWSim - - - - - - LHipYawPitch - RHipYawPitch - 1.0 - 0.0 - - - - - - - - - - - - - - - - - 0.5 - 0.5 - false - false - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - LFsrFL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - - -0.2617993877991494 - 0.2617993877991494 - - - - - 5 - 1 - - -0.13 - 0.13 - - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/naoTransmission.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/naoTransmission.xacro deleted file mode 100644 index 0ab13c9..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/naoTransmission.xacro +++ /dev/null @@ -1,175 +0,0 @@ - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type3B} - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3B} - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type2A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type2B} - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_arms.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_arms.xacro deleted file mode 100644 index 4a6cfec..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_arms.xacro +++ /dev/null @@ -1,180 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_fingers.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_fingers.xacro deleted file mode 100644 index 5b82eb2..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_fingers.xacro +++ /dev/null @@ -1,230 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_head.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_head.xacro deleted file mode 100644 index 7f11c94..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_head.xacro +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_legs.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_legs.xacro deleted file mode 100644 index 865da50..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_legs.xacro +++ /dev/null @@ -1,201 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_material.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_material.xacro deleted file mode 100644 index 398533e..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_material.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_robot.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_robot.xacro deleted file mode 100644 index 4d89202..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_robot.xacro +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_sensors.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_sensors.xacro deleted file mode 100644 index 0539189..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_sensors.xacro +++ /dev/null @@ -1,344 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_torso.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_torso.xacro deleted file mode 100644 index f2ef566..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_torso.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV40_generated_urdf/nao_visual_collisions.xacro b/examples/nao_description/urdf/naoV40_generated_urdf/nao_visual_collisions.xacro deleted file mode 100644 index 074e0ae..0000000 --- a/examples/nao_description/urdf/naoV40_generated_urdf/nao_visual_collisions.xacro +++ /dev/null @@ -1,867 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV50_generated_urdf/nao.urdf b/examples/nao_description/urdf/naoV50_generated_urdf/nao.urdf deleted file mode 100644 index cd1aedf..0000000 --- a/examples/nao_description/urdf/naoV50_generated_urdf/nao.urdf +++ /dev/null @@ -1,2576 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /nao_dcm - gazebo_ros_control/DefaultRobotHWSim - - - - - - LHipYawPitch - RHipYawPitch - 1.0 - 0.0 - - - LHand - LFinger11 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger12 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger13 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger21 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger22 - -0.785398163398 - 0.785398163398 - - - LHand - LFinger23 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger11 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger12 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger13 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger21 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger22 - -0.785398163398 - 0.785398163398 - - - RHand - RFinger23 - -0.785398163398 - 0.785398163398 - - - LHand - LThumb1 - -0.785398163398 - 0.785398163398 - - - LHand - LThumb2 - -0.785398163398 - 0.785398163398 - - - RHand - RThumb1 - -0.785398163398 - 0.785398163398 - - - RHand - RThumb2 - -0.785398163398 - 0.785398163398 - - - LFinger11_link - - - LFinger12_link - - - LFinger13_link - - - LFinger21_link - - - LFinger22_link - - - LFinger23_link - - - LThumb1_link - - - LThumb2_link - - - l_gripper - - - RFinger11_link - - - RFinger12_link - - - RFinger13_link - - - RFinger21_link - - - RFinger22_link - - - RFinger23_link - - - RThumb1_link - - - RThumb2_link - - - r_gripper - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - - 5 - 1 - -0.13 - 0.13 - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 150.27 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 173.22 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 50.61 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 36.24 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 130.85 - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - 201.3 - - - diff --git a/examples/nao_description/urdf/naoV50_generated_urdf/naoGazebo.xacro b/examples/nao_description/urdf/naoV50_generated_urdf/naoGazebo.xacro deleted file mode 100644 index 4c6130f..0000000 --- a/examples/nao_description/urdf/naoV50_generated_urdf/naoGazebo.xacro +++ /dev/null @@ -1,869 +0,0 @@ - - - - - - - ${side}Finger11_link - - - ${side}Finger12_link - - - ${side}Finger13_link - - - ${side}Finger21_link - - - ${side}Finger22_link - - - ${side}Finger23_link - - - ${side}Thumb1_link - - - ${side}Thumb2_link - - - ${side_small}_gripper - - - - - - - ${side}Hand - ${side}Finger${num}1 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Finger${num}2 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Finger${num}3 - -${PI/4} - ${PI/4} - - - - - - ${side}Hand - ${side}Thumb1 - -${PI/4} - ${PI/4} - - - ${side}Hand - ${side}Thumb2 - -${PI/4} - ${PI/4} - - - - - - - - /nao_dcm - gazebo_ros_control/DefaultRobotHWSim - - - - - - LHipYawPitch - RHipYawPitch - 1.0 - 0.0 - - - - - - - - - - - - - - - - - 0.5 - 0.5 - false - false - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - LFsrFL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRL_frame_collision - - - nao_robot - true - FSR/LFoot/RearLeft - LFsrRL_frame - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrRR_frame_collision - - - nao_robot - true - FSR/LFoot/RearRight - LFsrRR_frame - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - - -0.2617993877991494 - 0.2617993877991494 - - - - - 5 - 1 - - -0.13 - 0.13 - - - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_left - LSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - - ultrasound - - - - - - - 0 0 0 0 0 0 - 20 - false - - - - 5 - 1 - -0.2617993877991494 - 0.2617993877991494 - - - 5 - 1 - -0.13 - 0.13 - - - - 0.025 - 2.55 - 1 - - - - nao_robot - 0.05 - true - 20 - sonar_right - RSonar_frame - 0.025 - 2.55 - 0.5235987755982988 - ultrasound - - - - - diff --git a/examples/nao_description/urdf/naoV50_generated_urdf/naoTransmission.xacro b/examples/nao_description/urdf/naoV50_generated_urdf/naoTransmission.xacro deleted file mode 100644 index 0ab13c9..0000000 --- a/examples/nao_description/urdf/naoV50_generated_urdf/naoTransmission.xacro +++ /dev/null @@ -1,175 +0,0 @@ - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type3B} - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type3B} - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type2A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - ${speed_red_type2B} - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1B} - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - - PositionJointInterface - ${speed_red_type1A} - - - - - - diff --git a/examples/nao_description/urdf/naoV50_generated_urdf/nao_arms.xacro b/examples/nao_description/urdf/naoV50_generated_urdf/nao_arms.xacro deleted file mode 100644 index 8695b00..0000000 --- a/examples/nao_description/urdf/naoV50_generated_urdf/nao_arms.xacro +++ /dev/null @@ -1,180 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b/examples/nao_description/urdf/naoV50_generated_urdf/nao_sensors.xacro deleted file mode 100644 index e2e10c4..0000000 --- a/examples/nao_description/urdf/naoV50_generated_urdf/nao_sensors.xacro +++ /dev/null @@ -1,316 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV50_generated_urdf/nao_torso.xacro b/examples/nao_description/urdf/naoV50_generated_urdf/nao_torso.xacro deleted file mode 100644 index f2ef566..0000000 --- a/examples/nao_description/urdf/naoV50_generated_urdf/nao_torso.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/examples/nao_description/urdf/naoV50_generated_urdf/nao_visual_collisions.xacro b/examples/nao_description/urdf/naoV50_generated_urdf/nao_visual_collisions.xacro deleted file mode 100644 index 9e3ab24..0000000 --- a/examples/nao_description/urdf/naoV50_generated_urdf/nao_visual_collisions.xacro +++ /dev/null @@ -1,867 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

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2369 1155 1102 2370 1153 1101 2371 1152 1100 2372 1121 1071 2373 1155 1102 2374 1154 1103 2375 1157 1104 2376 1122 1072 2377 1121 1071 2378 1158 1105 2379 1126 1076 2380 1122 1072 2381 1159 1106 2382 1160 1107 2383 955 1108 2384 1161 1109 2385 1162 1110 2386 1133 1111 2387 574 530 2388 581 537 2389 1162 1110 2390 1133 1111 2391 1162 1110 2392 1163 1112 2393 1162 1110 2394 581 537 2395 588 549 2396 1130 1080 2397 1163 1112 2398 1164 1113 2399 1163 1112 2400 588 549 2401 595 787 2402 612 566 2403 1166 1114 2404 1167 1115 2405 1166 1114 2406 1147 1096 2407 1140 1089 2408 1167 1115 2409 1168 1116 2410 667 621 2411 1140 1089 2412 1139 1088 2413 1168 1116 2414 667 621 2415 1168 1116 2416 1164 1113 2417 1168 1116 2418 1139 1088 2419 1165 1117 2420 1169 1118 2421 1170 1119 2422 783 738 2423 1129 1079 2424 1128 1078 2425 1170 1119 2426 783 738 2427 1170 1119 2428 1171 1120 2429 1170 1119 2430 1128 1078 2431 1125 1074 2432 791 746 2433 1171 1120 2434 1172 1121 2435 1171 1120 2436 1125 1074 2437 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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2003 2361 6208 2005 2363 6209 2006 2364 6210 2004 2362 6211 1998 2352 6212 2492 2355 6213 2493 2365 6214 2418 2057 6215 2432 2059 6216 2519 2366 6217 2520 2358 6218 1355 1580 6219 1353 1578 6220 2007 2367 6221 2008 2368 6222 1354 1579 6223 1357 1581 6224 2001 2359 6225 2007 2367 6226 2009 2369 6227 2010 2370 6228 2008 2368 6229 2002 2360 6230 2003 2361 6231 2009 2369 6232 2011 2371 6233 2012 2372 6234 2010 2370 6235 2004 2362 6236 2494 2373 6237 1482 1707 6238 2418 2057 6239 2518 2374 6240 2519 2366 6241 2432 2059 6242 1029 1254 6243 2013 2375 6244 2014 2376 6245 1032 1256 6246 2584 2377 6247 2016 2378 6248 2583 2379 6249 2017 2380 6250 2018 2381 6251 2585 2382 6252 2016 2378 6253 2020 2383 6254 2463 2384 6255 2464 2385 6256 2021 2386 6257 2023 2387 6258 2546 2388 6259 2545 2389 6260 2477 2390 6261 2435 2021 6262 1801 2019 6263 2535 2391 6264 2536 2392 6265 1802 2020 6266 1014 1240 6267 2025 2393 6268 2013 2375 6269 1015 1244 6270 1032 1256 6271 2015 2394 6272 2025 2393 6273 2027 2395 6274 2017 2380 6275 2026 2396 6276 2585 2382 6277 2019 2397 6278 2464 2385 6279 2465 2398 6280 2029 2399 6281 2030 2400 6282 2547 2401 6283 2546 2388 6284 2478 2402 6285 2436 2032 6286 2435 2021 6287 2534 2403 6288 2535 2391 6289 2439 2023 6290 1013 1239 6291 2031 2404 6292 2025 2393 6293 1016 1241 6294 1015 1244 6295 2026 2396 6296 2031 2404 6297 2033 2405 6298 2027 2395 6299 2032 2406 6300 2026 2396 6301 2028 2407 6302 2466 2408 6303 2035 2409 6304 2029 2399 6305 2548 2410 6306 2547 2401 6307 2030 2400 6308 2479 2411 6309 1818 2036 6310 2436 2032 6311 2533 2412 6312 2534 2403 6313 2438 2034 6314 1013 1239 6315 1002 1228 6316 2037 2413 6317 2038 2414 6318 1003 1232 6319 1016 1241 6320 2031 2404 6321 2037 2413 6322 2039 2415 6323 2040 2416 6324 2038 2414 6325 2032 2406 6326 2466 2408 6327 2467 2417 6328 2041 2418 6329 2042 2419 6330 2549 2420 6331 2548 2410 6332 2480 2421 6333 1825 2048 6334 1818 2036 6335 2532 2422 6336 2533 2412 6337 1820 2038 6338 1002 1228 6339 2405 2314 6340 1977 2316 6341 1978 2319 6342 2401 2315 6343 1003 1232 6344 2037 2413 6345 1977 2316 6346 1979 2423 6347 1980 2424 6348 1978 2319 6349 2038 2414 6350 2468 2425 6351 1981 2321 6352 2041 2418 6353 2550 2322 6354 2549 2420 6355 2042 2419 6356 2481 2426 6357 2406 2325 6358 1825 2048 6359 2531 2326 6360 2532 2422 6361 1826 2045 6362 2440 2427 6363 1308 1534 6364 2043 2428 6365 2045 2429 6366 1310 1535 6367 2442 2430 6368 2044 2431 6369 2043 2428 6370 2047 2432 6371 2049 2433 6372 2045 2429 6373 2046 2434 6374 2574 2435 6375 2573 2436 6376 2051 2437 6377 2053 2438 6378 2579 2439 6379 2580 2440 6380 2497 2441 6381 1529 1753 6382 1504 1729 6383 2515 2442 6384 2516 2443 6385 1506 1730 6386 1308 1534 6387 1307 1531 6388 1923 2210 6389 1924 2213 6390 1309 1532 6391 1310 1535 6392 2043 2428 6393 1923 2210 6394 1925 2444 6395 1926 2445 6396 1924 2213 6397 2045 2429 6398 2573 2436 6399 2572 2446 6400 1927 2215 6401 1928 2217 6402 2578 2216 6403 2579 2439 6404 2498 2447 6405 1533 1757 6406 1529 1753 6407 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2485 6541 2076 2493 6542 2457 2494 6543 2463 2384 6544 2022 2495 6545 2024 2496 6546 2545 2389 6547 2539 2497 6548 2455 2490 6549 2476 2498 6550 1801 2019 6551 1802 2020 6552 2536 2392 6553 2537 2491 6554 2091 2499 6555 2103 2500 6556 2079 2501 6557 2100 2502 6558 2104 2503 6559 2092 2504 6560 2091 2499 6561 2080 2505 6562 2083 2506 6563 2092 2504 6564 2111 2507 6565 2112 2508 6566 2110 2509 6567 2594 2510 6568 2595 2511 6569 2084 2512 6570 2085 2513 6571 2607 2514 6572 2087 2515 6573 2110 2509 6574 2082 2516 6575 2088 2517 6576 2089 2518 6577 2085 2513 6578 2090 2519 6579 2590 2520 6580 2589 2521 6581 2093 2522 6582 2094 2523 6583 2611 2524 6584 2102 2525 6585 2095 2526 6586 2096 2527 6587 2097 2528 6588 2098 2529 6589 2094 2523 6590 2086 2530 6591 2082 2516 6592 2101 2531 6593 2089 2518 6594 2106 2532 6595 2099 2533 6596 2082 2516 6597 2595 2511 6598 2586 2534 6599 2085 2513 6600 2099 2533 6601 2609 2535 6602 2600 2536 6603 2588 2537 6604 2587 2538 6605 2617 2539 6606 2619 2540 6607 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1124 1179 3096 1083 1138 3097 1085 1140 3098 1125 1180 3099 1085 1140 3100 1087 1181 3101 1087 1181 3102 1089 1143 3103 1127 1182 3104 1127 1182 3105 1089 1143 3106 1091 1145 3107 1128 1183 3108 1091 1145 3109 1093 1147 3110 1129 1184 3111 1093 1147 3112 1095 1149 3113 1130 1185 3114 1095 1149 3115 1097 1151 3116 1131 1186 3117 1097 1151 3118 1099 1153 3119 1132 1187 3120 1099 1153 3121 1101 1155 3122 1133 1188 3123 1101 1155 3124 1038 1094 3125 3927 1189 3126 3926 1190 3127 892 888 3128 892 888 3129 3926 1190 3130 3925 1191 3131 3925 1191 3132 3924 1192 3133 925 920 3134 925 920 3135 3924 1192 3136 3955 1193 3137 927 922 3138 3955 1193 3139 3954 1194 3140 890 886 3141 3954 1194 3142 3953 1195 3143 888 884 3144 3953 1195 3145 3952 1196 3146 887 883 3147 3952 1196 3148 3951 1197 3149 885 881 3150 3951 1197 3151 3950 1198 3152 3950 1198 3153 3949 1199 3154 882 1200 3155 3949 1199 3156 3948 1201 3157 880 877 3158 3948 1201 3159 3947 1202 3160 878 875 3161 3947 1202 3162 3946 1203 3163 877 874 3164 3946 1203 3165 3945 1204 3166 875 872 3167 3945 1204 3168 3944 1205 3169 867 864 3170 3944 1205 3171 3943 1206 3172 865 862 3173 865 862 3174 3943 1206 3175 3942 1207 3176 864 861 3177 3942 1207 3178 3941 1208 3179 859 856 3180 3941 1208 3181 3940 1209 3182 846 843 3183 3940 1209 3184 3939 1210 3185 844 841 3186 3939 1210 3187 3938 1211 3188 3938 1211 3189 3937 1212 3190 849 846 3191 3937 1212 3192 3936 1213 3193 847 844 3194 3936 1213 3195 3935 1214 3196 895 893 3197 3935 1214 3198 3934 1215 3199 897 897 3200 897 897 3201 3934 1215 3202 3933 1216 3203 899 894 3204 3933 1216 3205 3932 1217 3206 906 901 3207 3932 1217 3208 3931 1218 3209 903 908 3210 3931 1218 3211 3930 1219 3212 912 910 3213 3930 1219 3214 3929 1220 3215 914 1221 3216 3929 1220 3217 3928 1222 3218 923 918 3219 3928 1222 3220 3927 1189 3221 1134 1223 3222 1170 1224 3223 1173 1225 3224 1175 1226 3225 1174 1227 3226 1135 1228 3227 1170 1224 3228 1134 1223 3229 1136 1229 3230 1176 1230 3231 1135 1228 3232 1174 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1196 1251 3300 1134 1223 3301 1148 1253 3302 1201 1254 3303 1135 1228 3304 1199 1252 3305 1148 1253 3306 1134 1223 3307 1149 1255 3308 1204 1256 3309 1135 1228 3310 1201 1254 3311 1149 1255 3312 1134 1223 3313 1150 1257 3314 1151 1258 3315 1135 1228 3316 1204 1256 3317 1150 1257 3318 1134 1223 3319 1152 1259 3320 1153 1260 3321 1135 1228 3322 1151 1258 3323 1152 1259 3324 1134 1223 3325 1154 1261 3326 1155 1262 3327 1135 1228 3328 1153 1260 3329 1154 1261 3330 1134 1223 3331 1207 1263 3332 1156 1264 3333 1135 1228 3334 1155 1262 3335 1207 1263 3336 1134 1223 3337 1208 1265 3338 1157 1266 3339 1135 1228 3340 1156 1264 3341 1208 1265 3342 1134 1223 3343 1210 1267 3344 1158 1268 3345 1135 1228 3346 1157 1266 3347 1210 1267 3348 1134 1223 3349 1159 1269 3350 1160 1270 3351 1135 1228 3352 1158 1268 3353 1159 1269 3354 1134 1223 3355 1212 1271 3356 1213 1272 3357 1135 1228 3358 1160 1270 3359 1212 1271 3360 1134 1223 3361 1161 1273 3362 1214 1274 3363 1135 1228 3364 1213 1272 3365 1161 1273 3366 1134 1223 3367 1162 1275 3368 1163 1276 3369 1135 1228 3370 1214 1274 3371 1162 1275 3372 1134 1223 3373 1164 1277 3374 1165 1278 3375 1135 1228 3376 1163 1276 3377 1164 1277 3378 1134 1223 3379 1166 1279 3380 1217 1280 3381 1135 1228 3382 1165 1278 3383 1166 1279 3384 1134 1223 3385 1167 1281 3386 1220 1282 3387 1135 1228 3388 1217 1280 3389 1167 1281 3390 1134 1223 3391 1168 1283 3392 1223 1284 3393 1135 1228 3394 1220 1282 3395 1168 1283 3396 1134 1223 3397 1224 1285 3398 1225 1286 3399 1135 1228 3400 1223 1284 3401 1224 1285 3402 1134 1223 3403 1169 1287 3404 1226 1288 3405 1135 1228 3406 1225 1286 3407 1169 1287 3408 1134 1223 3409 1173 1225 3410 1175 1226 3411 1135 1228 3412 1226 1288 3413 3957 1289 3414 1171 1290 3415 1172 1291 3416 1230 1292 3417 1229 1293 3418 3994 1294 3419 3956 1295 3420 1231 1296 3421 1171 1290 3422 3993 1297 3423 3994 1294 3424 1229 1293 3425 3987 1298 3426 1235 1299 3427 1231 1296 3428 3992 1300 3429 3993 1297 3430 1234 1301 3431 3986 1302 3432 1179 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1200 1343 3500 4012 1348 3501 4013 1344 3502 1258 1349 3503 3975 1346 3504 3974 1350 3505 1261 1351 3506 1263 1352 3507 4011 1353 3508 4012 1348 3509 3974 1350 3510 3973 1354 3511 1205 1355 3512 1265 1356 3513 4010 1357 3514 4011 1353 3515 3973 1354 3516 3972 1358 3517 1266 1359 3518 1206 1360 3519 4009 1361 3520 4010 1357 3521 3972 1358 3522 3971 1362 3523 1268 1363 3524 1270 1364 3525 4008 1365 3526 4009 1361 3527 3971 1362 3528 3970 1366 3529 1209 1367 3530 1271 1368 3531 4007 1369 3532 4008 1365 3533 3970 1366 3534 3969 1370 3535 1272 1371 3536 1274 1372 3537 4006 1373 3538 4007 1369 3539 3969 1370 3540 3968 1374 3541 1275 1375 3542 1211 1376 3543 4005 1377 3544 4006 1373 3545 3968 1374 3546 3967 1378 3547 1277 1379 3548 1279 1380 3549 4004 1381 3550 4005 1377 3551 3967 1378 3552 3966 1382 3553 1280 1383 3554 1282 1384 3555 4003 1385 3556 4004 1381 3557 3966 1382 3558 3965 1386 3559 1215 1387 3560 1284 1388 3561 4002 1389 3562 4003 1385 3563 3965 1386 3564 3964 1390 3565 1285 1391 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2013 2387 5700 2018 2391 5701 2019 2392 5702 2016 2389 5703 2014 2388 5704 2019 2392 5705 1999 2375 5706 1998 2374 5707 2012 2386 5708 1999 2375 5709 2015 2393 5710 2017 2390 5711 2001 2394 5712 2000 2376 5713 1938 2322 5714 1938 2322 5715 2000 2376 5716 2003 2395 5717 2021 2396 5718 2022 2397 5719 2023 2398 5720 2023 2398 5721 2022 2397 5722 2025 2399 5723 2023 2398 5724 1987 2364 5725 1986 2400 5726 1990 2367 5727 1987 2364 5728 2023 2398 5729 2027 2401 5730 2008 2381 5731 1936 2402 5732 2027 2401 5733 1939 2323 5734 1941 2325 5735 2028 2403 5736 4289 2404 5737 2030 2405 5738 2030 2405 5739 2032 2406 5740 2033 2407 5741 2035 2408 5742 4288 2409 5743 2029 2410 5744 2035 2408 5745 2036 2411 5746 4287 2412 5747 2038 2413 5748 2039 2414 5749 2517 2415 5750 2040 2416 5751 2041 2417 5752 2042 2418 5753 2031 2419 5754 2043 2420 5755 2044 2421 5756 2031 2419 5757 2033 2407 5758 2045 2422 5759 2047 2423 5760 2048 2424 5761 2451 2425 5762 2515 2426 5763 2452 2427 5764 2050 2428 5765 2093 2429 5766 2018 2391 5767 2013 2387 5768 2016 2389 5769 2020 2430 5770 2051 2431 5771 2053 2432 5772 1993 2369 5773 1992 2373 5774 2054 2433 5775 2052 2434 5776 1992 2373 5777 2053 2432 5778 2052 2434 5779 2019 2392 5780 2054 2433 5781 2020 2430 5782 2019 2392 5783 2055 2435 5784 2009 2382 5785 2008 2381 5786 2011 2384 5787 2010 2383 5788 2055 2435 5789 2044 2421 5790 2043 2420 5791 2056 2436 5792 2056 2436 5793 2043 2420 5794 2045 2422 5795 2060 2437 5796 2009 2382 5797 2055 2435 5798 2061 2438 5799 2059 2439 5800 2055 2435 5801 4317 2440 5802 2451 2425 5803 2048 2424 5804 4498 2441 5805 2521 2442 5806 2049 2443 5807 4311 2327 5808 1942 2326 5809 2063 2444 5810 2063 2444 5811 1948 2331 5812 4313 2330 5813 2056 2436 5814 2064 2445 5815 2065 2446 5816 2056 2436 5817 2058 2447 5818 2066 2448 5819 2059 2439 5820 2067 2449 5821 2068 2450 5822 2059 2439 5823 2061 2438 5824 2069 2451 5825 2071 2452 5826 2072 2453 5827 2073 2454 5828 2071 2452 5829 2074 2455 5830 2075 2456 5831 1994 2370 5832 2073 2454 5833 2072 2453 5834 2072 2453 5835 2075 2456 5836 1996 2457 5837 2064 2445 5838 2076 2458 5839 2077 2459 5840 2064 2445 5841 2066 2448 5842 2078 2460 5843 2021 2396 5844 2077 2459 5845 2076 2458 5846 2076 2458 5847 2078 2460 5848 2025 2399 5849 1942 2326 5850 2079 2461 5851 2080 2462 5852 2080 2462 5853 2081 2463 5854 1948 2331 5855 2067 2449 5856 2080 2462 5857 2079 2461 5858 2067 2449 5859 2069 2451 5860 2081 2463 5861 2070 2464 5862 2082 2465 5863 2083 2466 5864 2074 2455 5865 2071 2452 5866 2083 2466 5867 2039 2414 5868 2085 2467 5869 2086 2468 5870 2587 2469 5871 2042 2418 5872 2088 2470 5873 2089 2471 5874 2094 2472 5875 2013 2387 5876 2062 2473 5877 2017 2390 5878 2016 2389 5879 1988 2365 5880 2083 2466 5881 2082 2465 5882 2084 2474 5883 2083 2466 5884 1988 2365 5885 2085 2467 5886 2105 2475 5887 2090 2476 5888 2091 2477 5889 2092 2478 5890 2087 2479 5891 4318 2480 5892 2523 2481 5893 2527 2482 5894 4497 2483 5895 4496 2484 5896 2097 2485 5897 2093 2429 5898 2098 2486 5899 2018 2391 5900 2020 2430 5901 2099 2487 5902 2051 2431 5903 4319 2488 5904 2527 2482 5905 2502 2489 5906 4496 2484 5907 4495 2490 5908 2100 2491 5909 2101 2492 5910 1936 2402 5911 2008 2381 5912 2102 2493 5913 2007 2385 5914 2011 2384 5915 2105 2475 5916 2103 2494 5917 2104 2495 5918 2526 2496 5919 4434 2497 5920 2092 2478 5921 2101 2492 5922 4381 2498 5923 4382 2499 5924 4433 2500 5925 2106 2501 5926 2102 2493 5927 1952 2333 5928 1951 2332 5929 2108 2502 5930 1953 2503 5931 2109 2504 5932 2108 2502 5933 1943 2334 5934 1952 2333 5935 4310 2505 5936 4266 2506 5937 1953 2503 5938 1947 2336 5939 2034 2507 5940 2029 2410 5941 4290 2508 5942 2036 2411 5943 2112 2509 5944 2113 2510 5945 2114 2511 5946 2028 2403 5947 2044 2421 5948 2045 2422 5949 2033 2407 5950 2116 2512 5951 2118 2513 5952 4381 2498 5953 2101 2492 5954 2102 2493 5955 2106 2501 5956 4435 2514 5957 2120 2515 5958 2018 2391 5959 2098 2486 5960 2099 2487 5961 2020 2430 5962 2121 2516 5963 2123 2517 5964 2124 2518 5965 2021 2396 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2463 6033 2147 2543 6034 1949 2544 6035 2142 2537 6036 2148 2545 6037 2070 2464 6038 2074 2455 6039 2149 2546 6040 2143 2538 6041 4291 2547 6042 2111 2548 6043 2114 2511 6044 2152 2549 6045 2153 2550 6046 2116 2512 6047 2068 2450 6048 2154 2551 6049 1964 2345 6050 1966 2346 6051 2155 2552 6052 2069 2451 6053 2068 2450 6054 2079 2461 6055 2146 2553 6056 2069 2451 6057 2155 2552 6058 2147 2543 6059 2103 2494 6060 4380 2554 6061 2156 2555 6062 2532 2556 6063 2119 2557 6064 4434 2497 6065 2148 2545 6066 2157 2558 6067 2082 2465 6068 2084 2474 6069 2158 2559 6070 2149 2546 6071 4380 2554 6072 2588 2560 6073 2530 2561 6074 2119 2557 6075 2532 2556 6076 2159 2562 6077 2130 2563 6078 2534 2564 6079 2160 2565 6080 2164 2566 6081 2161 2567 6082 2131 2568 6083 2162 2569 6084 2127 2521 6085 2120 2515 6086 2121 2516 6087 2128 2522 6088 2163 2570 6089 2157 2558 6090 2165 2571 6091 1989 2366 6092 1991 2368 6093 2166 2572 6094 2158 2559 6095 2114 2511 6096 2115 2526 6097 2167 2573 6098 2116 2512 6099 2153 2550 6100 2168 2574 6101 2004 2378 6102 2118 2513 6103 2005 2380 6104 2007 2385 6105 4435 2514 6106 2006 2379 6107 2162 2569 6108 2169 2575 6109 2134 2529 6110 2135 2530 6111 2170 2576 6112 2163 2570 6113 2165 2571 6114 2171 2577 6115 1986 2400 6116 1990 2367 6117 2172 2578 6118 2166 2572 6119 2167 2573 6120 2115 2526 6121 2132 2535 6122 2133 2536 6123 2117 2528 6124 2168 2574 6125 2169 2575 6126 2175 2579 6127 2136 2531 6128 2137 2532 6129 2176 2580 6130 2170 2576 6131 2160 2565 6132 2534 2564 6133 2498 2581 6134 2164 2566 6135 2178 2582 6136 2179 2583 6137 2138 2539 6138 2124 2518 6139 2181 2584 6140 2139 2533 6141 2182 2585 6142 2183 2586 6143 2124 2518 6144 2123 2517 6145 2184 2587 6146 2185 2588 6147 2126 2519 6148 2125 2534 6149 2175 2579 6150 2186 2589 6151 2142 2537 6152 2143 2538 6153 2187 2590 6154 2176 2580 6155 2173 2591 6156 2132 2535 6157 2140 2592 6158 2141 2593 6159 2133 2536 6160 2174 2594 6161 1952 2333 6162 2190 2595 6163 2191 2596 6164 1953 2503 6165 4266 2506 6166 2193 2597 6167 2140 2592 6168 2144 2540 6169 2194 2598 6170 2141 2593 6171 2189 2599 6172 2195 2600 6173 2144 2540 6174 2138 2539 6175 2180 2601 6176 2145 2541 6177 2195 2600 6178 2182 2585 6179 2107 2602 6180 2196 2603 6181 2190 2595 6182 2192 2604 6183 2197 2605 6184 2109 2504 6185 1965 2606 6186 1964 2345 6187 2154 2551 6188 1969 2607 6189 2199 2608 6190 2155 2552 6191 2186 2589 6192 2200 2609 6193 2148 2545 6194 2149 2546 6195 2201 2610 6196 2187 2590 6197 4309 2611 6198 2202 2612 6199 1945 2542 6200 1949 2544 6201 2203 2613 6202 4267 2614 6203 2146 2553 6204 1945 2542 6205 2202 2612 6206 2147 2543 6207 2205 2615 6208 2203 2613 6209 2216 2616 6210 2215 2617 6211 2206 2618 6212 2207 2619 6213 2208 2620 6214 2209 2621 6215 2204 2622 6216 2198 2623 6217 2154 2551 6218 2205 2615 6219 2147 2543 6220 2155 2552 6221 4324 2624 6222 4326 2625 6223 2210 2626 6224 2500 2627 6225 4479 2628 6226 4477 2629 6227 2169 2575 6228 2162 2569 6229 2212 2630 6230 2170 2576 6231 2213 2631 6232 4475 2632 6233 4341 2633 6234 4340 2634 6235 2210 2626 6236 2500 2627 6237 2214 2635 6238 4474 2636 6239 4377 2637 6240 4378 2638 6241 2004 2378 6242 4438 2639 6243 1968 2348 6244 2006 2379 6245 2191 2596 6246 2190 2595 6247 2218 2640 6248 2219 2641 6249 2192 2604 6250 2193 2597 6251 2200 2609 6252 2220 2642 6253 2157 2558 6254 2158 2559 6255 2221 2643 6256 2201 2610 6257 2211 2644 6258 4342 2645 6259 2175 2579 6260 2213 2631 6261 2170 2576 6262 2176 2580 6263 2223 2646 6264 4341 2633 6265 2505 2647 6266 4473 2648 6267 2224 2649 6268 2506 2650 6269 2196 2603 6270 2225 2651 6271 2226 2652 6272 2227 2653 6273 2228 2654 6274 2197 2605 6275 2223 2646 6276 2539 2655 6277 2577 2656 6278 4473 2648 6279 2230 2657 6280 2579 2658 6281 2231 2659 6282 1981 2359 6283 2184 2587 6284 2185 2588 6285 1984 2362 6286 2232 2660 6287 2215 2617 6288 2453 2661 6289 2233 2662 6290 2541 2663 6291 2454 2664 6292 2217 2665 6293 2186 2589 6294 2175 2579 6295 4342 2645 6296 2222 2666 6297 2176 2580 6298 2187 2590 6299 2234 2667 6300 2167 2573 6301 2173 2591 6302 2174 2594 6303 2168 2574 6304 2236 2668 6305 2229 2669 6306 2577 2656 6307 2239 2670 6308 2230 2657 6309 2240 2671 6310 2544 2672 6311 2220 2642 6312 2241 2673 6313 2165 2571 6314 2166 2572 6315 2242 2674 6316 2221 2643 6317 4343 2675 6318 2238 2676 6319 2200 2609 6320 2201 2610 6321 4471 2677 6322 4472 2678 6323 2180 2601 6324 2181 2584 6325 2244 2679 6326 2182 2585 6327 2245 2680 6328 2246 2681 6329 2181 2584 6330 2184 2587 6331 1981 2359 6332 1984 2362 6333 2185 2588 6334 2183 2586 6335 2453 2661 6336 2455 2682 6337 2247 2683 6338 2248 2684 6339 2456 2685 6340 2454 2664 6341 2250 2686 6342 2247 2683 6343 2455 2682 6344 2559 2687 6345 2457 2688 6346 2456 2685 6347 2235 2689 6348 2173 2591 6349 2188 2690 6350 2189 2599 6351 2174 2594 6352 2237 2691 6353 2251 2692 6354 2188 2690 6355 2194 2598 6356 2195 2600 6357 2189 2599 6358 2252 2693 6359 2194 2598 6360 2180 2601 6361 2243 2694 6362 2195 2600 6363 2254 2695 6364 2245 2680 6365 2238 2676 6366 4345 2696 6367 2220 2642 6368 2221 2643 6369 2257 2697 6370 4471 2677 6371 4344 2698 6372 2239 2670 6373 2255 2699 6374 2545 2700 6375 2544 2672 6376 2240 2671 6377 4308 2701 6378 2258 2702 6379 2202 2612 6380 4268 2703 6381 4267 2614 6382 2203 2613 6383 2241 2673 6384 2231 2659 6385 2171 2577 6386 2172 2578 6387 2232 2660 6388 2242 2674 6389 1981 2359 6390 2231 2659 6391 1982 2360 6392 1983 2361 6393 2232 2660 6394 1984 2362 6395 2560 2704 6396 2250 2686 6397 2249 2705 6398 2457 2688 6399 2559 2687 6400 2261 2706 6401 2576 2707 6402 2268 2708 6403 2256 2709 6404 2263 2710 6405 2545 2700 6406 4470 2711 6407 2204 2622 6408 2264 2712 6409 2265 2713 6410 2205 2615 6411 2199 2608 6412 2267 2714 6413 2241 2673 6414 2220 2642 6415 4345 2696 6416 2257 2697 6417 2221 2643 6418 2242 2674 6419 2269 2715 6420 2560 2704 6421 2260 2716 6422 2461 2717 6423 2261 2706 6424 2563 2718 6425 2271 2719 6426 2272 2720 6427 2273 2721 6428 2275 2722 6429 4285 2723 6430 2276 2724 6431 2218 2640 6432 2190 2595 6433 2226 2652 6434 2219 2641 6435 2278 2725 6436 2227 2653 6437 2280 2726 6438 2150 2727 6439 2234 2667 6440 2281 2728 6441 2282 2729 6442 2236 2668 6443 2460 2730 6444 2283 2731 6445 2564 2732 6446 2284 2733 6447 4444 2734 6448 2270 2735 6449 4334 2736 6450 4347 2737 6451 2268 2708 6452 4487 2738 6453 2263 2710 6454 2262 2739 6455 2279 2740 6456 2234 2667 6457 2235 2689 6458 2237 2691 6459 2236 2668 6460 2282 2729 6461 1982 2360 6462 2231 2659 6463 2286 2741 6464 4468 2742 6465 2232 2660 6466 1983 2361 6467 1982 2360 6468 2585 2743 6469 2290 2744 6470 1983 2361 6471 1985 2363 6472 2582 2745 6473 2288 2746 6474 2235 2689 6475 2251 2692 6476 2252 2693 6477 2237 2691 6478 2289 2747 6479 2253 2748 6480 2293 2749 6481 2291 2750 6482 2254 2695 6483 2252 2693 6484 2292 2751 6485 2295 2752 6486 2293 2749 6487 2253 2748 6488 2254 2695 6489 2294 2753 6490 2296 2754 6491 2226 2652 6492 2225 2651 6493 2297 2755 6494 2298 2756 6495 2228 2654 6496 2227 2653 6497 2243 2694 6498 2244 2679 6499 2299 2757 6500 2300 2758 6501 2246 2681 6502 2245 2680 6503 2290 2744 6504 4350 2759 6505 1980 2358 6506 1985 2363 6507 2301 2760 6508 2582 2745 6509 2302 2761 6510 2303 2762 6511 2272 2720 6512 2305 2763 6513 2275 2722 6514 2274 2764 6515 2306 2765 6516 2307 2766 6517 2303 2762 6518 2304 2767 6519 2308 2768 6520 2309 2769 6521 2265 2713 6522 2311 2770 6523 2312 2771 6524 2267 2714 6525 2314 2772 6526 2315 2773 6527 2474 2774 6528 2310 2775 6529 2312 2771 6530 2315 2773 6531 2314 2772 6532 2316 2776 6533 2279 2740 6534 2317 2777 6535 2318 2778 6536 2282 2729 6537 2281 2728 6538 2320 2779 6539 4293 2780 6540 4292 2781 6541 2280 2726 6542 2281 2728 6543 4284 2782 6544 4283 2783 6545 2264 2712 6546 2258 2702 6547 2321 2784 6548 2323 2785 6549 2259 2786 6550 2266 2787 6551 2265 2713 6552 2264 2712 6553 2322 2788 6554 2324 2789 6555 2266 2787 6556 2267 2714 6557 4294 2790 6558 4293 2780 6559 2318 2778 6560 4282 2791 6561 2326 2792 6562 2320 2779 6563 2327 2793 6564 2488 2794 6565 2546 2795 6566 2329 2796 6567 2330 2797 6568 4465 2798 6569 2317 2777 6570 2279 2740 6571 2288 2746 6572 2289 2747 6573 2282 2729 6574 2319 2799 6575 2332 2800 6576 2288 2746 6577 2291 2750 6578 2292 2751 6579 2289 2747 6580 2333 2801 6581 4351 2802 6582 2336 2803 6583 2295 2752 6584 4464 2804 6585 2300 2758 6586 2296 2754 6587 2293 2749 6588 2295 2752 6589 2336 2803 6590 2337 2805 6591 2296 2754 6592 2294 2753 6593 2311 2770 6594 2340 2806 6595 2341 2807 6596 2313 2808 6597 2315 2773 6598 4446 2809 6599 2317 2777 6600 2343 2810 6601 2325 2811 6602 2319 2799 6603 2320 2779 6604 2326 2792 6605 2345 2812 6606 2346 2813 6607 2307 2766 6608 2308 2768 6609 2347 2814 6610 2348 2815 6611 2328 2816 6612 2546 2795 6613 2350 2817 6614 2331 2818 6615 2351 2819 6616 2486 2820 6617 2352 2821 6618 2353 2822 6619 4306 2823 6620 2355 2824 6621 2356 2825 6622 2357 2826 6623 2322 2788 6624 2321 2784 6625 1956 2338 6626 1958 2827 6627 2323 2785 6628 2324 2789 6629 2311 2770 6630 2322 2788 6631 1955 2337 6632 1959 2340 6633 2324 2789 6634 2313 2808 6635 2358 2828 6636 2359 2829 6637 2349 2830 6638 2351 2819 6639 2360 2831 6640 2361 2832 6641 2336 2803 6642 4353 2833 6643 2338 2834 6644 2339 2835 6645 4462 2836 6646 2337 2805 6647 4296 2837 6648 2363 2838 6649 2346 2813 6650 2347 2814 6651 2364 2839 6652 2365 2840 6653 2359 2829 6654 2358 2828 6655 2549 2841 6656 2360 2831 6657 2371 2842 6658 2550 2843 6659 2366 2844 6660 2334 2845 6661 2338 2834 6662 2339 2835 6663 2335 2846 6664 2368 2847 6665 4353 2833 6666 2370 2848 6667 2367 2849 6668 2369 2850 6669 4461 2851 6670 4462 2836 6671 2367 2849 6672 2370 2848 6673 4355 2852 6674 2375 2853 6675 4461 2851 6676 2369 2850 6677 4354 2854 6678 2549 2841 6679 2372 2855 6680 2374 2856 6681 2550 2843 6682 2371 2842 6683 1956 2338 6684 4306 2823 6685 2353 2822 6686 2356 2825 6687 2355 2824 6688 1958 2827 6689 2376 2857 6690 2377 2858 6691 4369 2859 6692 2378 2860 6693 2379 2861 6694 2553 2862 6695 2380 2863 6696 2376 2857 6697 2458 2864 6698 2512 2865 6699 4448 2866 6700 2459 2867 6701 1971 2349 6702 2353 2822 6703 2352 2821 6704 1975 2352 6705 1974 2868 6706 2357 2826 6707 1957 2339 6708 2353 2822 6709 1971 2349 6710 1961 2342 6711 1979 2357 6712 1975 2352 6713 4295 2869 6714 2381 2870 6715 2382 2871 6716 4281 2872 6717 4280 2873 6718 2384 2874 6719 2385 2875 6720 4298 2876 6721 2387 2877 6722 2389 2878 6723 2390 2879 6724 4279 2880 6725 1978 2356 6726 2393 2881 6727 1954 2882 6728 1979 2357 6729 1961 2342 6730 1960 2341 6731 2382 2871 6732 2381 2870 6733 2394 2883 6734 2396 2884 6735 2383 2885 6736 2384 2874 6737 4297 2886 6738 2362 2887 6739 2382 2871 6740 2384 2874 6741 4280 2873 6742 2391 2888 6743 2404 2889 6744 4357 2890 6745 2395 2891 6746 4459 2892 6747 2396 2884 6748 2397 2893 6749 2403 2894 6750 2400 2895 6751 4356 2896 6752 2402 2897 6753 4458 2898 6754 2406 2899 6755 2403 2894 6756 2478 2900 6757 2411 2901 6758 2412 2902 6759 2480 2903 6760 2406 2899 6761 1954 2882 6762 2393 2881 6763 4367 2904 6764 2408 2905 6765 2410 2906 6766 1960 2341 6767 2407 2907 6768 4366 2908 6769 2508 2909 6770 2409 2910 6771 4449 2911 6772 4448 2866 6773 2398 2912 6774 2382 2871 6775 2395 2891 6776 2397 2893 6777 2384 2874 6778 2399 2913 6779 2398 2912 6780 2395 2891 6781 4357 2890 6782 2401 2914 6783 2397 2893 6784 2399 2913 6785 2411 2901 6786 2478 2900 6787 2413 2915 6788 2412 2902 6789 2424 2916 6790 2414 2917 6791 2416 2918 6792 1978 2356 6793 1970 2355 6794 2417 2919 6795 2418 2920 6796 1976 2353 6797 1970 2355 6798 1973 2351 6799 2419 2921 6800 2420 2922 6801 1977 2354 6802 1976 2353 6803 2393 2881 6804 1978 2356 6805 2416 2918 6806 2417 2919 6807 1979 2357 6808 2410 2906 6809 2398 2912 6810 4358 2923 6811 4359 2924 6812 4456 2925 6813 4457 2926 6814 2399 2913 6815 2425 2927 6816 4360 2928 6817 2423 2929 6818 2556 2930 6819 2414 2917 6820 2424 2916 6821 2427 2931 6822 2386 2932 6823 4359 2924 6824 4456 2925 6825 4278 2933 6826 4455 2934 6827 2428 2935 6828 2386 2932 6829 2427 2931 6830 2429 2936 6831 2430 2937 6832 4455 2934 6833 2431 2938 6834 2432 2939 6835 4360 2928 6836 2433 2940 6837 2556 2930 6838 2426 2941 6839 2415 2942 6840 2419 2921 6841 2434 2943 6842 4275 2944 6843 2420 2922 6844 2418 2920 6845 2415 2942 6846 2444 2945 6847 2421 2946 6848 2422 2947 6849 2438 2948 6850 2418 2920 6851 4361 2949 6852 2439 2950 6853 4300 2951 6854 2441 2952 6855 2442 2953 6856 2430 2937 6857 2509 2954 6858 4365 2955 6859 4364 2956 6860 2445 2957 6861 2446 2958 6862 4451 2959 6863 2432 2939 6864 2431 2938 6865 2571 2960 6866 2573 2961 6867 2433 2940 6868 4454 2962 6869 4361 2949 6870 4362 2963 6871 2439 2950 6872 2442 2953 6873 4453 2964 6874 2430 2937 6875 2571 2960 6876 2568 2965 6877 4363 2966 6878 2450 2967 6879 2570 2968 6880 2573 2961 6881 2444 2945 6882 2415 2942 6883 2435 2969 6884 2437 2970 6885 2418 2920 6886 2438 2948 6887 4364 2956 6888 4363 2966 6889 2568 2965 6890 2570 2968 6891 2450 2967 6892 4451 2959 6893 2140 2592 6894 2065 2446 6895 2144 2540 6896 2145 2541 6897 2066 2448 6898 2141 2593 6899 2150 2727 6900 2167 2573 6901 2234 2667 6902 2236 2668 6903 2168 2574 6904 2153 2550 6905 1986 2400 6906 2123 2517 6907 2024 2971 6908 2026 2520 6909 2126 2519 6910 1990 2367 6911 4321 2972 6912 4322 2973 6913 2120 2515 6914 2121 2516 6915 4493 2974 6916 2122 2975 6917 4315 2976 6918 4316 2977 6919 1998 2374 6920 2002 2377 6921 4428 2978 6922 4429 2979 6923 4376 2980 6924 4377 2637 6925 1962 2343 6926 1968 2348 6927 4438 2639 6928 4439 2981 6929 1962 2343 6930 4375 2982 6931 4376 2980 6932 4439 2981 6933 4440 2983 6934 1968 2348 6935 4374 2984 6936 4375 2982 6937 2310 2775 6938 2314 2772 6939 4440 2983 6940 4441 2985 6941 2310 2775 6942 2198 2623 6943 2265 2713 6944 2267 2714 6945 2199 2608 6946 2314 2772 6947 4368 2986 6948 2340 2806 6949 4367 2904 6950 2408 2905 6951 2342 2987 6952 4447 2988 6953 2474 2774 6954 4371 2989 6955 2310 2775 6956 2314 2772 6957 2285 2990 6958 2316 2776 6959 4371 2989 6960 4372 2991 6961 2310 2775 6962 2314 2772 6963 4443 2992 6964 2285 2990 6965 4372 2991 6966 4373 2993 6967 2310 2775 6968 2314 2772 6969 4442 2994 6970 4443 2992 6971 2310 2775 6972 4373 2993 6973 4374 2984 6974 4441 2985 6975 4442 2994 6976 2314 2772 6977 2341 2807 6978 2474 2774 6979 2312 2771 6980 2315 2773 6981 2316 2776 6982 4446 2809 6983 2340 2806 6984 4368 2986 6985 2341 2807 6986 4446 2809 6987 4447 2988 6988 2342 2987 6989 4304 2995 6990 2462 2996 6991 4303 2997 6992 4273 2998 6993 2463 2999 6994 4272 3000 6995 2385 2875 6996 2388 3001 6997 2363 2838 6998 4279 2880 6999 2365 2840 7000 2364 2839 7001 2110 3002 7002 4290 2508 7003 2151 3003 7004 2112 2509 7005 2276 2724 7006 4285 2723 7007 2114 2511 7008 2111 2548 7009 4289 2404 7010 2116 2512 7011 2033 2407 7012 2032 2406 7013 4292 2781 7014 4291 2547 7015 2150 2727 7016 2153 2550 7017 2152 2549 7018 4284 2782 7019 2464 3004 7020 2387 2877 7021 4298 2876 7022 2390 2879 7023 2389 2878 7024 2465 3005 7025 2440 3006 7026 4301 3007 7027 2467 3008 7028 4276 3009 7029 2468 3010 7030 2469 3011 7031 4302 3012 7032 2470 3013 7033 2467 3008 7034 4274 3014 7035 2436 3015 7036 2469 3011 7037 2466 3016 7038 2464 3004 7039 4299 3017 7040 2468 3010 7041 4276 3009 7042 4277 3018 7043 4303 2997 7044 2462 2996 7045 2470 3013 7046 2471 3019 7047 2463 2999 7048 4273 2998 7049 4304 2995 7050 4305 3020 7051 2472 3021 7052 2473 3022 7053 4271 3023 7054 4272 3000 7055 2520 3024 7056 2523 2481 7057 4318 2480 7058 2521 2442 7059 4498 2441 7060 4497 2483 7061 2535 3025 7062 2530 2561 7063 2588 2560 7064 2208 2620 7065 2207 2619 7066 2589 3026 7067 2038 2413 7068 2037 3027 7069 2047 2423 7070 2515 2426 7071 2041 2417 7072 2040 2416 7073 2283 2731 7074 4370 3028 7075 2475 3029 7076 2476 3030 7077 4445 3031 7078 4444 2734 7079 2377 2858 7080 2475 3029 7081 4370 3028 7082 2379 2861 7083 2378 2860 7084 4445 3031 7085 2509 2954 7086 2508 2909 7087 4366 2908 7088 2445 2957 7089 4450 3032 7090 4449 2911 7091 2477 3033 7092 4501 3034 7093 4500 3035 7094 4511 3036 7095 4510 3037 7096 2477 3033 7097 4499 3038 7098 2481 3039 7099 2479 3040 7100 2479 3040 7101 2481 3039 7102 4512 3041 7103 2481 3039 7104 4499 3038 7105 2405 3042 7106 2483 3043 7107 4512 3041 7108 2481 3039 7109 2484 3044 7110 2358 2828 7111 4339 3045 7112 4492 3046 7113 2361 2832 7114 2484 3044 7115 2487 3047 7116 4337 3048 7117 2581 3049 7118 2490 3050 7119 4490 3051 7120 2487 3047 7121 2491 3052 7122 2492 3053 7123 2493 3054 7124 2495 3055 7125 2496 3056 7126 2491 3052 7127 2497 3057 7128 4327 3058 7129 4325 3059 7130 4478 3060 7131 4480 3061 7132 2497 3057 7133 2501 3062 7134 2130 2563 7135 4395 3063 7136 4392 3064 7137 2131 2568 7138 2501 3062 7139 2504 3065 7140 4328 3066 7141 4327 3058 7142 4480 3061 7143 4481 3067 7144 2504 3065 7145 2508 2909 7146 2509 2954 7147 2510 3068 7148 2409 2910 7149 2507 3069 7150 2510 3068 7151 2380 2863 7152 2508 2909 7153 2507 3069 7154 2512 2865 7155 2511 3070 7156 2507 3069 7157 2513 3071 7158 4399 3072 7159 4400 3073 7160 4386 3074 7161 4387 3075 7162 2513 3071 7163 4402 3076 7164 4403 3077 7165 2518 3078 7166 4415 3079 7167 2516 3080 7168 2518 3078 7169 2519 3081 7170 4398 3082 7171 4399 3072 7172 4387 3075 7173 4388 3083 7174 2519 3081 7175 2522 3084 7176 4397 3085 7177 4398 3082 7178 4388 3083 7179 4389 3086 7180 2522 3084 7181 4403 3077 7182 4404 3087 7183 2524 3088 7184 4416 3089 7185 2518 3078 7186 2524 3088 7187 4404 3087 7188 4405 3090 7189 2525 3091 7190 4417 3092 7191 2524 3088 7192 2525 3091 7193 4393 3093 7194 4394 3094 7195 4396 3095 7196 4390 3096 7197 4391 3097 7198 4393 3093 7199 4406 3098 7200 4407 3099 7201 2531 3100 7202 4419 3101 7203 2529 3102 7204 2531 3100 7205 2533 3103 7206 2534 2564 7207 2130 2563 7208 2131 2568 7209 2161 2567 7210 2533 3103 7211 2499 3104 7212 4325 3059 7213 2534 2564 7214 2161 2567 7215 4478 3060 7216 2499 3104 7217 4407 3099 7218 4408 3105 7219 2536 3106 7220 4420 3107 7221 2531 3100 7222 2536 3106 7223 4408 3105 7224 4409 3108 7225 2537 3109 7226 4421 3110 7227 2536 3106 7228 2537 3109 7229 2538 3111 7230 4329 3112 7231 4328 3066 7232 4481 3067 7233 4482 3113 7234 2538 3111 7235 4409 3108 7236 4410 3114 7237 2540 3115 7238 4422 3116 7239 2537 3109 7240 2540 3115 7241 2542 3117 7242 4332 3118 7243 4331 3119 7244 4484 3120 7245 4485 3121 7246 2542 3117 7247 2489 3122 7248 2581 3049 7249 2492 3053 7250 2496 3056 7251 2490 3050 7252 2489 3122 7253 2485 3123 7254 4339 3045 7255 4338 3124 7256 4491 3125 7257 4492 3046 7258 2485 3123 7259 2548 3126 7260 2549 2841 7261 2358 2828 7262 2361 2832 7263 2550 2843 7264 2548 3126 7265 2377 2858 7266 2376 2857 7267 2552 3127 7268 2379 2861 7269 2551 3128 7270 2552 3127 7271 2554 3129 7272 2372 2855 7273 2549 2841 7274 2550 2843 7275 2374 2856 7276 2554 3129 7277 2555 3130 7278 4502 3131 7279 4501 3034 7280 4510 3037 7281 4509 3132 7282 2555 3130 7283 4405 3090 7284 4406 3098 7285 2529 3102 7286 4418 3133 7287 2525 3091 7288 2529 3102 7289 4410 3114 7290 4411 3134 7291 2557 3135 7292 4423 3136 7293 2540 3115 7294 2557 3135 7295 4411 3134 7296 4412 3137 7297 2558 3138 7298 4424 3139 7299 2557 3135 7300 2558 3138 7301 4412 3137 7302 4413 3140 7303 2561 3141 7304 4425 3142 7305 2558 3138 7306 2561 3141 7307 4413 3140 7308 4414 3143 7309 2562 3144 7310 4426 3145 7311 2561 3141 7312 2562 3144 7313 4414 3143 7314 2564 2732 7315 2565 3146 7316 4427 3147 7317 2562 3144 7318 2565 3146 7319 2475 3029 7320 2377 2858 7321 2551 3128 7322 2476 3030 7323 2566 3148 7324 2551 3128 7325 2376 2857 7326 2380 2863 7327 2511 3070 7328 2553 2862 7329 2552 3127 7330 2511 3070 7331 2509 2954 7332 2443 3149 7333 2567 3150 7334 2445 2957 7335 2510 3068 7336 2567 3150 7337 2443 3149 7338 4505 3151 7339 2569 3152 7340 2446 2958 7341 2567 3150 7342 2569 3152 7343 2569 3152 7344 4505 3151 7345 4504 3153 7346 4507 3154 7347 4506 3155 7348 2569 3152 7349 2574 3156 7350 4503 3157 7351 4502 3131 7352 4509 3132 7353 4508 3158 7354 2574 3156 7355 2572 3159 7356 4504 3153 7357 4503 3157 7358 4508 3158 7359 4507 3154 7360 2572 3159 7361 2482 3160 7362 2405 3042 7363 2372 2855 7364 2374 2856 7365 2483 3043 7366 2482 3160 7367 2547 3161 7368 4338 3124 7369 4337 3048 7370 4490 3051 7371 4491 3125 7372 2547 3161 7373 2575 3162 7374 4333 3163 7375 4332 3118 7376 4485 3121 7377 4486 3164 7378 2575 3162 7379 2494 3165 7380 2493 3054 7381 4333 3163 7382 4486 3164 7383 2495 3055 7384 2494 3165 7385 2543 3166 7386 4331 3119 7387 4330 3167 7388 4483 3168 7389 4484 3120 7390 2543 3166 7391 2578 3169 7392 4330 3167 7393 4329 3112 7394 4482 3113 7395 4483 3168 7396 2578 3169 7397 2528 3170 7398 4396 3095 7399 4397 3085 7400 4389 3086 7401 4390 3096 7402 2528 3170 7403 2514 3171 7404 4400 3073 7405 4401 3172 7406 4385 3173 7407 4386 3074 7408 2514 3171 7409 4401 3172 7410 4402 3076 7411 2516 3080 7412 4385 3173 7413 2580 3174 7414 2516 3080 7415 2564 2732 7416 2475 3029 7417 2566 3148 7418 2284 2733 7419 2565 3146 7420 2566 3148 7421 4349 3175 7422 4336 3176 7423 2488 2794 7424 4466 3177 7425 4465 2798 7426 2330 2797 7427 2373 3178 7428 2372 2855 7429 2405 3042 7430 2483 3043 7431 2374 2856 7432 4460 3179 7433 4316 2977 7434 2089 2471 7435 2012 2386 7436 4428 2978 7437 2002 2377 7438 2017 2390 7439 4315 2976 7440 1998 2374 7441 2001 2394 7442 4429 2979 7443 4430 3180 7444 2003 2395 7445 2332 2800 7446 2583 3181 7447 2343 2810 7448 2333 2801 7449 2319 2799 7450 2344 3182 7451 2583 3181 7452 2394 2883 7453 2381 2870 7454 2584 3183 7455 2344 3182 7456 2383 2885 7457 4295 2869 7458 4294 2790 7459 2325 2811 7460 2326 2792 7461 4282 2791 7462 4281 2872 7463 4295 2869 7464 2325 2811 7465 2343 2810 7466 4281 2872 7467 2383 2885 7468 2344 3182 7469 2334 2845 7470 2291 2750 7471 2293 2749 7472 2335 2846 7473 2339 2835 7474 2294 2753 7475 2334 2845 7476 2366 2844 7477 2583 3181 7478 2335 2846 7479 2333 2801 7480 2584 3183 7481 2394 2883 7482 2583 3181 7483 2366 2844 7484 2396 2884 7485 4459 2892 7486 2368 2847 7487 4355 2852 7488 2404 2889 7489 2366 2844 7490 2375 2853 7491 2369 2850 7492 2368 2847 7493 2171 2577 7494 2184 2587 7495 2123 2517 7496 2172 2578 7497 1990 2367 7498 2126 2519 7499 4336 3176 7500 4349 3175 7501 4348 3184 7502 4489 3185 7503 4488 3186 7504 4467 3187 7505 1980 2358 7506 2299 2757 7507 2244 2679 7508 1985 2363 7509 1984 2362 7510 2246 2681 7511 4350 2759 7512 4351 2802 7513 2299 2757 7514 2300 2758 7515 4464 2804 7516 2301 2760 7517 4334 2736 7518 4335 3188 7519 4348 3184 7520 4467 3187 7521 4488 3186 7522 4487 2738 7523 4384 3189 7524 4314 3190 7525 2001 2394 7526 2003 2395 7527 4430 3180 7528 4431 3191 7529 4382 2499 7530 4383 3192 7531 1936 2402 7532 4433 2500 7533 2102 2493 7534 1941 2325 7535 4383 3192 7536 4384 3189 7537 1937 2321 7538 4432 3193 7539 1941 2325 7540 1940 2324 7541 4379 3194 7542 2118 2513 7543 2004 2378 7544 4436 3195 7545 4437 3196 7546 2006 2379 7547 2472 3021 7548 4305 3020 7549 2354 3197 7550 2473 3022 7551 2298 2756 7552 4270 3198 7553 2297 2755 7554 2354 3197 7555 2277 3199 7556 2298 2756 7557 2227 2653 7558 2278 2725 7559 2321 2784 7560 4307 3200 7561 4306 2823 7562 2323 2785 7563 1958 2827 7564 2355 2824 7565 4307 3200 7566 2321 2784 7567 2258 2702 7568 4269 3201 7569 4268 2703 7570 2259 2786 7571 2258 2702 7572 2264 2712 7573 2204 2622 7574 2259 2786 7575 2203 2613 7576 2205 2615 7577 2398 2912 7578 4359 2924 7579 2386 2932 7580 4278 2933 7581 4456 2925 7582 2399 2913 7583 2435 2969 7584 2434 2943 7585 4300 2951 7586 2437 2970 7587 2442 2953 7588 2441 2952 7589 2439 2950 7590 4362 2963 7591 2449 3202 7592 2442 2953 7593 2437 2970 7594 4452 3203 7595 4346 3204 7596 2286 2741 7597 2231 2659 7598 4469 3205 7599 2242 2674 7600 2232 2660 7601 4352 3206 7602 4353 2833 7603 2336 2803 7604 4463 3207 7605 4464 2804 7606 2337 2805 7607 2310 2775 7608 1965 2606 7609 2198 2623 7610 2199 2608 7611 1969 2607 7612 2314 2772 7613 1965 2606 7614 2310 2775 7615 4375 2982 7616 1969 2607 7617 1968 2348 7618 4440 2983 7619 1954 2882 7620 4367 2904 7621 2340 2806 7622 1960 2341 7623 1959 2340 7624 2342 2987 7625 4323 3208 7626 2212 2630 7627 2162 2569 7628 4476 3209 7629 4493 2974 7630 2163 2570 7631 2591 3210 7632 2592 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zaVz=1E~Z3xnS(akBHB~uX*@^&{+IfqZ2{7Luiwg4YsJA|2qh(&C&dQUwb!4CKjdtm zIrtEjw)gwLc?Bw3?C)Qk{`Y46e|Oy~x-$HK_mcL%K#5(ifHc0{<+>ZDcTz07lJy_* dG}A_?boZbbNx3vs3<7?j<~F|-{CfKz{{teai--UK From 9c68dcd553decbde37e3a77a1b86cd7ba5172cff Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Wed, 26 Jul 2023 14:51:40 +0200 Subject: [PATCH 04/20] Add hatch builder for jupyter --- pyproject.toml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 15733cc..42bafc3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,5 +1,10 @@ [build-system] -requires = ["hatchling>=1.5.0", "jupyterlab>=4.0.0,<5", "hatch-nodejs-version"] +requires = [ + "hatchling>=1.5.0", + "jupyterlab>=4.0.0,<5", + "hatch-nodejs-version", + "hatch-jupyter-builder" +] build-backend = "hatchling.build" [project] From 12efb45adb136848d2389ec94c8ca25ded5cbbe9 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 11:34:37 +0200 Subject: [PATCH 05/20] Add hatch to build --- .github/workflows/build.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 20bb1f5..28afe4b 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -18,7 +18,9 @@ jobs: uses: jupyterlab/maintainer-tools/.github/actions/base-setup@v1 - name: Install dependencies - run: python -m pip install -U "jupyterlab>=4.0.0,<5" + run: | + python -m pip install -U "jupyterlab>=4.0.0,<5" + python -m pip install hatch-jupyter-builder - name: Lint the extension run: | From 5bf7486e9ee1b0a9539cbb6479f16fdafabb5baa Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 14:02:42 +0200 Subject: [PATCH 06/20] Update webpack options --- webpack.config-jlab.js | 8 +++++++- yarn.lock | 4 ++-- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/webpack.config-jlab.js b/webpack.config-jlab.js index b7c2957..dd6576b 100644 --- a/webpack.config-jlab.js +++ b/webpack.config-jlab.js @@ -1,5 +1,11 @@ module.exports = { experiments: { - asyncWebAssembly: true + asyncWebAssembly: true, + buildHttp: true, + layers: true, + lazyCompilation: true, + outputModule: true, + syncWebAssembly: true, + topLevelAwait: true, } }; diff --git a/yarn.lock b/yarn.lock index 8f2b094..3bf403b 100644 --- a/yarn.lock +++ b/yarn.lock @@ -11336,11 +11336,11 @@ __metadata: "typescript@patch:typescript@~5.0.2#~builtin": version: 5.0.4 - resolution: "typescript@patch:typescript@npm%3A5.0.4#~builtin::version=5.0.4&hash=85af82" + resolution: "typescript@patch:typescript@npm%3A5.0.4#~builtin::version=5.0.4&hash=b5f058" bin: tsc: bin/tsc tsserver: bin/tsserver - checksum: bb309d320c59a26565fb3793dba550576ab861018ff3fd1b7fccabbe46ae4a35546bc45f342c0a0b6f265c801ccdf64ffd68f548f117ceb7f0eac4b805cd52a9 + checksum: d26b6ba97b6d163c55dbdffd9bbb4c211667ebebc743accfeb2c8c0154aace7afd097b51165a72a5bad2cf65a4612259344ff60f8e642362aa1695c760d303ac languageName: node linkType: hard From 99635488816d7db48621faf11e573ea525d758c0 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 14:06:04 +0200 Subject: [PATCH 07/20] Lint and prettify --- webpack.config-jlab.js | 2 +- yarn.lock | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/webpack.config-jlab.js b/webpack.config-jlab.js index dd6576b..b9b8a3a 100644 --- a/webpack.config-jlab.js +++ b/webpack.config-jlab.js @@ -6,6 +6,6 @@ module.exports = { lazyCompilation: true, outputModule: true, syncWebAssembly: true, - topLevelAwait: true, + topLevelAwait: true } }; diff --git a/yarn.lock b/yarn.lock index 3bf403b..8f2b094 100644 --- a/yarn.lock +++ b/yarn.lock @@ -11336,11 +11336,11 @@ __metadata: "typescript@patch:typescript@~5.0.2#~builtin": version: 5.0.4 - resolution: "typescript@patch:typescript@npm%3A5.0.4#~builtin::version=5.0.4&hash=b5f058" + resolution: "typescript@patch:typescript@npm%3A5.0.4#~builtin::version=5.0.4&hash=85af82" bin: tsc: bin/tsc tsserver: bin/tsserver - checksum: d26b6ba97b6d163c55dbdffd9bbb4c211667ebebc743accfeb2c8c0154aace7afd097b51165a72a5bad2cf65a4612259344ff60f8e642362aa1695c760d303ac + checksum: bb309d320c59a26565fb3793dba550576ab861018ff3fd1b7fccabbe46ae4a35546bc45f342c0a0b6f265c801ccdf64ffd68f548f117ceb7f0eac4b805cd52a9 languageName: node linkType: hard From 95e6d6847ee40821792331ff54b944ec331b9060 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 14:16:04 +0200 Subject: [PATCH 08/20] Link webpack config --- package.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/package.json b/package.json index af636aa..73f1d32 100644 --- a/package.json +++ b/package.json @@ -112,7 +112,8 @@ }, "jupyterlab": { "extension": true, - "outputDir": "jupyterlab_urdf/labextension" + "outputDir": "jupyterlab_urdf/labextension", + "webpackConfig": "./webpack.config-jlab.js" }, "eslintIgnore": [ "node_modules", From 4d6356bb2fd61455ef4adf8fbaa2b693885d4a53 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 14:22:59 +0200 Subject: [PATCH 09/20] Modify webpack config path --- package.json | 2 +- webpack.config-jlab.js => webpack.config.js | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename webpack.config-jlab.js => webpack.config.js (100%) diff --git a/package.json b/package.json index 73f1d32..d8c4940 100644 --- a/package.json +++ b/package.json @@ -113,7 +113,7 @@ "jupyterlab": { "extension": true, "outputDir": "jupyterlab_urdf/labextension", - "webpackConfig": "./webpack.config-jlab.js" + "webpackConfig": "./webpack.config.js" }, "eslintIgnore": [ "node_modules", diff --git a/webpack.config-jlab.js b/webpack.config.js similarity index 100% rename from webpack.config-jlab.js rename to webpack.config.js From b3a8168cbf32eaf4d8c7f23de47968ef23f51870 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 14:26:47 +0200 Subject: [PATCH 10/20] Simplify webpack config --- webpack.config.js | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/webpack.config.js b/webpack.config.js index b9b8a3a..b7c2957 100644 --- a/webpack.config.js +++ b/webpack.config.js @@ -1,11 +1,5 @@ module.exports = { experiments: { - asyncWebAssembly: true, - buildHttp: true, - layers: true, - lazyCompilation: true, - outputModule: true, - syncWebAssembly: true, - topLevelAwait: true + asyncWebAssembly: true } }; From ce6bdbc990e4b5beafb68069eb82e850e513bcb4 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 16:03:13 +0200 Subject: [PATCH 11/20] Remove MANIFEST --- .gitignore | 1 + MANIFEST.in | 51 --------------------------------------------------- 2 files changed, 1 insertion(+), 51 deletions(-) delete mode 100644 MANIFEST.in diff --git a/.gitignore b/.gitignore index ec51cbc..baba693 100644 --- a/.gitignore +++ b/.gitignore @@ -138,3 +138,4 @@ dmypy.json # Other examples/nao* +.jupyter_releaser_checkout/ diff --git a/MANIFEST.in b/MANIFEST.in deleted file mode 100644 index 240be5f..0000000 --- a/MANIFEST.in +++ /dev/null @@ -1,51 +0,0 @@ -include LICENSE -include *.md -include pyproject.toml -include conftest.py - -include package.json -include install.json -include ts*.json -include *.config.js -include yarn.lock -include *.js - -graft jupyterlab_urdf/labextension - -# Javascript files -graft src -graft style -graft ui-tests -prune **/node_modules -prune lib -prune binder - -# Patterns to exclude from any directory -global-exclude *~ -global-exclude *.pyc -global-exclude *.pyo -global-exclude .git -global-exclude .ipynb_checkpoints - -# Documentation -recursive-include docs *.bat -recursive-include docs *.gif -recursive-include docs *.md -recursive-include docs *.png -recursive-include docs *.py -recursive-include docs *.rst -recursive-include docs *.txt -recursive-include docs Makefile -recursive-include docs *.json -recursive-include docs *.ipynb -recursive-include docs *.urdf - -# Examples -recursive-include examples *.STL -recursive-include examples *.dae -recursive-include examples *.obj -recursive-include examples *.stl -recursive-include examples *.txt -recursive-include examples *.urdf -recursive-include examples *.xacro -recursive-include examples *.xml From 57940938a6fe626cbe1a0b95cfba8dfe6a97721e Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 17:09:49 +0200 Subject: [PATCH 12/20] Remove workspaces --- package.json | 3 --- 1 file changed, 3 deletions(-) diff --git a/package.json b/package.json index d8c4940..f347bb2 100644 --- a/package.json +++ b/package.json @@ -27,9 +27,6 @@ "type": "git", "url": "https://github.com/jupyter-robotics/jupyterlab-urdf.git" }, - "workspaces": [ - "ui-tests" - ], "scripts": { "build": "jlpm build:lib && jlpm build:labextension:dev", "build:prod": "jlpm clean && jlpm build:lib:prod && jlpm build:labextension", From ebabfdccf887f46f0ed32fb3fdb05d00cc35a8a8 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Thu, 27 Jul 2023 17:16:25 +0200 Subject: [PATCH 13/20] Update yarn.lock --- yarn.lock | 1448 ++--------------------------------------------------- 1 file changed, 43 insertions(+), 1405 deletions(-) diff --git a/yarn.lock b/yarn.lock index 8f2b094..0dccfd1 100644 --- a/yarn.lock +++ b/yarn.lock @@ -2295,33 +2295,6 @@ __metadata: languageName: node linkType: hard -"@jupyterlab/console@npm:^4.0.3": - version: 4.0.3 - resolution: "@jupyterlab/console@npm:4.0.3" - dependencies: - "@codemirror/state": ^6.2.0 - "@codemirror/view": ^6.9.6 - "@jupyter/ydoc": ^1.0.2 - "@jupyterlab/apputils": ^4.1.3 - "@jupyterlab/cells": ^4.0.3 - "@jupyterlab/codeeditor": ^4.0.3 - "@jupyterlab/coreutils": ^6.0.3 - "@jupyterlab/nbformat": ^4.0.3 - "@jupyterlab/observables": ^5.0.3 - "@jupyterlab/rendermime": ^4.0.3 - "@jupyterlab/services": ^7.0.3 - "@jupyterlab/translation": ^4.0.3 - "@jupyterlab/ui-components": ^4.0.3 - "@lumino/coreutils": ^2.1.1 - "@lumino/disposable": ^2.1.1 - "@lumino/dragdrop": ^2.1.1 - "@lumino/messaging": ^2.0.0 - "@lumino/signaling": ^2.1.1 - "@lumino/widgets": ^2.1.1 - 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00:00:00 2001 From: Isabel Paredes Date: Fri, 28 Jul 2023 10:48:04 +0200 Subject: [PATCH 17/20] Fix file browser --- examples/Untitled.ipynb | 6 ------ src/index.ts | 10 +++++----- 2 files changed, 5 insertions(+), 11 deletions(-) delete mode 100644 examples/Untitled.ipynb diff --git a/examples/Untitled.ipynb b/examples/Untitled.ipynb deleted file mode 100644 index 363fcab..0000000 --- a/examples/Untitled.ipynb +++ /dev/null @@ -1,6 +0,0 @@ -{ - "cells": [], - "metadata": {}, - "nbformat": 4, - "nbformat_minor": 5 -} diff --git a/src/index.ts b/src/index.ts index 01bd3fa..25adb88 100644 --- a/src/index.ts +++ b/src/index.ts @@ -14,7 +14,7 @@ import { ILauncher } from '@jupyterlab/launcher'; import { IMainMenu } from '@jupyterlab/mainmenu'; -import { IFileBrowserFactory } from '@jupyterlab/filebrowser'; +import { IDefaultFileBrowser } from '@jupyterlab/filebrowser'; import { Menu } from '@lumino/widgets'; @@ -46,7 +46,7 @@ const extension: JupyterFrontEndPlugin = { requires: [ ICommandPalette, ILayoutRestorer, - IFileBrowserFactory, + IDefaultFileBrowser, IMainMenu, ILauncher ], @@ -54,7 +54,7 @@ const extension: JupyterFrontEndPlugin = { app: JupyterFrontEnd, palette: ICommandPalette, restorer: ILayoutRestorer, - browserFactory: IFileBrowserFactory, + browserFactory: IDefaultFileBrowser, menu: IMainMenu, launcher: ILauncher ) => { @@ -123,10 +123,10 @@ const extension: JupyterFrontEndPlugin = { iconClass: 'jp-URDFIcon', caption: 'Create a new URDF', execute: () => { - // FIXME: const cwd = browserFactory.defaultBrowser.model.path; + const cwd = browserFactory.model.path; commands .execute('docmanager:new-untitled', { - // FIXME: path: cwd, + path: cwd, type: 'file', ext: '.urdf' }) From 4e0dacff85fe091d9b5da177feff0c0904d91020 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Fri, 28 Jul 2023 12:37:45 +0200 Subject: [PATCH 18/20] Enable syntax highlighting --- src/index.ts | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/src/index.ts b/src/index.ts index 25adb88..03be232 100644 --- a/src/index.ts +++ b/src/index.ts @@ -27,7 +27,9 @@ import { UrdfWidgetFactory } from './factory'; import { urdf_icon } from './icons'; // For syntax highlighting -// import { Mode } from '@jupyterlab/codemirror'; // FIXME: +import { + IEditorLanguageRegistry +} from '@jupyterlab/codemirror'; // Name of the factory that creates the URDF widgets const FACTORY = 'URDF Widget Factory'; @@ -48,7 +50,8 @@ const extension: JupyterFrontEndPlugin = { ILayoutRestorer, IDefaultFileBrowser, IMainMenu, - ILauncher + ILauncher, + IEditorLanguageRegistry ], activate: ( app: JupyterFrontEnd, @@ -56,7 +59,8 @@ const extension: JupyterFrontEndPlugin = { restorer: ILayoutRestorer, browserFactory: IDefaultFileBrowser, menu: IMainMenu, - launcher: ILauncher + launcher: ILauncher, + languageRegistry: IEditorLanguageRegistry ) => { console.log('JupyterLab extension URDF is activated!'); const { commands } = app; @@ -93,14 +97,6 @@ const extension: JupyterFrontEndPlugin = { tracker.add(widget); }); - // FIXME: // Syntax highlighting - // Mode.getModeInfo().push({ - // name: 'URDF', - // mime: 'text/xml', - // mode: 'xml', - // ext: ['urdf', 'xacro'] - // }); - // Register widget and model factories app.docRegistry.addWidgetFactory(widgetFactory); @@ -153,7 +149,6 @@ const extension: JupyterFrontEndPlugin = { const urdfMenu: Menu = new Menu({ commands }); urdfMenu.title.label = 'URDF'; urdfMenu.addItem({ command: 'urdf:create-new' }); - // FIXME: menu.addMenu(urdfMenu, { rank: 20 }); menu.addMenu(urdfMenu); } @@ -164,6 +159,12 @@ const extension: JupyterFrontEndPlugin = { category: 'URDF' }); } + + if (languageRegistry) { + // FIXME: Property 'push' does not exist on type 'readonly string[]'. + // @ts-ignore + languageRegistry.findByMIME('text/xml')?.extensions?.push('urdf'); + } } }; From f64d8b47496baf8910fe3fd9a97e7ef5581fbd85 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Fri, 28 Jul 2023 13:07:32 +0200 Subject: [PATCH 19/20] Prettify --- src/index.ts | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/index.ts b/src/index.ts index 03be232..0f9df91 100644 --- a/src/index.ts +++ b/src/index.ts @@ -27,9 +27,7 @@ import { UrdfWidgetFactory } from './factory'; import { urdf_icon } from './icons'; // For syntax highlighting -import { - IEditorLanguageRegistry -} from '@jupyterlab/codemirror'; +import { IEditorLanguageRegistry } from '@jupyterlab/codemirror'; // Name of the factory that creates the URDF widgets const FACTORY = 'URDF Widget Factory'; From 5dbb4c84bf31aeb3c852945f6a3a0838f80302d7 Mon Sep 17 00:00:00 2001 From: Isabel Paredes Date: Fri, 28 Jul 2023 13:21:31 +0200 Subject: [PATCH 20/20] Fix eslint --- src/index.ts | 1 + 1 file changed, 1 insertion(+) diff --git a/src/index.ts b/src/index.ts index 0f9df91..0ccedcd 100644 --- a/src/index.ts +++ b/src/index.ts @@ -160,6 +160,7 @@ const extension: JupyterFrontEndPlugin = { if (languageRegistry) { // FIXME: Property 'push' does not exist on type 'readonly string[]'. + // eslint-disable-next-line @typescript-eslint/ban-ts-comment // @ts-ignore languageRegistry.findByMIME('text/xml')?.extensions?.push('urdf'); }