Merge pull request #199 in SWDEV/franka_ros from refactor-franka-desc…

…ription-to-support-fr3 to develop * commit '7e8be0dd968f6c4b80aa54d4f6bcc06bd0e7284f': fix cartesian pose example generalize over arm_id in franka_example_controllers.yaml CHANGE: Parameterize tests for both panda + fr3 FIX: Make <arg> in `franka_robot` macro property CHANGE: Extract <limits> & <safety_controller> into custom macro update CHANGELOG.md allow selecting fr3 urdf for launch files define joint limits for fr3 load joint limits directly in top-level URDf use correct urdfs in launch files refactor franka_description to support for fr3
frankaemika · Sep 2, 2022 · bedad2f · bedad2f
2 parents 28886ca + 7e8be0d
commit bedad2f
Show file tree

Hide file tree

Showing 39 changed files with 462 additions and 331 deletions.
diff --git a/.ci/Dockerfile.melodic b/.ci/Dockerfile.melodic
@@ -5,6 +5,7 @@ RUN apt-get update -y && apt-get install -y \
     clang-format-7 \
     clang-tidy-7 \
     pycodestyle \
+    python-pip \
     python3-catkin-tools \
     ros-melodic-libfranka \
     ros-melodic-boost-sml \
@@ -15,3 +16,5 @@ RUN apt-get update -y && apt-get install -y \
     ros-melodic-orocos-kdl \
     ros-melodic-urdfdom-py \
     && rm -rf /var/lib/apt/lists/*
+
+RUN pip install parameterized
diff --git a/.ci/Dockerfile.noetic b/.ci/Dockerfile.noetic
@@ -6,6 +6,7 @@ RUN apt-get update -y && apt-get install -y \
     clang-tidy-7 \
     pycodestyle \
     liborocos-kdl-dev \
+    python3-pip \
     python3-catkin-tools \
     ros-noetic-libfranka \
     ros-noetic-boost-sml \
@@ -15,3 +16,5 @@ RUN apt-get update -y && apt-get install -y \
     ros-noetic-gazebo-ros-control \
     ros-noetic-urdfdom-py \
     && rm -rf /var/lib/apt/lists/*
+
+RUN pip install parameterized
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,8 @@ Requires `libfranka` >= 0.8.0
   * `franka_example_controllers`: Normalize rotations before usage
   * `franka_example_controllers`: Extend the `teleop_joint_pd_example_controller` with markers indicating leader and follower roles + consistently use leader and follower as robot names in the example.
   * `franka_example_controllers`: Don't require MoveIt for `move_to_start.launch`
+  * **BREAKING** `franka_description`: Refactor URDF files to also support FR3
+  * `franka_control`: Introduce optional `robot` argument in the `franka_control.launch` launch file that chooses either the URDF for panda or fr3. This argument can also be used in the launch files of `franka_examples`. The default is "panda".
 
 ## 0.9.1 - 2022-08-29
 

diff --git a/franka_control/launch/franka_combined_control.launch b/franka_control/launch/franka_combined_control.launch
@@ -2,7 +2,7 @@
 <launch>
 
   <!-- The path to a robot description (xacro) file to control -->
-  <arg name="robot" default="$(find franka_description)/robots/dual_panda_example.urdf.xacro" />
+  <arg name="robot" default="$(find franka_description)/robots/dual_panda/dual_panda_example.urdf.xacro" />
 
   <!-- Additional XACRO args. Be sure to escape colons and equal signs
        with backslashes, because XACRO use same syntax as roslaunch:

diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
@@ -1,11 +1,12 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" />
-  <arg name="arm_id" default="panda" />
+  <arg name="robot" default="panda" doc="choose your robot. Possible values: [panda, fr3]"/>
+  <arg name="arm_id" default="$(arg robot)" />
   <arg name="load_gripper" default="true" />
   <arg name="xacro_args" default="" />
 
-  <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper) arm_id:=$(arg arm_id) $(arg xacro_args)"/>
+  <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/$(arg robot)/$(arg robot).urdf.xacro hand:=$(arg load_gripper) arm_id:=$(arg arm_id) $(arg xacro_args)"/>
 
   <include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
     <arg name="robot_ip" value="$(arg robot_ip)" />

diff --git a/franka_description/CMakeLists.txt b/franka_description/CMakeLists.txt
@@ -11,6 +11,6 @@ install(DIRECTORY robots
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-catkin_add_nosetests(test/panda_arm_urdf.py)
+catkin_add_nosetests(test/franka_robot_urdf.py)
 catkin_add_nosetests(test/hand_urdf.py)
 catkin_add_nosetests(test/dual_panda_example_urdf.py)
diff --git a/franka_description/robots/panda_arm.xacro → ...escription/robots/common/franka_arm.xacro b/franka_description/robots/panda_arm.xacro → ...escription/robots/common/franka_arm.xacro
@@ -1,11 +1,12 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 
-  <xacro:include filename="utils.xacro" />
+  <xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
 
   <!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
-  <!-- arm_id: Namespace of the panda arm. Serves to differentiate between arms in case of multiple instances. -->
-  <xacro:macro name="panda_arm" params="arm_id:='panda' description_pkg:='franka_description' connected_to:='' xyz:='0 0 0' rpy:='0 0 0' gazebo:=false safety_distance:=0">
+  <!-- arm_id: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->
+  <!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')} -->
+  <xacro:macro name="franka_arm" params="arm_id:='panda' description_pkg:='franka_description' connected_to:='' xyz:='0 0 0' rpy:='0 0 0' gazebo:=false safety_distance:=0 joint_limits" >
     <xacro:unless value="${not connected_to}">
       <joint name="${arm_id}_joint_${connected_to}" type="fixed">
         <parent link="${connected_to}"/>
@@ -27,12 +28,11 @@
     </xacro:link_with_sc>
 
     <joint name="${arm_id}_joint1" type="revolute">
-      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
       <origin rpy="0 0 0" xyz="0 0 0.333" />
       <parent link="${arm_id}_link0" />
       <child link="${arm_id}_link1" />
       <axis xyz="0 0 1" />
-      <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+      <xacro:franka-limits name="joint1" config="${joint_limits}" />
       <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
     </joint>
 
@@ -43,12 +43,11 @@
     </xacro:link_with_sc>
 
     <joint name="${arm_id}_joint2" type="revolute">
-      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
       <origin rpy="${-pi/2} 0 0" xyz="0 0 0" />
       <parent link="${arm_id}_link1" />
       <child link="${arm_id}_link2" />
       <axis xyz="0 0 1" />
-      <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750" />
+      <xacro:franka-limits name="joint2" config="${joint_limits}" />
       <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
     </joint>
 
@@ -59,12 +58,11 @@
     </xacro:link_with_sc>
 
     <joint name="${arm_id}_joint3" type="revolute">
-      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
       <origin rpy="${pi/2} 0 0" xyz="0 -0.316 0" />
       <parent link="${arm_id}_link2" />
       <child link="${arm_id}_link3" />
       <axis xyz="0 0 1" />
-      <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+      <xacro:franka-limits name="joint3" config="${joint_limits}" />
       <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
     </joint>
 
@@ -75,12 +73,11 @@
     </xacro:link_with_sc>
 
     <joint name="${arm_id}_joint4" type="revolute">
-      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698" />
       <origin rpy="${pi/2} 0 0" xyz="0.0825 0 0" />
       <parent link="${arm_id}_link3" />
       <child link="${arm_id}_link4" />
       <axis xyz="0 0 1" />
-      <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" />
+      <xacro:franka-limits name="joint4" config="${joint_limits}" />
       <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
     </joint>
 
@@ -92,12 +89,11 @@
     </xacro:link_with_sc>
 
     <joint name="${arm_id}_joint5" type="revolute">
-      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
       <origin rpy="${-pi/2} 0 0" xyz="-0.0825 0.384 0" />
       <parent link="${arm_id}_link4" />
       <child link="${arm_id}_link5" />
       <axis xyz="0 0 1" />
-      <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
+      <xacro:franka-limits name="joint5" config="${joint_limits}" />
       <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
     </joint>
 
@@ -108,12 +104,11 @@
     </xacro:link_with_sc>
 
     <joint name="${arm_id}_joint6" type="revolute">
-      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525" />
       <origin rpy="${pi/2} 0 0" xyz="0 0 0" />
       <parent link="${arm_id}_link5" />
       <child link="${arm_id}_link6" />
       <axis xyz="0 0 1" />
-      <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100" />
+      <xacro:franka-limits name="joint6" config="${joint_limits}" />
       <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16" />
     </joint>
 
@@ -125,12 +120,11 @@
     </xacro:link_with_sc>
 
     <joint name="${arm_id}_joint7" type="revolute">
-      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
       <origin rpy="${pi/2} 0 0" xyz="0.088 0 0"/>
       <parent link="${arm_id}_link6"/>
       <child link="${arm_id}_link7"/>
       <axis xyz="0 0 1"/>
-      <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+      <xacro:franka-limits name="joint7" config="${joint_limits}" />
       <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
     </joint>
 

diff --git a/franka_description/robots/hand.xacro → ...scription/robots/common/franka_hand.xacro b/franka_description/robots/hand.xacro → ...scription/robots/common/franka_hand.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
   <!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
-  <xacro:macro name="hand" params="connected_to:='' arm_id:='panda' rpy:='0 0 0' xyz:='0 0 0' tcp_xyz:='0 0 0.1034' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=franka_description">
+  <xacro:macro name="franka_hand" params="connected_to:='' arm_id:='panda' rpy:='0 0 0' xyz:='0 0 0' tcp_xyz:='0 0 0.1034' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=franka_description">
     <xacro:unless value="${connected_to == ''}">
       <joint name="${arm_id}_hand_joint" type="fixed">
         <parent link="${connected_to}" />

diff --git a/franka_description/robots/common/franka_robot.xacro b/franka_description/robots/common/franka_robot.xacro
@@ -0,0 +1,93 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="franka_robot" params="arm_id joint_limits">
+    <!-- Name of this panda -->
+    <!-- Should a franka_gripper be mounted at the flange?" -->
+    <xacro:arg name="hand" default="false" />
+    <!-- Positional offset between $(arm_id)_hand -> $(arm_id)_hand_tcp [m]. Only used when hand:=true -->
+    <xacro:arg name="tcp_xyz" default="0 0 0.1034" />
+    <!-- Rotational offset between $(arm_id)_hand -> $(arm_id)_hand_tcp [rad]. Only used when hand:=true -->
+    <xacro:arg name="tcp_rpy" default="0 0 0" />
+    <!-- Is the robot being simulated in gazebo?" -->
+    <xacro:arg name="gazebo" default="false" />
+
+    <xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
+    <xacro:include filename="$(find franka_description)/robots/common/franka_arm.xacro" />
+
+    <xacro:franka_arm arm_id="${arm_id}" safety_distance="0.03" gazebo="$(arg gazebo)" joint_limits="${joint_limits}"/>
+
+    <xacro:if value="$(arg hand)">
+      <xacro:include filename="$(find franka_description)/robots/common/franka_hand.xacro"/>
+      <xacro:franka_hand
+          arm_id="$(arg arm_id)"
+          rpy="0 0 ${-pi/4}"
+          tcp_xyz="$(arg tcp_xyz)"
+          tcp_rpy="$(arg tcp_rpy)"
+          connected_to="$(arg arm_id)_link8"
+          safety_distance="0.03"
+          gazebo="$(arg gazebo)"
+       />
+    </xacro:if>
+
+    <!-- Define additional Gazebo tags -->
+    <xacro:if value="$(arg gazebo)">
+
+      <xacro:arg name="xyz" default="0 0 0" />
+      <xacro:arg name="rpy" default="0 0 0" />
+
+      <!-- Gazebo requires a joint to a link called "world" for statically mounted robots -->
+      <link name="world" />
+      <joint name="world_joint" type="fixed">
+        <origin xyz="$(arg xyz)" rpy="$(arg rpy)" />
+        <parent link="world" />
+        <child  link="$(arg arm_id)_link0" />
+      </joint>
+
+      <xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/PositionJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/PositionJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/PositionJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/PositionJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/PositionJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/PositionJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/PositionJointInterface" />
+
+      <xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/VelocityJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/VelocityJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/VelocityJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/VelocityJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/VelocityJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/VelocityJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/VelocityJointInterface" />
+
+      <xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/EffortJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/EffortJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/EffortJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/EffortJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/EffortJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/EffortJointInterface" />
+      <xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/EffortJointInterface" />
+
+      <xacro:transmission-franka-state arm_id="${arm_id}" />
+      <xacro:transmission-franka-model arm_id="${arm_id}"
+         root="${arm_id}_joint1"
+         tip="${arm_id}_joint8"
+       />
+
+      <xacro:if value="$(arg hand)">
+        <xacro:gazebo-joint joint="${arm_id}_finger_joint1" transmission="hardware_interface/EffortJointInterface" />
+        <xacro:gazebo-joint joint="${arm_id}_finger_joint2" transmission="hardware_interface/EffortJointInterface" />
+        <!-- Friction specific material for Rubber/Rubber contact -->
+        <xacro:gazebo-friction link="${arm_id}_leftfinger" mu="1.13" />
+        <xacro:gazebo-friction link="${arm_id}_rightfinger" mu="1.13" />
+      </xacro:if>
+
+      <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+          <controlPeriod>0.001</controlPeriod>
+          <robotSimType>franka_gazebo/FrankaHWSim</robotSimType>
+        </plugin>
+        <self_collide>true</self_collide>
+      </gazebo>
+    </xacro:if>
+  </xacro:macro>
+</robot>
diff --git a/franka_description/robots/common/hand.urdf.xacro b/franka_description/robots/common/hand.urdf.xacro
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
+  <xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
+  <xacro:include filename="franka_hand.xacro"/>
+  <xacro:franka_hand arm_id="panda" safety_distance="0.03"/>
+</robot>
diff --git a/franka_description/robots/inertial.yaml → ...a_description/robots/common/inertial.yaml b/franka_description/robots/inertial.yaml → ...a_description/robots/common/inertial.yaml
diff --git a/franka_description/robots/utils.xacro → franka_description/robots/common/utils.xacro b/franka_description/robots/utils.xacro → franka_description/robots/common/utils.xacro
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <!-- Load interial properties. Property is implicitly passed to macros. -->
-  <xacro:property name="inertial_config" value="$(find franka_description)/robots/inertial.yaml"/>
+  <!-- Load inertial properties. Property is implicitly passed to macros. -->
+  <xacro:property name="inertial_config" value="$(find franka_description)/robots/common/inertial.yaml"/>
   <xacro:property name="inertial" value="${xacro.load_yaml(inertial_config)}"/>
 
   <!-- ============================================================== -->
-  <!-- Macro to add an <interial> tag based on yaml-load properties   -->
+  <!-- Macro to add an <inertial> tag based on yaml-load properties   -->
   <!--                                                                -->
   <!-- name:     Name of the robot link (without prefix)              -->
   <!-- inertial: Dictionary of inertia properties (see inertial.yaml) -->
@@ -219,4 +219,23 @@
     </inertial>
   </xacro:macro>
 
+  <!-- ========================================================================= -->
+  <!-- Adds the <limit ... /> & <safety_controller/> tags given a config file    -->
+  <!-- of joint limits                                                           -->
+  <!--                                                                           -->
+  <!-- config - YAML struct defining joint limits (e.g. panda/joint_limits.yaml) -->
+  <!-- name   - Name of the joint for which to add limits to                     -->
+  <!-- ========================================================================= -->
+  <xacro:macro name="franka-limits" params="config name">
+      <xacro:property name="limits" value="${config[name]['limit']}" lazy_eval="false" />
+      <limit lower="${limits.lower}"
+             upper="${limits.upper}"
+             effort="${limits.effort}"
+             velocity="${limits.velocity}" />
+      <safety_controller k_position="100.0"
+                         k_velocity="40.0"
+                         soft_lower_limit="${limits.lower}"
+                         soft_upper_limit="${limits.upper}" />
+  </xacro:macro>
+
 </robot>
diff --git a/franka_description/robots/dual_panda/dual_panda_example.urdf.xacro b/franka_description/robots/dual_panda/dual_panda_example.urdf.xacro
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:arg name="arm_id_1" default="panda_1" />
+  <xacro:arg name="arm_id_2" default="panda_2" />
+
+  <xacro:include filename="$(find franka_description)/robots/common/franka_arm.xacro"/>
+  <xacro:include filename="$(find franka_description)/robots/common/franka_hand.xacro"/>
+
+  <!-- box shaped table as base for the 2 Pandas -->
+  <link name="base">
+    <visual>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <geometry>
+        <box size="1 2 1" />
+      </geometry>
+      <material name="White">
+        <color rgba="1.0 1.0 1.0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <geometry>
+        <box size="1 2 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- right arm with gripper -->
+  <xacro:franka_arm arm_id="$(arg arm_id_1)" connected_to="base"  xyz="0 -0.5 1" safety_distance="0.03" joint_limits="${xacro.load_yaml('$(find franka_description)/robots/panda/joint_limits.yaml')}"/>
+  <xacro:franka_hand arm_id="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" safety_distance="0.03"/>
+
+  <!-- left arm with gripper -->
+  <xacro:franka_arm arm_id="$(arg arm_id_2)" connected_to="base"  xyz="0 0.5 1" safety_distance="0.03" joint_limits="${xacro.load_yaml('$(find franka_description)/robots/panda/joint_limits.yaml')}"/>
+  <xacro:franka_hand arm_id="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8" safety_distance="0.03"/>
+
+</robot>