From 101aa244c4f52e47873d8da5140213ddccbdd27a Mon Sep 17 00:00:00 2001 From: Robert Griffin Date: Fri, 9 Aug 2024 12:31:42 -0500 Subject: [PATCH] did more cleanup of build files did more dependency cleanup finished cleaning up the source dependencies went through all the jar dependencies --- atlas/build.gradle.kts | 17 -- .../us/ihmc/atlas/AtlasHeadPoseEstimator.java | 86 ------- example-simulations/build.gradle.kts | 2 - ihmc-avatar-interfaces/build.gradle.kts | 34 +-- .../build.gradle.kts | 17 -- ihmc-footstep-planning/build.gradle.kts | 13 - ihmc-graphics/build.gradle.kts | 1 - ihmc-high-level-behaviors/build.gradle.kts | 17 +- ihmc-humanoid-behaviors/build.gradle.kts | 12 - ihmc-interfaces/build.gradle.kts | 1 - ihmc-java-toolkit/build.gradle.kts | 2 - ihmc-manipulation-planning/build.gradle.kts | 6 - ihmc-parameter-estimation/build.gradle.kts | 3 - ihmc-parameter-tuner/build.gradle.kts | 2 - ihmc-path-planning/build.gradle | 15 -- ihmc-perception/build.gradle.kts | 16 -- ihmc-quadruped/build.gradle.kts | 6 +- ihmc-robot-data-visualizer/build.gradle.kts | 8 - ihmc-robot-models/build.gradle.kts | 2 - ihmc-robotics-toolkit/build.gradle.kts | 5 - ihmc-ros-tools/build.gradle.kts | 6 - ihmc-simulation-toolkit/build.gradle.kts | 15 +- ihmc-state-estimation/build.gradle.kts | 2 - ...nseSLWithMicroStrainHeadPoseEstimator.java | 230 ------------------ ihmc-system-identification/build.gradle.kts | 3 - ihmc-whole-body-controller/build.gradle | 3 - promp/build.gradle.kts | 1 - robot-environment-awareness/build.gradle.kts | 8 - robotiq-hand-drivers/build.gradle.kts | 7 - .../build.gradle.kts | 4 - 30 files changed, 8 insertions(+), 536 deletions(-) delete mode 100644 atlas/src/main/java/us/ihmc/atlas/AtlasHeadPoseEstimator.java delete mode 100644 ihmc-state-estimation/src/main/java/us/ihmc/stateEstimation/head/carnegie/multisense/MultisenseSLWithMicroStrainHeadPoseEstimator.java diff --git a/atlas/build.gradle.kts b/atlas/build.gradle.kts index 84757556add5..8c5a53b0d555 100644 --- a/atlas/build.gradle.kts +++ b/atlas/build.gradle.kts @@ -14,21 +14,11 @@ ihmc { } mainDependencies { - api("org.ddogleg:ddogleg:0.18") api("org.apache.xmlgraphics:batik-dom:1.14") - api("org.apache.ant:ant:1.9.0") - api("com.martiansoftware:jsap:2.1") - api("org.boofcv:boofcv-calibration:0.36") - api("org.boofcv:boofcv-swing:0.36") - api("com.github.wendykierp:JTransforms:3.1") - api("us.ihmc:euclid-frame-shape:0.21.0") - api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9") - api("us.ihmc:ihmc-humanoid-behaviors:source") api("us.ihmc:ihmc-avatar-interfaces-visualizers:source") api("us.ihmc:robotiq-hand-drivers:source") api("us.ihmc:ihmc-model-file-loader:source") - api("us.ihmc:ihmc-robot-data-visualizer:source") api("us.ihmc:ihmc-manipulation-planning:source") api("us.ihmc:ihmc-parameter-tuner:source") api("us.ihmc:ihmc-footstep-planning-visualizers:source") @@ -36,15 +26,8 @@ mainDependencies { } testDependencies { - api("com.thoughtworks.xstream:xstream:1.4.19") - - api("us.ihmc:ihmc-commons-testing:0.32.0") - api("us.ihmc:ihmc-robotics-toolkit-test:source") - api("us.ihmc:ihmc-common-walking-control-modules-test:source") api("us.ihmc:ihmc-avatar-interfaces-test:source") - api("us.ihmc:ihmc-humanoid-robotics-test:source") api("us.ihmc:ihmc-sensor-processing-test:source") api("us.ihmc:ihmc-simulation-toolkit-test:source") - api("us.ihmc:simulation-construction-set-tools-test:source") api("us.ihmc:ihmc-messager-test:0.2.0") } diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasHeadPoseEstimator.java b/atlas/src/main/java/us/ihmc/atlas/AtlasHeadPoseEstimator.java deleted file mode 100644 index d42f758cfef1..000000000000 --- a/atlas/src/main/java/us/ihmc/atlas/AtlasHeadPoseEstimator.java +++ /dev/null @@ -1,86 +0,0 @@ -package us.ihmc.atlas; - -import java.io.IOException; - -import us.ihmc.euclid.referenceFrame.ReferenceFrame; -import us.ihmc.euclid.transform.RigidBodyTransform; -import us.ihmc.graphicsDescription.appearance.YoAppearance; -import us.ihmc.graphicsDescription.yoGraphics.YoGraphicCoordinateSystem; -import us.ihmc.graphicsDescription.yoGraphics.YoGraphicsList; -import us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry; -import us.ihmc.realtime.PriorityParameters; -import us.ihmc.stateEstimation.head.carnegie.multisense.MultisenseSLWithMicroStrainHeadPoseEstimator; -import us.ihmc.yoVariables.euclid.referenceFrame.YoFramePose3D; - -/** - * @author Doug Stephen (dstephen@ihmc.us) - */ -public class AtlasHeadPoseEstimator extends MultisenseSLWithMicroStrainHeadPoseEstimator -{ - private static final boolean DEBUG = false; - private static final PriorityParameters imuListenerPriority = new PriorityParameters(20); - - private final String simpleName = getClass().getSimpleName(); - - private final RigidBodyTransform headRigidBodyTransform = new RigidBodyTransform(); - private YoFramePose3D estimatedHeadPoseFramePoint; - private YoGraphicCoordinateSystem estimatedHeadPoseViz; - private YoGraphicCoordinateSystem imuFrame; - - public AtlasHeadPoseEstimator(double dt, long microStrainSerialNumber, boolean getRobotConfigurationDataFromNetwork) - throws IOException - { - super(dt, MultisenseSLWithMicroStrainHeadPoseEstimator.DEFAULT_MULTISENSE_TO_IMU_TRANSFORM, imuListenerPriority, microStrainSerialNumber, - getRobotConfigurationDataFromNetwork); - - } - - public AtlasHeadPoseEstimator(double dt, long microStrainSerialNumber) - throws IOException - { - this(dt, microStrainSerialNumber, false); - } - -// @Override - public void configureYoGraphics(YoGraphicsListRegistry parentYoGraphicListRegistry) - { - if (DEBUG) - { - YoGraphicsList graphicsList = new YoGraphicsList("AtlasHeadPoseEstimator"); - estimatedHeadPoseFramePoint = new YoFramePose3D("EstimatedHeadPoseFramePoint", ReferenceFrame.getWorldFrame(), getYoRegistry()); - - estimatedHeadPoseViz = new YoGraphicCoordinateSystem("EstimatedHeadPoseVizualizer", estimatedHeadPoseFramePoint, 0.2, YoAppearance.DarkGray()); - - imuFrame = new YoGraphicCoordinateSystem("HeadIMUFrame", new YoFramePose3D("HeadIMUPose", ReferenceFrame.getWorldFrame(), getYoRegistry()), 0.2); - - graphicsList.add(estimatedHeadPoseViz); - graphicsList.add(imuFrame); - - parentYoGraphicListRegistry.registerYoGraphicsList(graphicsList); - } - } - - @Override - public void initialize() - { - initializeEstimator(getFullRobotModel().getHead().getBodyFixedFrame().getTransformToWorldFrame()); - super.initialize(); - } - - @Override - public void compute() - { - super.compute(); - if (DEBUG) - { - getHeadTransform(headRigidBodyTransform); - - imuFrame.setToReferenceFrame(getImuFrame()); - - if (estimatedHeadPoseViz != null) - { - estimatedHeadPoseFramePoint.set(headRigidBodyTransform); - } - } - } -} diff --git a/example-simulations/build.gradle.kts b/example-simulations/build.gradle.kts index 22b99846d8f0..2cc4a81a2031 100644 --- a/example-simulations/build.gradle.kts +++ b/example-simulations/build.gradle.kts @@ -13,12 +13,10 @@ ihmc { } mainDependencies { - api("us.ihmc:ihmc-model-file-loader:source") api("us.ihmc:ihmc-quadruped-robotics:source") } testDependencies { - api("us.ihmc:ihmc-commons-testing:0.32.0") api("us.ihmc:ihmc-robotics-toolkit-test:source") api("us.ihmc:ihmc-quadruped-robotics-test:source") api("us.ihmc:ihmc-quadruped-planning-test:source") diff --git a/ihmc-avatar-interfaces/build.gradle.kts b/ihmc-avatar-interfaces/build.gradle.kts index 0760821527da..69197b5999f9 100644 --- a/ihmc-avatar-interfaces/build.gradle.kts +++ b/ihmc-avatar-interfaces/build.gradle.kts @@ -16,43 +16,16 @@ ihmc { mainDependencies { api("com.martiansoftware:jsap:2.1") api("org.apache.poi:poi:3.15") // I/O library for xls files. - api("org.ejml:ejml-core:0.39") - api("org.ejml:ejml-ddense:0.39") - api("org.boofcv:boofcv-geo:0.36") - api("org.jfree:jfreechart:1.0.19") - api("com.github.quickhull3d:quickhull3d:1.0.0") - api("com.github.wendykierp:JTransforms:3.1") - api("org.reflections:reflections:0.9.10") api("com.hierynomus:sshj:0.32.0") - api("us.ihmc:euclid:0.21.0") - api("us.ihmc:euclid-geometry:0.21.0") api("us.ihmc:mecano-graphviz:17-0.18.1") - api("us.ihmc:robot-environment-awareness:source") - api("us.ihmc:robot-environment-awareness-visualizers:source") - api("us.ihmc:ihmc-ros-tools:source") - api("us.ihmc:ihmc-common-walking-control-modules:source") - api("us.ihmc:ihmc-model-file-loader:source") - api("us.ihmc:ihmc-sensor-processing:source") - api("us.ihmc:ihmc-communication:source") + api("us.ihmc:scs2-bullet-simulation:17-0.26.0") + api("us.ihmc:ihmc-humanoid-behaviors:source") - api("us.ihmc:ihmc-humanoid-robotics:source") - api("us.ihmc:ihmc-perception:source") - api("us.ihmc:ihmc-whole-body-controller:source") - api("us.ihmc:ihmc-state-estimation:source") - api("us.ihmc:ihmc-java-toolkit:source") - api("us.ihmc:ihmc-robotics-toolkit:source") - api("us.ihmc:ihmc-robot-models:source") - api("us.ihmc:ihmc-graphics-javafx:source") api("us.ihmc:ihmc-graphics-jmonkeyengine:source") api("us.ihmc:ihmc-simulation-toolkit:source") api("us.ihmc:ihmc-robot-data-visualizer:source") - api("us.ihmc:ihmc-footstep-planning:source") - api("us.ihmc:simulation-construction-set-tools:source") - api("us.ihmc:scs2-definition:17-0.26.0") - api("us.ihmc:scs2-bullet-simulation:17-0.26.0") - api("us.ihmc:scs2-session-visualizer-jfx:17-0.26.0") - api("us.ihmc:scs2-simulation-construction-set:17-0.26.0") + api("us.ihmc:robot-environment-awareness-visualizers:source") } testDependencies { @@ -68,7 +41,6 @@ testDependencies { visualizersDependencies { api(ihmc.sourceSetProject("main")) - api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9") api("us.ihmc:robot-environment-awareness-application:source") api("us.ihmc:ihmc-path-planning-visualizers:source") api("us.ihmc:ihmc-footstep-planning-visualizers:source") diff --git a/ihmc-common-walking-control-modules/build.gradle.kts b/ihmc-common-walking-control-modules/build.gradle.kts index 55dbfe557316..94fd86e7c499 100644 --- a/ihmc-common-walking-control-modules/build.gradle.kts +++ b/ihmc-common-walking-control-modules/build.gradle.kts @@ -14,31 +14,14 @@ ihmc { } mainDependencies { - api("gov.nist.math:jama:1.0.3") - api("com.google.guava:guava:18.0") - api("org.ejml:ejml-ddense:0.39") - api("org.ejml:ejml-core:0.39") - api("net.sf.trove4j:trove4j:3.0.3") - - api("us.ihmc:ihmc-realtime:1.6.0") - api("us.ihmc:ihmc-native-library-loader:2.0.3") - api("us.ihmc:euclid:0.21.0") - api("us.ihmc:euclid-geometry:0.21.0") - api("us.ihmc:ihmc-robot-models:source") - api("us.ihmc:ihmc-sensor-processing:source") api("us.ihmc:ihmc-trajectory-optimization:source") - api("us.ihmc:ihmc-communication:source") api("us.ihmc:ihmc-convex-optimization:0.17.19") - api("us.ihmc:ihmc-robotics-toolkit:source") - api("us.ihmc:ihmc-java-toolkit:source") -// api("us.ihmc:ihmc-footstep-planning:source") api("us.ihmc:ihmc-humanoid-robotics:source") api("us.ihmc:ihmc-parameter-estimation:source") } testDependencies { api(ihmc.sourceSetProject("visualizers")) - api("us.ihmc:ihmc-commons-testing:0.32.0") api("us.ihmc:simulation-construction-set-tools-test:source") api("us.ihmc:ihmc-robotics-toolkit-test:source") api("us.ihmc:ihmc-robotics-toolkit-test:source") diff --git a/ihmc-footstep-planning/build.gradle.kts b/ihmc-footstep-planning/build.gradle.kts index 88d4cd55323b..dd34a4cba901 100644 --- a/ihmc-footstep-planning/build.gradle.kts +++ b/ihmc-footstep-planning/build.gradle.kts @@ -14,19 +14,14 @@ ihmc { } mainDependencies { - api("us.ihmc:ihmc-convex-optimization:0.17.19") - api("us.ihmc:ihmc-path-planning:source") api("us.ihmc:ihmc-perception:source") api("us.ihmc:ihmc-common-walking-control-modules:source") api("us.ihmc:ihmc-path-planning-data-sets:source") - api("us.ihmc:ihmc-pub-sub-serializers-extra:0.19.1") } testDependencies { api(ihmc.sourceSetProject("visualizers")) - api("us.ihmc:ihmc-path-planning-data-sets:source") - api("us.ihmc:ihmc-robotics-toolkit:source") api("us.ihmc:ihmc-path-planning-test:source") api("us.ihmc:simulation-construction-set-tools-test:source") } @@ -34,15 +29,7 @@ testDependencies { visualizersDependencies { api(ihmc.sourceSetProject("main")) - api("us.ihmc:ihmc-messager-javafx:0.2.0") - api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9") - api("us.ihmc:robot-environment-awareness-application:source") - api("us.ihmc:ihmc-communication:source") api("us.ihmc:ihmc-path-planning-visualizers:source") - api("us.ihmc:ihmc-robot-models:source") - api("us.ihmc:ihmc-graphics-javafx:source") - api("us.ihmc:ihmc-graphics-jmonkeyengine:source") - api("us.ihmc:ihmc-whole-body-controller:source") api("us.ihmc:ihmc-common-walking-control-modules-test:source") } diff --git a/ihmc-graphics/build.gradle.kts b/ihmc-graphics/build.gradle.kts index f432409f04ff..aaf3a161402a 100644 --- a/ihmc-graphics/build.gradle.kts +++ b/ihmc-graphics/build.gradle.kts @@ -14,7 +14,6 @@ ihmc { mainDependencies { api("us.ihmc:ihmc-sensor-processing:source") - api("us.ihmc:ihmc-graphics-description:0.25.1") } testDependencies { diff --git a/ihmc-high-level-behaviors/build.gradle.kts b/ihmc-high-level-behaviors/build.gradle.kts index 9ed1101e55c6..ffce3cb07b5f 100644 --- a/ihmc-high-level-behaviors/build.gradle.kts +++ b/ihmc-high-level-behaviors/build.gradle.kts @@ -23,12 +23,6 @@ mainDependencies { } missionControlDependencies { - api("us.ihmc:ihmc-commons:0.32.0") - api("us.ihmc:log-tools:0.6.3") - api("us.ihmc:ihmc-ros2-library:0.24.2") - api("us.ihmc:ihmc-java-toolkit:source") - api("us.ihmc:ihmc-robotics-toolkit:source") - api("us.ihmc:ihmc-interfaces:source") api("us.ihmc:ihmc-communication:source") } @@ -37,9 +31,6 @@ libgdxDependencies { api(ihmc.sourceSetProject("mission-control")) api("org.abego.treelayout:org.abego.treelayout.core:1.0.3") api("us.ihmc:ihmc-graphics-libgdx:source") - api("us.ihmc:ihmc-graphics-libgdx:source") - api("us.ihmc:scs2-definition:17-0.26.0") - api("us.ihmc:mecano-graphviz:17-0.18.1") api("com.badlogicgames.gdx-controllers:gdx-controllers-core:2.2.3") api("com.badlogicgames.gdx-controllers:gdx-controllers-desktop:2.2.3") api("commons-io:commons-io:2.11.0") // IOUtils method was old version without this @@ -53,12 +44,6 @@ testDependencies { api("us.ihmc:scs2-examples:17-0.26.0") api("us.ihmc:scs2-bullet-simulation-test:17-0.26.0") api("us.ihmc:example-simulations:source") - - api("us.ihmc:ihmc-avatar-interfaces:source") { - exclude(group = "org.openjfx") - exclude(group = "org.jmonkeyengine") - exclude(group = "org.lwjgl.lwjgl") // exclude lwjgl 2 - } } app.entrypoint(ihmc.sourceSetProject("mission-control"), @@ -86,7 +71,7 @@ tasks.create("deploy") { // Delete mission-control-2 if it's still around exec("sudo systemctl stop mission-control-2") exec("sudo systemctl disable mission-control-2") - exec("sudo rm -rf /etc/systemd/system/mission-control-2.service"); + exec("sudo rm -rf /etc/systemd/system/mission-control-2.service") exec("sudo systemctl stop mission-control-3") diff --git a/ihmc-humanoid-behaviors/build.gradle.kts b/ihmc-humanoid-behaviors/build.gradle.kts index 35425b24e35b..563d22130a5d 100644 --- a/ihmc-humanoid-behaviors/build.gradle.kts +++ b/ihmc-humanoid-behaviors/build.gradle.kts @@ -13,21 +13,9 @@ ihmc { } mainDependencies { - api("com.thoughtworks.xstream:xstream:1.4.19") - api("org.georegression:georegression:0.22") - api("org.boofcv:boofcv-geo:0.36") - api("org.boofcv:boofcv-ip:0.36") - api("org.boofcv:boofcv-io:0.36") - api("org.boofcv:boofcv-recognition:0.36") api("org.postgresql:postgresql:42.2.5") - api("us.ihmc:simulation-construction-set:0.25.1") api("us.ihmc:ihmc-manipulation-planning:source") - api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-humanoid-robotics:source") - api("us.ihmc:ihmc-robot-data-logger:0.29.1") - api("us.ihmc:ihmc-whole-body-controller:source") - api("us.ihmc:ihmc-perception:source") api("us.ihmc:ihmc-footstep-planning:source") } diff --git a/ihmc-interfaces/build.gradle.kts b/ihmc-interfaces/build.gradle.kts index 7192eb1333f1..6f1c770ec31d 100644 --- a/ihmc-interfaces/build.gradle.kts +++ b/ihmc-interfaces/build.gradle.kts @@ -29,7 +29,6 @@ ihmc { } mainDependencies { - api("us.ihmc:euclid:0.21.0") api("us.ihmc:euclid-geometry:0.21.0") api("us.ihmc:ihmc-pub-sub:0.19.1") api("us.ihmc:ros2-common-interfaces:0.24.2") { diff --git a/ihmc-java-toolkit/build.gradle.kts b/ihmc-java-toolkit/build.gradle.kts index cfdc02ce63e5..17e457e7d10d 100644 --- a/ihmc-java-toolkit/build.gradle.kts +++ b/ihmc-java-toolkit/build.gradle.kts @@ -25,8 +25,6 @@ mainDependencies { api("us.ihmc:ihmc-commons:0.32.0") api("us.ihmc:log-tools:0.6.3") - api("us.ihmc:euclid:0.21.0") - api("us.ihmc:euclid-frame:0.21.0") api("us.ihmc:euclid-shape:0.21.0") api("us.ihmc:euclid-geometry:0.21.0") api("us.ihmc:ihmc-graphics-description:0.25.1") diff --git a/ihmc-manipulation-planning/build.gradle.kts b/ihmc-manipulation-planning/build.gradle.kts index c41a0b8544b3..3949ec588f4b 100644 --- a/ihmc-manipulation-planning/build.gradle.kts +++ b/ihmc-manipulation-planning/build.gradle.kts @@ -13,14 +13,8 @@ ihmc { } mainDependencies { - api("javax.vecmath:vecmath:1.5.2") - api("org.georegression:georegression:0.22") - api("us.ihmc:simulation-construction-set:0.25.1") - api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-sensor-processing:source") api("us.ihmc:ihmc-whole-body-controller:source") - api("us.ihmc:ihmc-humanoid-robotics:source") } testDependencies { diff --git a/ihmc-parameter-estimation/build.gradle.kts b/ihmc-parameter-estimation/build.gradle.kts index 43e4f409e225..56d829c01b02 100644 --- a/ihmc-parameter-estimation/build.gradle.kts +++ b/ihmc-parameter-estimation/build.gradle.kts @@ -13,9 +13,6 @@ ihmc { } mainDependencies { - api("us.ihmc:mecano:17-0.18.1") - api("us.ihmc:log-tools:0.6.3") - api("us.ihmc:ihmc-robotics-toolkit:source") api("us.ihmc:ihmc-robot-models:source") } diff --git a/ihmc-parameter-tuner/build.gradle.kts b/ihmc-parameter-tuner/build.gradle.kts index 5d9865d71531..386cd754c3ad 100644 --- a/ihmc-parameter-tuner/build.gradle.kts +++ b/ihmc-parameter-tuner/build.gradle.kts @@ -18,10 +18,8 @@ mainDependencies { api("jakarta.xml.bind:jakarta.xml.bind-api:2.3.2") api("org.glassfish.jaxb:jaxb-runtime:2.3.2") - api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9") api("us.ihmc:ihmc-robot-data-logger:0.29.1") api("us.ihmc:ihmc-graphics-javafx:source") - api("us.ihmc:ihmc-robotics-toolkit:source") var javaFXVersion = "17.0.9" api(ihmc.javaFXModule("base", javaFXVersion)) diff --git a/ihmc-path-planning/build.gradle b/ihmc-path-planning/build.gradle index 8fe1b8b354b6..b0d6c080b362 100644 --- a/ihmc-path-planning/build.gradle +++ b/ihmc-path-planning/build.gradle @@ -16,11 +16,6 @@ ihmc { mainDependencies { api("org.jgrapht:jgrapht-core:0.9.0") - api("us.ihmc:euclid:0.21.0") - api("us.ihmc:euclid-geometry:0.21.0") - api("us.ihmc:euclid-frame:0.21.0") - api("us.ihmc:euclid-shape:0.21.0") - api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9") api("us.ihmc:ihmc-convex-optimization:0.17.19") api("us.ihmc:robot-environment-awareness:source") } @@ -29,20 +24,13 @@ visualizersDependencies { api(ihmc.sourceSetProject("main")) api(ihmc.sourceSetProject("data-sets")) - api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9") api("us.ihmc:robot-environment-awareness-application:source") - api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-graphics-javafx:source") - api("us.ihmc:ihmc-graphics-jmonkeyengine:source") } testDependencies { api(ihmc.sourceSetProject("visualizers")) api(ihmc.sourceSetProject("data-sets")) - api("us.ihmc:ihmc-commons-testing:0.32.0") - api("us.ihmc:simulation-construction-set:0.25.1") - api("us.ihmc:robot-environment-awareness-application:source") api("us.ihmc:ihmc-robotics-toolkit-test:source") } @@ -50,9 +38,6 @@ dataSetsDependencies { api(ihmc.sourceSetProject("main")) api("us.ihmc:ihmc-commons-testing:0.32.0") - api("us.ihmc:simulation-construction-set-tools:source") - api("us.ihmc:robot-environment-awareness:source") - api("us.ihmc:ihmc-sensor-processing:source") } task updateDataSetList { diff --git a/ihmc-perception/build.gradle.kts b/ihmc-perception/build.gradle.kts index fa370e5f557f..e9889ccc0d00 100644 --- a/ihmc-perception/build.gradle.kts +++ b/ihmc-perception/build.gradle.kts @@ -25,16 +25,12 @@ mainDependencies { // api(files("/usr/local/share/OpenCV/java/opencv-310.jar")) api("org.georegression:georegression:0.22") - api("org.ejml:ejml-core:0.39") - api("org.ejml:ejml-ddense:0.39") api("net.java.dev.jna:jna:4.1.0") - api("org.boofcv:boofcv-geo:0.36") api("org.boofcv:boofcv-ip:0.36") api("org.boofcv:boofcv-swing:0.36") api("org.boofcv:boofcv-io:0.36") api("org.boofcv:boofcv-recognition:0.36") api("org.boofcv:boofcv-calibration:0.36") - api("org.ddogleg:ddogleg:0.18") api("org.bytedeco:javacpp:1.5.9") val openblasVersion = "0.3.23-1.5.9" @@ -96,17 +92,7 @@ mainDependencies { exclude(group = "org.bytedeco", module = "javacpp") } - api("us.ihmc:euclid:0.21.0") - api("us.ihmc:simulation-construction-set:0.25.1") - api("us.ihmc:ihmc-native-library-loader:2.0.3") - api("us.ihmc:ihmc-humanoid-robotics:source") - api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-ros-tools:source") api("us.ihmc:ihmc-whole-body-controller:source") - api("us.ihmc:ihmc-sensor-processing:source") - api("us.ihmc:ihmc-robot-models:source") - api("us.ihmc:ihmc-java-toolkit:source") - api("us.ihmc:ihmc-robotics-toolkit:source") api("us.ihmc:robot-environment-awareness:source") api("com.microsoft.onnxruntime:onnxruntime:1.11.0") @@ -114,8 +100,6 @@ mainDependencies { } testDependencies { - api("us.ihmc:ihmc-commons-testing:0.32.0") - api("us.ihmc:ihmc-robotics-toolkit:source") api("us.ihmc:simulation-construction-set-tools:source") api("us.ihmc:simulation-construction-set-tools-test:source") } diff --git a/ihmc-quadruped/build.gradle.kts b/ihmc-quadruped/build.gradle.kts index e563ae8b439b..54986ca44674 100644 --- a/ihmc-quadruped/build.gradle.kts +++ b/ihmc-quadruped/build.gradle.kts @@ -59,8 +59,6 @@ footstepPlanningTestDependencies { communicationDependencies { api(ihmc.sourceSetProject("footstep-planning")) - - api("us.ihmc:euclid-geometry:0.21.0") } communicationTestDependencies { @@ -71,7 +69,8 @@ communicationTestDependencies { roboticsDependencies { api(ihmc.sourceSetProject("communication")) - api("us.ihmc:ihmc-convex-optimization:0.17.19") + api("us.ihmc:ihmc-whole-body-controller:source") + api("us.ihmc:ihmc-state-estimation:source") api("us.ihmc:ihmc-simulation-toolkit:source") api("us.ihmc:ihmc-system-identification:source") @@ -81,7 +80,6 @@ roboticsTestDependencies { api(ihmc.sourceSetProject("robotics")) api(ihmc.sourceSetProject("basics-test")) - api("us.ihmc:ihmc-robotics-toolkit-test:source") api("us.ihmc:ihmc-common-walking-control-modules-test:source") api("us.ihmc:ihmc-communication-test:source") } diff --git a/ihmc-robot-data-visualizer/build.gradle.kts b/ihmc-robot-data-visualizer/build.gradle.kts index 0f0f4239e30b..ed7cc73ae5a4 100644 --- a/ihmc-robot-data-visualizer/build.gradle.kts +++ b/ihmc-robot-data-visualizer/build.gradle.kts @@ -14,20 +14,12 @@ ihmc { } mainDependencies { - api("net.sf.trove4j:trove4j:3.0.3") api("com.martiansoftware:jsap:2.1") api("net.sourceforge.jmatio:jmatio:1.0") - api("us.ihmc:euclid:0.21.0") - api("us.ihmc:ihmc-video-codecs:2.1.6") - api("us.ihmc:simulation-construction-set:0.25.1") - api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9") api("us.ihmc:ihmc-graphics-javafx:source") api("us.ihmc:ihmc-model-file-loader:source") - api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-java-toolkit:source") api("us.ihmc:ihmc-humanoid-robotics:source") - api("us.ihmc:ihmc-robotics-toolkit:source") api("us.ihmc:ihmc-robot-data-logger:0.29.1") { exclude(group = "org.junit.jupiter", module = "junit-jupiter-api") exclude(group = "org.junit.jupiter", module = "junit-jupiter-engine") diff --git a/ihmc-robot-models/build.gradle.kts b/ihmc-robot-models/build.gradle.kts index cbb0ce4f7e24..fd08bb861043 100644 --- a/ihmc-robot-models/build.gradle.kts +++ b/ihmc-robot-models/build.gradle.kts @@ -14,10 +14,8 @@ ihmc { mainDependencies { api("javax.vecmath:vecmath:1.5.2") - api("com.google.guava:guava:18.0") api("us.ihmc:ihmc-robot-description:0.25.1") - api("us.ihmc:scs2-definition:17-0.26.0") api("us.ihmc:ihmc-robotics-toolkit:source") } diff --git a/ihmc-robotics-toolkit/build.gradle.kts b/ihmc-robotics-toolkit/build.gradle.kts index 4e760ddc139e..d8bfe919c2c8 100644 --- a/ihmc-robotics-toolkit/build.gradle.kts +++ b/ihmc-robotics-toolkit/build.gradle.kts @@ -21,17 +21,12 @@ mainDependencies { api("org.apache.commons:commons-math3:3.6.1") api("jgraph:jgraph:5.13.0.0") api("org.ejml:ejml-zdense:0.39") - api("org.ejml:ejml-core:0.39") - api("org.ejml:ejml-ddense:0.39") api("org.javassist:javassist:3.18.1-GA") api("com.google.guava:guava:18.0") api("org.yaml:snakeyaml:1.17") //1.11 api("us.ihmc:log-tools:0.6.3") - api("us.ihmc:euclid:0.21.0") - api("us.ihmc:euclid-frame:0.21.0") api("us.ihmc:euclid-frame-shape:0.21.0") - api("us.ihmc:euclid-shape:0.21.0") api("us.ihmc:mecano:17-0.18.1") api("us.ihmc:mecano-yovariables:17-0.18.1") api("us.ihmc:ihmc-commons:0.32.0") diff --git a/ihmc-ros-tools/build.gradle.kts b/ihmc-ros-tools/build.gradle.kts index 09f5c6578fa3..81f839188ae6 100644 --- a/ihmc-ros-tools/build.gradle.kts +++ b/ihmc-ros-tools/build.gradle.kts @@ -15,10 +15,7 @@ ihmc { mainDependencies { api("io.netty:netty:3.5.8.Final") - api("com.google.guava:guava:18.0") api("org.apache.commons:com.springsource.org.apache.commons.io:1.4.0") - api("org.boofcv:boofcv-geo:0.36") - api("org.reflections:reflections:0.9.10") api("org.apache.logging.log4j:log4j-1.2-api:2.17.0") // required for rosjava to log stuff api("org.ros.rosjava_core:rosjava:0.2.1") { @@ -40,10 +37,7 @@ mainDependencies { api("org.ros.rosjava_messages:tf2_msgs:0.5.9") api("org.ros.rosjava_messages:tf:1.10.8") - api("us.ihmc:euclid:0.21.0") api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-robotics-toolkit:source") - api("us.ihmc:ihmc-java-toolkit:source") } testDependencies { diff --git a/ihmc-simulation-toolkit/build.gradle.kts b/ihmc-simulation-toolkit/build.gradle.kts index aad21f0e842e..8689977d27a9 100644 --- a/ihmc-simulation-toolkit/build.gradle.kts +++ b/ihmc-simulation-toolkit/build.gradle.kts @@ -14,23 +14,12 @@ ihmc { } mainDependencies { - api("us.ihmc:euclid:0.21.0") - api("us.ihmc:ihmc-java-toolkit:source") - api("us.ihmc:ihmc-robotics-toolkit:source") - api("us.ihmc:ihmc-robot-models:source") - api("us.ihmc:ihmc-sensor-processing:source") - api("us.ihmc:simulation-construction-set-tools:source") api("us.ihmc:ihmc-humanoid-robotics:source") - api("us.ihmc:ihmc-whole-body-controller:source") - api("us.ihmc:ihmc-model-file-loader:source") - api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-common-walking-control-modules:source") api("us.ihmc:ihmc-state-estimation:source") - - api("us.ihmc:scs2-definition:17-0.26.0") + api("us.ihmc:ihmc-model-file-loader:source") + api("us.ihmc:simulation-construction-set-tools:source") } testDependencies { - api("us.ihmc:ihmc-robotics-toolkit-test:source") api("us.ihmc:ihmc-humanoid-robotics-test:source") } diff --git a/ihmc-state-estimation/build.gradle.kts b/ihmc-state-estimation/build.gradle.kts index d92f0489b1be..e73a03574fb6 100644 --- a/ihmc-state-estimation/build.gradle.kts +++ b/ihmc-state-estimation/build.gradle.kts @@ -18,10 +18,8 @@ mainDependencies { api("us.ihmc:ihmc-common-walking-control-modules:source") api("us.ihmc:ekf:0.7.7") - api("us.ihmc:ihmc-lord-microstrain-drivers:17-0.0.7") } testDependencies { api("us.ihmc:simulation-construction-set-tools-test:source") - api("us.ihmc:ihmc-robotics-toolkit-test:source") } diff --git a/ihmc-state-estimation/src/main/java/us/ihmc/stateEstimation/head/carnegie/multisense/MultisenseSLWithMicroStrainHeadPoseEstimator.java b/ihmc-state-estimation/src/main/java/us/ihmc/stateEstimation/head/carnegie/multisense/MultisenseSLWithMicroStrainHeadPoseEstimator.java deleted file mode 100644 index 448401394613..000000000000 --- a/ihmc-state-estimation/src/main/java/us/ihmc/stateEstimation/head/carnegie/multisense/MultisenseSLWithMicroStrainHeadPoseEstimator.java +++ /dev/null @@ -1,230 +0,0 @@ -package us.ihmc.stateEstimation.head.carnegie.multisense; - -import java.io.IOException; - -import controller_msgs.msg.dds.RobotConfigurationData; -import us.ihmc.communication.ROS2Tools; -import us.ihmc.euclid.referenceFrame.FramePoint3D; -import us.ihmc.euclid.referenceFrame.FrameVector3D; -import us.ihmc.euclid.referenceFrame.ReferenceFrame; -import us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools; -import us.ihmc.euclid.transform.RigidBodyTransform; -import us.ihmc.euclid.tuple3D.Vector3D; -import us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics; -import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly; -import us.ihmc.euclid.tuple4D.Quaternion; -import us.ihmc.pubsub.DomainFactory; -import us.ihmc.pubsub.subscriber.Subscriber; -import us.ihmc.realtime.PriorityParameters; -import us.ihmc.robotModels.FullRobotModel; -import us.ihmc.robotics.math.filters.YoIMUMahonyFilter; -import us.ihmc.ros2.RealtimeROS2Node; -import us.ihmc.sensorProcessing.communication.producers.RobotConfigurationDataBuffer; -import us.ihmc.sensors.imu.lord.microstrain.MicroStrainData; -import us.ihmc.sensors.imu.lord.microstrain.MicroStrainUDPPacketListener; -import us.ihmc.stateEstimation.head.EKFHeadPoseEstimator; -import us.ihmc.yoVariables.euclid.YoPoint3D; -import us.ihmc.yoVariables.euclid.referenceFrame.YoFrameVector3D; -import us.ihmc.yoVariables.registry.YoRegistry; -import us.ihmc.yoVariables.variable.YoBoolean; -import us.ihmc.yoVariables.variable.YoDouble; - -/** - * @author Doug Stephen (dstephen@ihmc.us) - */ -public class MultisenseSLWithMicroStrainHeadPoseEstimator extends EKFHeadPoseEstimator -{ - private static final boolean USE_VIRTUAL_MAGNETOMETER = true; - public static final RigidBodyTransform DEFAULT_MULTISENSE_TO_IMU_TRANSFORM = new RigidBodyTransform(new Quaternion(0.0, Math.PI/2.0, 0.0), new Vector3D(-0.04, 0.0, 0.0777)); - - private static final boolean ESTIMATE_ANGULAR_VELOCITY_BIAS = false; - - private final MicroStrainUDPPacketListener imuListener; - - private final RobotConfigurationDataBuffer robotConfigurationDataBuffer = new RobotConfigurationDataBuffer(); - private final FramePoint3D headPositionEstimateFromRobotModel; - - private final boolean getRobotConfigurationDataFromNetwork; - - /* - this field is not final but is still real-time safe because - the value returned by the UDP listener is a concurrent copier - buffer element. - */ - private MicroStrainData microStrainData = new MicroStrainData(); - private final YoFrameVector3D imuAngularVelocity; - private final YoFrameVector3D imuLinearAcceleration; - private final YoFrameVector3D imuMagneticNorthVector; - - private final YoPoint3D initialHeadPosition; - private final YoPoint3D initialHeadOrientationYPR; - private final YoFrameVector3D initialMagneticFieldVector; - - private final FrameVector3D virtualMagnetometerMeasurement = new FrameVector3D(); - - private final YoBoolean inErrorState; - - public ReferenceFrame getImuFrame() - { - return imuFrame; - } - - private ReferenceFrame imuFrame; - - public MultisenseSLWithMicroStrainHeadPoseEstimator(double dt, RigidBodyTransform imuToHeadTransform, PriorityParameters imuListenerPriority, - long microStrainSerialNumber, boolean getRobotConfigurationDataFromNetwork) throws IOException - { - super(dt, imuToHeadTransform, ESTIMATE_ANGULAR_VELOCITY_BIAS); - - if (imuListenerPriority != null) - { - imuListener = MicroStrainUDPPacketListener.createRealtimeListener(imuListenerPriority, microStrainSerialNumber); - } - else - { - imuListener = MicroStrainUDPPacketListener.createNonRealtimeListener(microStrainSerialNumber); - } - - this.getRobotConfigurationDataFromNetwork = getRobotConfigurationDataFromNetwork; - if (this.getRobotConfigurationDataFromNetwork) - { - RealtimeROS2Node realtimeROS2Node = ROS2Tools - .createRealtimeROS2Node(DomainFactory.PubSubImplementation.FAST_RTPS, "multisense_microstrain_head_pose_estimator"); - realtimeROS2Node.createSubscription(ROS2Tools.IHMC_ROOT.withTypeName(RobotConfigurationData.class), this::onNewDataMessage); - } - - headPositionEstimateFromRobotModel = new FramePoint3D(ReferenceFrame.getWorldFrame()); - - YoRegistry registry = getYoRegistry(); - - String prefix = "MicroStrainData"; - imuAngularVelocity = new YoFrameVector3D(prefix, "AngularVelocity", ReferenceFrame.getWorldFrame(), registry); - imuLinearAcceleration = new YoFrameVector3D(prefix, "LinearAcceleration", ReferenceFrame.getWorldFrame(), registry); - imuMagneticNorthVector = new YoFrameVector3D(prefix, "MagneticNorth", ReferenceFrame.getWorldFrame(), registry); - - initialHeadPosition = new YoPoint3D("EstimatedHeadPose", "InitialHeadPosition", registry); - initialHeadOrientationYPR = new YoPoint3D(new YoDouble("EstimatedHeadPoseInitialYaw", registry), new YoDouble("EstimatedHeadPoseInitialPitch", registry), new YoDouble("EstimatedHeadPoseInitialRoll", registry)); - initialMagneticFieldVector = new YoFrameVector3D("EstimatedHeadPose", "InitialMagneticField", ReferenceFrame.getWorldFrame(), registry); - - inErrorState = new YoBoolean("inErrorState", registry); - inErrorState.set(false); - - } - - @Override - public void setFullRobotModel(FullRobotModel fullRobotModel) - { - super.setFullRobotModel(fullRobotModel); - - if(USE_VIRTUAL_MAGNETOMETER) - { - imuFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent("VirtualMagnetometerIMUFrame", fullRobotModel.getHead().getBodyFixedFrame(), DEFAULT_MULTISENSE_TO_IMU_TRANSFORM); - } - } - - @Override - public void initialize(RigidBodyTransform initialHeadTransform, FrameVector3D magneticFieldDirection) - { - FrameVector3D initialMagneticFieldDirection = null; - if (magneticFieldDirection == null) - { - if(!USE_VIRTUAL_MAGNETOMETER) - { - microStrainData = imuListener.getLatestData(MicroStrainData.MicrostrainFilterType.COMPLIMENTARY_FILTER); - Tuple3DBasics geomagneticNorthVector = new Vector3D(microStrainData.getGeomagneticNorthVector()); - MicroStrainData.MICROSTRAIN_TO_ZUP_WORLD.transform(geomagneticNorthVector); - initialMagneticFieldDirection = new FrameVector3D(ReferenceFrame.getWorldFrame(), geomagneticNorthVector); - } - else - { - initialMagneticFieldDirection = new FrameVector3D(ReferenceFrame.getWorldFrame(), YoIMUMahonyFilter.NORTH_REFERENCE); - } - } - else - { - initialMagneticFieldDirection = magneticFieldDirection; - } - - this.initialHeadPosition.set(initialHeadTransform.getTranslation()); - this.initialHeadOrientationYPR.set(initialHeadTransform.getRotation().getYaw(), initialHeadTransform.getRotation().getPitch(), initialHeadTransform.getRotation().getRoll()); - this.initialMagneticFieldVector.set(initialMagneticFieldDirection); - - inErrorState.set(false); - - super.initialize(initialHeadTransform, initialMagneticFieldDirection); - } - - @Override - public void compute() - { - microStrainData = imuListener.getLatestData(MicroStrainData.MicrostrainFilterType.COMPLIMENTARY_FILTER); - - if (getRobotConfigurationDataFromNetwork) - { - boolean modelUpdatedWithNewData = robotConfigurationDataBuffer.updateFullRobotModelWithNewestData(getFullRobotModel(), null); - if (modelUpdatedWithNewData) - { - headPositionEstimateFromRobotModel.set(getFullRobotModel().getHead().getBodyFixedFrame().getTransformToWorldFrame().getTranslation()); - super.setEstimatedHeadPosition(headPositionEstimateFromRobotModel); - } - } - else - { - headPositionEstimateFromRobotModel.set(getFullRobotModel().getHead().getBodyFixedFrame().getTransformToWorldFrame().getTranslation()); - super.setEstimatedHeadPosition(headPositionEstimateFromRobotModel); - } - - if (microStrainData != null) - { - Vector3DReadOnly angularRate = microStrainData.getAngularRate(); - Vector3DReadOnly linearAcceleration = microStrainData.getLinearAcceleration(); - Vector3DReadOnly geomagneticNorthVector = null; - - if(!USE_VIRTUAL_MAGNETOMETER) - { - geomagneticNorthVector = microStrainData.getGeomagneticNorthVector(); - imuMagneticNorthVector.set(geomagneticNorthVector); - } - else - { - imuFrame.update(); - virtualMagnetometerMeasurement.setIncludingFrame(ReferenceFrame.getWorldFrame(), YoIMUMahonyFilter.NORTH_REFERENCE); - virtualMagnetometerMeasurement.changeFrame(imuFrame); - imuMagneticNorthVector.setMatchingFrame(virtualMagnetometerMeasurement); - } - - imuAngularVelocity.set(angularRate); - imuLinearAcceleration.set(linearAcceleration); - - imuLinearAcceleration.scale(MicroStrainData.MICROSTRAIN_GRAVITY); - - super.setImuAngularVelocity(imuAngularVelocity); - super.setImuLinearAcceleration(imuLinearAcceleration); - super.setImuMagneticFieldVector(virtualMagnetometerMeasurement); - } - - try - { - super.compute(); - } - catch(Throwable t) - { - if(!inErrorState.getBooleanValue()) - { - System.err.println("Caught a throwable from the head pose EKF, ignoring."); - inErrorState.set(true); - } - } - - } - - private void updateRobotConfigurationData(RobotConfigurationData latestData) - { - robotConfigurationDataBuffer.receivedPacket(latestData); - } - - private void onNewDataMessage(Subscriber subscriber) - { - updateRobotConfigurationData(subscriber.takeNextData()); - } -} diff --git a/ihmc-system-identification/build.gradle.kts b/ihmc-system-identification/build.gradle.kts index a0e8427644d6..88ca1caad19e 100644 --- a/ihmc-system-identification/build.gradle.kts +++ b/ihmc-system-identification/build.gradle.kts @@ -13,9 +13,6 @@ ihmc { } mainDependencies { - api("us.ihmc:euclid:0.21.0") - api("org.ddogleg:ddogleg:0.18") - api("us.ihmc:simulation-construction-set:0.25.1") api("us.ihmc:ihmc-robotics-toolkit:source") } diff --git a/ihmc-whole-body-controller/build.gradle b/ihmc-whole-body-controller/build.gradle index 4196f7e00df4..25dc7b63e70f 100644 --- a/ihmc-whole-body-controller/build.gradle +++ b/ihmc-whole-body-controller/build.gradle @@ -16,9 +16,6 @@ ihmc { } mainDependencies { - api("commons-net:commons-net:3.3") - api("org.yaml:snakeyaml:1.17") //1.11 - api("org.apache.commons:commons-math3:3.6.1") api("us.ihmc:ihmc-common-walking-control-modules:source") api("us.ihmc:simulation-construction-set-tools:source") api("us.ihmc:ihmc-robot-data-logger:0.29.1") { diff --git a/promp/build.gradle.kts b/promp/build.gradle.kts index ab189dbd189e..374950bb38e5 100644 --- a/promp/build.gradle.kts +++ b/promp/build.gradle.kts @@ -15,5 +15,4 @@ ihmc { mainDependencies { api("org.bytedeco:javacpp:1.5.9") api("us.ihmc:ihmc-java-toolkit:source") - api("us.ihmc:ihmc-native-library-loader:2.0.3") } diff --git a/robot-environment-awareness/build.gradle.kts b/robot-environment-awareness/build.gradle.kts index bddb533eac44..37e7736f10fb 100644 --- a/robot-environment-awareness/build.gradle.kts +++ b/robot-environment-awareness/build.gradle.kts @@ -27,17 +27,12 @@ ihmc { mainDependencies { api("com.vividsolutions:jts:1.13") // TODO Update to https://github.com/locationtech/jts - api("us.ihmc:euclid-shape:0.21.0") api("us.ihmc:joctomap:1.12.5") - api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9") - api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-robotics-toolkit:source") api("us.ihmc:ihmc-graphics-javafx:source") api("us.ihmc:ihmc-graphics-jmonkeyengine:source") api("us.ihmc:ihmc-robot-data-logger:0.29.1") api("us.ihmc:ihmc-ros-tools:source") - api("org.bytedeco:javacpp:1.5.9") val openblasVersion = "0.3.23-1.5.9" api("org.bytedeco:openblas:$openblasVersion") api("org.bytedeco:openblas:$openblasVersion:linux-x86_64") @@ -50,9 +45,6 @@ mainDependencies { applicationDependencies { api(ihmc.sourceSetProject("main")) - - api("us.ihmc:ihmc-ros-tools:source") - api("us.ihmc:simulation-construction-set-tools:source") } testDependencies { diff --git a/robotiq-hand-drivers/build.gradle.kts b/robotiq-hand-drivers/build.gradle.kts index eb4bebe7bea9..5d0d787b72ff 100644 --- a/robotiq-hand-drivers/build.gradle.kts +++ b/robotiq-hand-drivers/build.gradle.kts @@ -14,16 +14,9 @@ ihmc { } mainDependencies { - api("com.martiansoftware:jsap:2.1") api("net.wimpi:jamod:1.2") - api("commons-collections:commons-collections:3.2.1") - api("us.ihmc:ihmc-humanoid-robotics:source") api("us.ihmc:ihmc-avatar-interfaces:source") - api("us.ihmc:ihmc-communication:source") - api("us.ihmc:ihmc-whole-body-controller:source") - api("us.ihmc:ihmc-java-toolkit:source") - api("us.ihmc:ihmc-robotics-toolkit:source") } testDependencies { diff --git a/simulation-construction-set-tools/build.gradle.kts b/simulation-construction-set-tools/build.gradle.kts index ec4f507e90d3..a3aea143bf34 100644 --- a/simulation-construction-set-tools/build.gradle.kts +++ b/simulation-construction-set-tools/build.gradle.kts @@ -14,11 +14,7 @@ ihmc { } mainDependencies { - api("us.ihmc:euclid-frame:0.21.0") - api("us.ihmc:euclid-frame-shape:0.21.0") - api("us.ihmc:euclid-shape:0.21.0") api("us.ihmc:simulation-construction-set:0.25.1") - api("us.ihmc:scs2-definition:17-0.26.0") api("us.ihmc:scs2-simulation-construction-set:17-0.26.0") api("us.ihmc:ihmc-parameter-optimization:source") api("us.ihmc:ihmc-java-toolkit:source")