started cleaning up dependencies in the build files

ihmcrobotics · Aug 8, 2024 · 399db08 · 399db08
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commit 399db08
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diff --git a/atlas/build.gradle.kts b/atlas/build.gradle.kts
@@ -14,44 +14,20 @@ ihmc {
 }
 
 mainDependencies {
-   api("org.georegression:georegression:0.22")
    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.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
-   api("org.boofcv:boofcv-io:0.36")
-   api("org.boofcv:boofcv-ip:0.36")
-   api("org.boofcv:boofcv-geo:0.36")
    api("org.boofcv:boofcv-calibration:0.36")
    api("org.boofcv:boofcv-swing:0.36")
-   api("org.boofcv:boofcv-recognition:0.36")
    api("com.github.wendykierp:JTransforms:3.1")
 
-   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: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-common-walking-control-modules:source")
-   api("us.ihmc:ihmc-avatar-interfaces:source")
    api("us.ihmc:ihmc-avatar-interfaces-visualizers:source")
-   api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-perception:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
-   api("us.ihmc:ihmc-ros-tools:source")
-   api("us.ihmc:ihmc-whole-body-controller:source")
    api("us.ihmc:robotiq-hand-drivers:source")
    api("us.ihmc:ihmc-model-file-loader:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
-   api("us.ihmc:simulation-construction-set-tools:source")
-   api("us.ihmc:ihmc-robot-models:source")
-   api("us.ihmc:ihmc-simulation-toolkit:source")
    api("us.ihmc:ihmc-robot-data-visualizer:source")
    api("us.ihmc:ihmc-manipulation-planning:source")
    api("us.ihmc:ihmc-parameter-tuner:source")

diff --git a/example-simulations/build.gradle.kts b/example-simulations/build.gradle.kts
@@ -13,25 +13,8 @@ ihmc {
 }
 
 mainDependencies {
-   api("org.ejml:ejml-ddense:0.39")
-   api("org.ejml:ejml-core:0.39")
-
-   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:jinput:2.0.6-ihmc2")
    api("us.ihmc:ihmc-model-file-loader:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
    api("us.ihmc:ihmc-quadruped-robotics:source")
-   api("us.ihmc:ihmc-avatar-interfaces:source")
-   api("us.ihmc:simulation-construction-set-tools:source")
-   api("us.ihmc:ihmc-common-walking-control-modules:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
-   api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
-   api("us.ihmc:ihmc-robot-models:source")
-   api("us.ihmc:ihmc-simulation-toolkit:source")
 }
 
 testDependencies {

diff --git a/ihmc-avatar-interfaces/build.gradle.kts b/ihmc-avatar-interfaces/build.gradle.kts
@@ -25,7 +25,6 @@ mainDependencies {
    api("org.reflections:reflections:0.9.10")
    api("com.hierynomus:sshj:0.32.0")
 
-   api("us.ihmc:jinput:2.0.6-ihmc2")
    api("us.ihmc:euclid:0.21.0")
    api("us.ihmc:euclid-geometry:0.21.0")
    api("us.ihmc:mecano-graphviz:17-0.18.1")

diff --git a/ihmc-common-walking-control-modules/build.gradle.kts b/ihmc-common-walking-control-modules/build.gradle.kts
@@ -14,23 +14,10 @@ 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:2.0.2")
-   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")
@@ -41,7 +28,6 @@ testDependencies {
    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")
    api("us.ihmc:ihmc-convex-optimization-test:0.17.19")
 }
 

diff --git a/ihmc-communication/build.gradle.kts b/ihmc-communication/build.gradle.kts
@@ -13,18 +13,12 @@ ihmc {
 }
 
 mainDependencies {
-   api("net.sf.trove4j:trove4j:3.0.3")
    api("us.ihmc:ihmc-realtime:1.6.0")
    api("us.ihmc:ihmc-video-codecs:2.1.6")
    api("org.boofcv:boofcv-geo:0.36")
-   api("com.google.guava:guava:18.0")
-   api("org.reflections:reflections:0.9.10")
    api("commons-net:commons-net:3.6")
    api("org.lz4:lz4-java:1.8.0")
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-geometry:0.21.0")
-   api("us.ihmc:ihmc-ros2-library:0.24.2")
    api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-interfaces:source")
    api("us.ihmc:ihmc-java-toolkit:source")

diff --git a/ihmc-footstep-planning/build.gradle.kts b/ihmc-footstep-planning/build.gradle.kts
@@ -14,14 +14,8 @@ ihmc {
 }
 
 mainDependencies {
-   api("org.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
-
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-convex-optimization:0.17.19")
    api("us.ihmc:ihmc-path-planning:source")
-   api("us.ihmc:ihmc-humanoid-robotics: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")

diff --git a/ihmc-graphics/build.gradle.kts b/ihmc-graphics/build.gradle.kts
@@ -13,12 +13,8 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:ihmc-robot-models:source")
-   api("us.ihmc:ihmc-interfaces:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
    api("us.ihmc:ihmc-sensor-processing:source")
    api("us.ihmc:ihmc-graphics-description:0.25.1")
-   api("us.ihmc:ihmc-video-codecs:2.1.6")
 }
 
 testDependencies {

diff --git a/ihmc-humanoid-behaviors/build.gradle.kts b/ihmc-humanoid-behaviors/build.gradle.kts
@@ -14,28 +14,19 @@ ihmc {
 
 mainDependencies {
    api("com.thoughtworks.xstream:xstream:1.4.19")
-   api("org.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
    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:ihmc-native-library-loader:2.0.2")
-   api("us.ihmc:euclid:0.21.0")
    api("us.ihmc:simulation-construction-set:0.25.1")
    api("us.ihmc:ihmc-manipulation-planning:source")
-   api("us.ihmc:ihmc-robot-models:source")
    api("us.ihmc:ihmc-communication:source")
    api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-common-walking-control-modules:source")
    api("us.ihmc:ihmc-robot-data-logger:0.29.1")
-   api("us.ihmc:ihmc-sensor-processing:source")
    api("us.ihmc:ihmc-whole-body-controller:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-perception:source")
    api("us.ihmc:ihmc-footstep-planning:source")
 }

diff --git a/ihmc-humanoid-robotics/build.gradle.kts b/ihmc-humanoid-robotics/build.gradle.kts
@@ -13,22 +13,9 @@ ihmc {
 }
 
 mainDependencies {
-   api("org.ejml:ejml-core:0.39")
-   api("net.sf.trove4j:trove4j:3.0.3")
-   api("org.georegression:georegression:0.22")
-   api("org.ejml:ejml-ddense:0.39")
-   api("org.boofcv:boofcv-geo:0.36")
-
-   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-communication:source")
-   api("us.ihmc:ihmc-robot-models:source")
    api("us.ihmc:ihmc-sensor-processing:source")
-   api("us.ihmc:ihmc-interfaces:source")
 }
 
 testDependencies {
-   api("us.ihmc:ihmc-robotics-toolkit-test:source")
    api("us.ihmc:ihmc-communication-test:source")
 }
diff --git a/ihmc-manipulation-planning/build.gradle.kts b/ihmc-manipulation-planning/build.gradle.kts
@@ -14,17 +14,10 @@ ihmc {
 
 mainDependencies {
    api("javax.vecmath:vecmath:1.5.2")
-   api("org.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
-   api("net.sf.trove4j:trove4j:3.0.3")
    api("org.georegression:georegression:0.22")
-   api("org.boofcv:boofcv-geo:0.36")
 
    api("us.ihmc:simulation-construction-set:0.25.1")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-robot-models:source")
    api("us.ihmc:ihmc-sensor-processing:source")
    api("us.ihmc:ihmc-whole-body-controller:source")
    api("us.ihmc:ihmc-humanoid-robotics:source")

diff --git a/ihmc-model-file-loader/build.gradle.kts b/ihmc-model-file-loader/build.gradle.kts
@@ -20,10 +20,8 @@ mainDependencies {
    api("jakarta.xml.bind:jakarta.xml.bind-api:2.3.2")
    api("org.glassfish.jaxb:jaxb-runtime:2.3.2")
 
-   api("us.ihmc:euclid:0.21.0")
    api("us.ihmc:ihmc-robot-description:0.25.1")
    api("us.ihmc:ihmc-javafx-toolkit:17-0.22.9")
-   api("us.ihmc:scs2-definition:17-0.26.0")
    api("us.ihmc:ihmc-robotics-toolkit:source")
 }
 

diff --git a/ihmc-quadruped/build.gradle.kts b/ihmc-quadruped/build.gradle.kts
@@ -14,15 +14,6 @@ ihmc {
 }
 
 basicsDependencies {
-   api("org.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
-
-   api("us.ihmc:jinput:2.0.6-ihmc2")
-   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:ihmc-robot-description:0.25.1")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-humanoid-robotics:source")
 }
 

diff --git a/ihmc-sensor-processing/build.gradle.kts b/ihmc-sensor-processing/build.gradle.kts
@@ -15,22 +15,12 @@ ihmc {
 
 mainDependencies {
    api("commons-collections:commons-collections:3.2.1")
-   api("org.georegression:georegression:0.22")
-   api("org.ddogleg:ddogleg:0.18")
-   api("org.apache.commons:commons-math3:3.6.1")
    api("com.thoughtworks.xstream:xstream:1.4.19")
    api("org.jgrapht:jgrapht-core:0.9.0")
    api("org.jgrapht:jgrapht-ext:0.9.0")
    api("com.github.wendykierp:JTransforms:3.1")
-   api("org.ejml:ejml-ddense:0.39")
-   api("org.ejml:ejml-core:0.39")
-   api("jgraph:jgraph:5.13.0.0")
-   api("org.boofcv:boofcv-geo:0.36")
 
-   api("us.ihmc:euclid-frame:0.21.0")
    api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ihmc-robot-models:source")
 }
 

diff --git a/ihmc-state-estimation/build.gradle.kts b/ihmc-state-estimation/build.gradle.kts
@@ -13,25 +13,15 @@ ihmc {
 }
 
 mainDependencies {
-   api("org.ejml:ejml-ddense:0.39")
-   api("org.ejml:ejml-core:0.39")
    api("jakarta.xml.bind:jakarta.xml.bind-api:2.3.2")
    api("org.glassfish.jaxb:jaxb-runtime:2.3.2")
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-geometry:0.21.0")
-   api("us.ihmc:ihmc-humanoid-robotics:source")
    api("us.ihmc:ihmc-common-walking-control-modules:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
-   api("us.ihmc:ihmc-java-toolkit:source")
-   api("us.ihmc:ihmc-robotics-toolkit:source")
    api("us.ihmc:ekf:0.7.7")
    api("us.ihmc:ihmc-lord-microstrain-drivers:17-0.0.7")
 }
 
 testDependencies {
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-geometry:0.21.0")
    api("us.ihmc:simulation-construction-set-tools-test:source")
    api("us.ihmc:ihmc-robotics-toolkit-test:source")
 }
diff --git a/ihmc-trajectory-optimization/build.gradle.kts b/ihmc-trajectory-optimization/build.gradle.kts
@@ -13,11 +13,6 @@ ihmc {
 }
 
 mainDependencies {
-   api("gov.nist.math:jama:1.0.3")
-   api("org.ejml:ejml-ddense:0.39")
-   api("org.ejml:ejml-core:0.39")
-
-   api("us.ihmc:euclid:0.21.0")
    api("us.ihmc:ihmc-robotics-toolkit:source")
 }
 

diff --git a/ihmc-whole-body-controller/build.gradle b/ihmc-whole-body-controller/build.gradle
@@ -16,22 +16,11 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:euclid:0.21.0")
    api("commons-net:commons-net:3.3")
    api("org.yaml:snakeyaml:1.17") //1.11
-   api("us.ihmc:ihmc-realtime:1.6.0")
-   api("org.ejml:ejml-core:0.39")
-   api("org.ejml:ejml-ddense:0.39")
    api("org.apache.commons:commons-math3:3.6.1")
-   api("com.google.guava:guava:18.0")
    api("us.ihmc:ihmc-common-walking-control-modules:source")
-   api("us.ihmc:ihmc-communication:source")
-   api("us.ihmc:ihmc-humanoid-robotics:source")
-   api("us.ihmc:ihmc-sensor-processing:source")
    api("us.ihmc:simulation-construction-set-tools: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-robot-data-logger:0.29.1") {
       exclude group: "org.junit.jupiter", module: "junit-jupiter-api"
       exclude group: "org.junit.jupiter", module: "junit-jupiter-engine"