Changelog for package cob_script_server

0.6.33 (2023-11-06)

• Merge pull request #331 from benmaidel/feature/allow_bigger_rel_rotation allow max relative rotation of pi*2+0.1
• allow max relative rotation of pi*2+0.1
• Contributors: Felix Messmer, bnm@mrl-2

0.6.32 (2023-04-29)

0.6.31 (2023-01-04)

0.6.30 (2022-11-17)

0.6.29 (2022-07-29)

0.6.28 (2022-03-15)

• Merge pull request #316 from fmessmer/speedup_sss commenting rospy.logdebug for performance reasons
• commenting rospy.logdebug for performance reasons
• Merge pull request #312 from fmessmer/tune_close_tolerance tune close tolerance in calculate_point_velocities
• tune close tolerance in calculate_point_velocities
• Merge pull request #311 from floweisshardt/feature/multiple_cob_consoles allow multiple cob_consoles to run in parallel
• allow multiple cob_consoles to run in parallel
• Contributors: Felix Messmer, floweisshardt, fmessmer

0.6.27 (2022-01-12)

0.6.26 (2021-11-26)

0.6.25 (2021-08-02)

0.6.24 (2021-07-02)

0.6.23 (2021-07-01)

0.6.22 (2021-05-10)

• Merge pull request #302 from mikaelarguedas/python3-six ROS_PYTHON_VERSION conditional dependency for python-six
• ROS_PYTHON_VERSION conditional dependency for python-six
• Contributors: Felix Messmer, Mikael Arguedas

0.6.21 (2021-04-06)

• Merge pull request #300 from fmessmer/sss_improvements harmonize joint_states subscription
• configurable joint_state_topic
• harmonize joint_states subscription
• Merge pull request #298 from fmessmer/fix/python3_cob_console cob_console for dual-distro ipython
• cob_console for dual-distro ipython
• Contributors: Felix Messmer, fmessmer

0.6.20 (2021-01-25)

• Merge pull request #291 from fmessmer/fix_python3 fix python3
• import itertools.izip as zip for python3-compatibility
• Contributors: Felix Messmer, fmessmer

0.6.19 (2020-12-02)

• Merge pull request #287 from fmessmer/fix_catkin_lint fix catkin_lint
• fix catkin_lint
• Contributors: Felix Messmer, fmessmer

0.6.18 (2020-10-21)

• Merge pull request #286 from fmessmer/fix_noetic fix noetic
• ROS_PYTHON_VERSION conditional dependency for pygraphviz
• ROS_PYTHON_VERSION conditional dependency for ipython
• Contributors: Felix Messmer, fmessmer

0.6.17 (2020-10-17)

• Merge pull request #284 from fmessmer/test_noetic test noetic
• use setuptools instead of distutils
• Bump CMake version to avoid CMP0048 warning
• Merge pull request #282 from floweisshardt/fix/actionlib_state fix actionlib state handling for non initialized action clients
• use GoalStatus message import only
• use GoalStatus enum explicitly
• fix actionlib state handling for non initialized action clients
• Contributors: Felix Messmer, floweisshardt, fmessmer

0.6.16 (2020-03-18)

• Merge pull request #280 from fmessmer/fix/init_urdf_structure initialize urdf structure only once during init
• initialize urdf structure only once during init
• Merge pull request #270 from LoyVanBeek/feature/python3_compatibility [ci_updates] pylint + Python3 compatibility
• Use six to handle input vs raw_input
• cleanup cob_script_server
• fix more pylint errors
• use threading
• fix pylint errors
• python3 compatibility via 2to3
• Merge pull request #273 from floweisshardt/fix/move_base_without_global_map publish move_base goal without global /map
• publish move_base goal without global /map
• Merge pull request #271 from fmessmer/ci_updates [travis] ci updates
• catkin_lint fixes
• Merge pull request #260 from fmessmer/feature/calculate_traj_point_velocities proper traj velocity calculation
• add opt-out stop_at_waypoints
• use logdebug for debug output
• fix trajectory point velocity calculation
• drop start after time calculation
• filter duplicate or close configs in trajectory
• fix array type
• set accelerations to 0.0
• not use min_point_time 0.4
• drop first traj point if close to start_pos
• improve debug output
• remove hardcoded point velocities and accelerations
• add debug output
• epsilon check and elementwise zero-velocity
• proper traj velocity calculation
• Merge pull request #264 from fmessmer/fix/robot_description_ns fix robot_description namespace handling
• fix robot_description namespace handling
• Merge pull request #259 from LoyVanBeek/feature/faster_sss_trajectories Feature/faster sss trajectories
• fix log formatting
• explicit robot_description key
• Move all code to determine the desired velocity to a private method Code to determine this got too big to contain all the various branches and edge cases
• Fix undeclared variable
• feature/calculate traj point velocities (#1) feature/calculate traj point velocities
• fix error case velocities zero or negative
• fixup acc default value
• fixup variable name
• fixup limit_vel and add debug output
• add vel_limit check
• return failure on invalid arguments
• expose arguments to move_rel
• allow to pass default_vel via sss argument
• allow setting default_vel and default_acc per joint as list of float/int via yaml
• Rename d_max to dist
• Optionally use the URDF-derived velocities
• Extend sss.move with a speed_factor to speed up movements
• fixup! Iterate over all joints to calculate_point_time and take the slowest time for all joints
• Get joint velocity from URDF in compose_trajectory
• Iterate over all joints to calculate_point_time and take the slowest time for all joints Earlier only 1 joint velocity and acceleration was used. TOOD: Read velocity (and acceleration?) from URDF
• Explicitly import numpy. This was implicitly imported via at least tf.transformations and possibly others
• Contributors: Felix Messmer, Florian Weisshardt, Loy, Loy van Beek, floweisshardt, fmessmer

0.6.15 (2019-11-07)

• Merge pull request #261 from fmessmer/fix/travis fix/travis
• disable test
• Merge pull request #256 from floweisshardt/fix/joint_order fix joint order in sss
• fix joint order
• Merge pull request #250 from HannesBachter/feature/move_rel Feature/move rel
• fix ah handling and dependency
• return move_traj action_handle
• calculate poses for multiple movements
• add urdf, cleanup and return in error case
• check parameters
• move rel with check of joint limits
• Contributors: Felix Messmer, Florian Weisshardt, floweisshardt, fmessmer, hyb, robot@mrl-a

0.6.14 (2019-08-07)

0.6.13 (2019-07-19) ------------------

0.6.12 (2019-06-07)

• Merge pull request #247 from fmessmer/fix_variable_overflow_serialization_exception replace ScriptState number with datetime for uniqueness
• replace ScriptState number with datetime for uniqueness
• Contributors: Felix Messmer, fmessmer

0.6.11 (2019-04-05)

0.6.10 (2019-03-14)

• Merge pull request #241 from fmessmer/add_string_action Add string action
• add SetString action interface
• temp_woz
• Merge pull request #237 from fmessmer/default_value_handling fix comments for default values
• fix comments for default values
• Merge pull request #227 from floweisshardt/feature/new_trajectory new trajectory point time calculation
• remove print
• fix syntax
• new trajectory point time calculation
• Contributors: Felix Messmer, Florian Weisshardt, fmessmer, ipa-fmw, robot@cob4-19

0.6.9 (2018-07-21)

• update maintainer
• Contributors: ipa-fxm

0.6.8 (2018-07-21)

• Merge pull request #220 from ipa320/revert-219-restructure_sss_params Revert "use joint_names from component ns"
• Revert "use joint_names from component ns"
• Merge pull request #219 from ipa-fxm/restructure_sss_params use joint_names from component ns
• use joint_names from component ns
• Contributors: Felix Messmer, ipa-fxm

0.6.7 (2018-01-07)

• Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
• Merge pull request #206 from ipa-fmw/hotfix_cob_console [cob_console] hotfix for ipython shebang
• hotfix for cob_console ipython shebang
• Merge pull request #197 from ipa-fxm/APACHE_license use license apache 2.0
• use license apache 2.0
• Contributors: Felix Messmer, Florian Weisshardt, ipa-fxm, ipa-uhr-mk

0.6.6 (2017-07-17)

• move visualize navigation goals to cob_helper_tools
• add node for visualization of script server navigation goals
• handle uninitielized action clients
• add trigger_action function to sss
• fix Trigger unittests
• increased min point time
• minimal trajectory point_time
• catch ValueError during point time calculation when using mimic joints
• manually fix changelog
• fixed cob_console script
• Contributors: Benjamin Maidel, Florian Weisshardt, Mathias Lüdtke, ipa-fxm

0.6.5 (2016-10-10)

• use joint_states instead of controller_state
• Removed an extra space
• Removed a comma
• fixed more concatenate messages errors
• Update log message
• Fix concatenate error
• fix error message for move_base_rel
• Contributors: Florian Weisshardt, Nadia Hammoudeh García, ipa-cob4-5, ipa-fmw, ipa-nhg

0.6.4 (2016-04-01)

• undo pop-up related changes
• indentation fixes
• more verbose action_handle (takes an additional string in set_failed()) more consistent usage of action_handle throughout code
• cleanup action_handle
• parameter for enabling sound and light
• allow passing of component_name to sss.say
• use modes definition instead of magic numbers
• Merge branch 'indigo_dev' into fix/refactor_light Conflicts: cob_teleop/ros/src/cob_teleop.cpp
• reduce timeout for all wait_for_server calls
• fixes due to cob_light changes
• shorten timeout
• fix CMakeLists.txt
• add dependency to actionlib
• fix ScriptAction include in cob_teleop
• fix sss error handling for light
• Merge branch 'fix_teleop' into fix_sss
• set zero velocity and acceleration for all trajectory points
• fix actionhandle for trigger
• deleted script_server tests from launch file
• Contributors: Benjamin Maidel, Florian Köhler, Florian Weisshardt, ipa-cob4-2, ipa-fmw, ipa-fxm

0.6.3 (2015-08-25)

• do not install headers in executable-only packages
• more cleanup
• remove obsolete autogenerated mainpage.dox files
• remove trailing whitespaces
• remove trailing whitespaces
• migrate to package format 2
• Merge pull request #105 from ipa-nhg/play_sound minor changes
• minor changes
• Merge pull request #103 from ipa-nhg/play_sound play sound
• log error
• cob_sound
• sort dependencies
• critically review dependencies
• play sound
• Contributors: Florian Weisshardt, ipa-fxm, ipa-nhg

0.6.2 (2015-06-17)

• merge with ipa320
• Merge pull request #18 from ipa-cob4-2/indigo_dev updates from cob4-2
• use actions for light, sound and mimic. Using new namespaces with component_name
• use wait_for_message instead of joint_state_listener
• use new Trigger from std_srvs
• fix indention
• fix wrong service handle
• Merge branch 'indigo_dev' of https://github.com/ipa-fmw/cob_command_tools into indigo_dev
• fix blocking of move_base_rel and add mimic support
• fix wrong variable name
• fixed bug: light service is expecting 4 instead of 3 parameters [r,g,b,a]
• cleanup CMakeLists
• fix light for simple_script_server, adapt emergency_stop_monitor for cob4 by supporting mulitple light components
• use transparency parameter, tiomeout for service and tabs vs spaces
• using light service instead of topic and adapted for multiple components
• added topic_name parameter set_light
• Contributors: Benjamin Maidel, Florian Weisshardt, ipa-cob3-9, ipa-cob4-2, ipa-fmw, ipa-fxm, ipa-nhg

0.6.1 (2014-12-15)

• fix traj time calculation
• use default vel instead of default point time
• use 8 sec by default for trajectories
• action and service namespaces are configurable now
• add halt service support
• Missing install tag
• adapt namespaces to new canopen version
• Contributors: Florian Weisshardt, ipa-cob4-2, ipa-fmw

0.6.0 (2014-09-18)

0.5.2 (2014-08-28)

• missing dependency
• added explicit default argument queue_size
• fix catkin_lint errors
• add trajectory service
• add dep to ipython
• Update package.xml
• Contributors: Felix Messmer, Florian Weisshardt, ipa-fmw-ms, ipa-fxm, ipa-jenkins, ros

0.5.1 (2014-03-20)

• Install tags
• removed a lot of code related to packages not available in hydro anymore
• deactivate tests
• needed for python import
• removed old scriptserver location
• changed location of script server for installation
• remove arm navigation stuff, now using moveit anyway
• python catkin stuff
• merged catkin version
• Initial catkinization.
• removing some earlier commits 3
• removing some earlier commits 2
• removing some earlier commits
• fix cob_console
• removed blocking from Script.action because blocking or non-blocking behaviour can be specified by actionlib directly
• set blocking to True by default
• change test script
• removed deprecated scripts
• Modify execute_cb in script_server to support any function in sss Add blocking, service_name, duration and planning to Script.action to support script_server change return ah from sleep() in sss
• Modify execute_cb in script_server to support any function in sss Add blocking, service_name, duration and planning to Script.action to support script_server change return ah from sleep() in sss
• add cob_console
• updated test_script
• Revert "changed component names to explicitly contain full namespace" This reverts commit b3cf8a5e500a754d19091aba25a9fe442518556d.
• Merge branch 'master' of github.com:ipa-fmw/cob_command_tools
• changed component names to explicitly contain full namespace
• fix action handle for light
• Merge remote-tracking branch 'origin-ipa320/master' into automerge
• switched from pr2_controllers_msgs::JointTrajectoryAction to control_msgs::FollowJointTrajectory
• removed functions used for cartesian motion and ik
• unified script_server: removed all functions related to planned cartesian motion for the arm + some fixes
• removed unecessary code
• fix action result for play
• fixed issues with action handle state for non actionlib functions
• use constraint_aware ik-solver; some minor modifications
• fixed typo
• use follow_joint_trajectory instead of joint_trajectory_action; fixed hardcoded length for velocities in trajectory points_msg
• removed call to set_planning_scene_diff in move_constrained_planned
• removed cartesian-related functions
• Merge branch 'master' of github.com:ipa320/cob_command_tools
• removed hard-code call to set_planning_scene_diff
• removed call to transfrom pose service
• Merge branch 'review-ipa320'
• fix typo
• changed light to std_msgs/ColorRGBA message
• fixed whitespace
• fixed calculate_ik
• fixed parse_cartesian_parameters
• disabled GetPoseStampedTransformed calls
• more output for move_planned_constraint
• fixed parse_cartesian_parameters
• introduced parse_cartesian_parameters
• Merge pull request #1 from ipa-fmw-ws/master Check_plan im sss
• move_base_rel with safe topic
• Merge branch 'review-ipa320'
• changed to cartesian goal and start in joint space
• for testing check_plan function in sss
• removed dummy velocities
• Merge remote-tracking branch 'origin-ipa320/master' into automerge
• non blocking service calls working
• added support for setting manipulation velocity
• Added check_plan: Check if a trajectory to a specific goal exists
• test script for ik calculation and motion plan
• support for init_all and recover_all based on loaded robot modules in command_gui
• Merge branch 'master' of https://github.com/abubeck/cob_command_tools into review-abubeck
• Merge branch 'review-ipa320'
• TEST: added planning_scene_diff to MoveArmGoal for considering collision_objects during move_constrained_planned
• base stop wirking
• fix service stop
• added ah.cancel and stop for base
• changed follow joint trajectory name
• fixed dependency on pygraphviz
• updated dependencies
• moved GetPoseStampedTransformed.srv to cob_srvs
• Merge branch 'master' of github.com:ipa320/cob_command_tools
• added initial version of move_cart_planned
• added component_name guard for _planned functions
• fixed indention error
• minor changes for HW tests
• intergrated pose transform service call
• fuerte rosdep migration
• changed script server to followjointtrajectory action
• introduced move_pose_goal_planned
• renamed move_planned to move_joint_goal_planned, keeping old name for compatibility reasons
• added move_constrained_planned, move_planned is now calling it
• read ik_link_name directly from /cob_arm_kinematics/arm/tip_name
• read joint names directly from /arm_controller/state
• modified calculate_ik to use solver from cob_arm_navigation
• adapt roslaunch tests
• more informative error messages
• merge conflict
• added relative motion to script server
• bugfix
• add sss.calculate_ik for ik pre calculation and therefore removed move_cart
• test for script server
• remove hack
• new cob_command_tools stack
• fix random moves
• ros navigation working mostly fine
• added missing scriptserver functions
• remove compiler warnings
• removed failing test
• deaktivate test because fails on hudson
• longer timeout for tests
• disable move base omni test
• fix arm movements in script_server
• added ENV variables to tests
• start generic states
• fix navigation
• modified test
• beautify tests
• added actionlib tests
• added launch file checks
• new test files for cob_script_server
• switched to electric
• removed dependency to cob_msgs
• interaid adaptions
• fetch and carry on cob3-3
• say test
• changed script server details
• update script_server for linear base movement
• test cooler
• calibration scrit for cob3-1
• modified scrit server with modes for base movements
• merge
• added potential field nav to simplescriptserver
• added calibration script cob3-1
• testcooler
• calib script for cob3-3
• update for cob3-3
• solved merge conflict
• merge
• adapted china_cup initial position
• wimicare project: modifications
• remove sound_play from script_server
• commit after merge
• modifications for wimicare project
• removed detection section from simple_script_server
• implemented all object_handler functions
• start integrating object_handler to script_server
• Merge branch 'review-aub'
• Merge branch 'review-320'
• changed say interface to cob_sound
• cleanup script_server
• implementation of move_cart_planned in cob_script_server
• Merge branch 'master' of github.com:ipa-uhr-fm/cob_apps into review-uhr-fm
• merged with 320
• restructured cob_arm_navigation
• fix
• state checking while parsing
• change to executable mode
• Merge branch 'review-320'
• extended script server test
• back to 3 sec er movemement
• Merge branch 'review-320'
• reordered kitchen objects
• added autostart
• first version of ToF sensor data to collision map for dynamic environment
• merge ipa320
• merge with ipa320
• fixed colliding trajectories (tablet_padding)
• renamed move action to script action
• Merge branch 'review-uhr-fm'
• Merge branch 'review-aub'
• Merge branch 'master' of github.com:abubeck/cob_apps into review-aub
• monday evening commit
• Merge branch 'master' of https://github.com/ipa-uhr-fm/cob_apps into review-uhr-fm
• changed trajectory time to 10 seconds
• typo
• dep to actionlib_msgs
• Merge branch 'master' of https://github.com/ipa320/cob_apps into review-320
• update stacks
• fix
• error handling for detect ojbect
• Merge branch 'review-taj-dm'
• moved ultiple message files out of cob_msgs to their own packages
• get milk is working
• Merge branch 'review-320'
• integrated object detection into script server
• added detect object funtion
• added switchable planning mode to dashboard, added cob_arm_navigation to cob_bringup for simulation
• added all trigger tests
• added python api test for script server
• return handle for trigger commands
• integrated planning in script_server
• prepare script server for smach
• separate script server from action handle
• added test script for head joints
• added depencency
• Merge branch 'master' of github.com:ipa-uhr-fm/cob_apps into review-uhr-fm
• removed deprecated dependencies
• Merge branch 'master' of github.com:ipa320/cob_apps into ipa320-review
• implemented pause in script server
• script to graph working
• grasping china_cup is working
• merge with review-320
• removed config files from apps packages
• implemented points inside trajectories
• read joint_names from parameter server
• added platfrom test script
• changed launchfile to use cob_default_config package
• added support for multiple arms on the dashboard
• commit local changes
• added bringup with camera starting
• preparing release
• debugged service interface for gazebo
• partial merge with ipa-uhr-fm
• calibration script for neck-camera on cob3-1
• calibration script
• changed trigger service
• typo
• merge
• cleanup in cob_apps and updated stack.xml's
• Merge branch 'master' of github.com:ipa-fmw/care-o-bot into fmw-messmerf Conflicts: cob_apps/cob_arm_navigation/CMakeLists.txt
• joint_state aggregator working on cob3-1, calibration script update
• added head
• calib script for cob3-1
• typo
• update script_server
• auto linking inifiles with ROBOT variable
• corrected base position
• script and parameter for planned motion
• HeadAxis working
• random moves test script
• sound test
• translation has to be in mm
• cob3-1 grasp script modifications
• sound_play node overlay
• Merge branch 'master' of git@github.com:ipa-fmw/care-o-bot
• bugfix
• changes for using planned motion; to be tested on real cob
• scripts using planned motion
• upaload ipa_kitchen params
• end of research-camp
• fix script server
• scrift server fix
• research camp challenge
• research camp challenge
• update folded position
• moved ekf domo publisher to nav; update positions for new urdf trafos; moved controller_manager to cob_controller_configuration_gazebo
• fix for global frame names
• brics exercise 3 working again
• Merge branch 'master' of github.com:ipa-fmw/care-o-bot
• lbr working on cob
• changed trajecotry time back to 3 sec
• Merge branch 'master' of github.com:ipa-fmw/care-o-bot
• new interafaces for kdl solver
• new arm transformation for lbr, set_operation_mode with service interface
• new script table cup, modified time_from_start for all trajectories
• deleted deprecated cob_actions package
• modifications for cob3-1
• allow multiple instances of dashboard
• small modification to script_server
• cleanup in urdfs
• fixes for cob3-1
• added drive by script
• preparation for blocklaser
• head axis working in simulation
• Merged with ipa-320
• Merge completed
• older changes in simple_script_server
• obstacles on floor
• grasp script optimisations
• update urdf to be compatible with ctrutle, add 64bit support for libntcan
• modified script with working cartesian movement
• modified some poses for scripting, changed behaivour of move_cart_rel action
• added joint limit support to ik solver
• testing cart interface
• Merge branch 'master' of github.com:ipa-fmw/care-o-bot
• small fix
• small fixes
• wait for last thred to finish
• bugfix
• added live vizualisation of states
• state information working correctly
• restructured script_server, put more functionality to action handle
• live script_viewer is working
• defined script messages
• script_server levels are working for graph
• publishing is working
• merge with aub, bugfix
• preparing for grasp script
• Merge branch 'scriptserver' of github.com:ipa-fmw/care-o-bot into scriptserver
• merge with aub scriptserver
• graph name is filename
• Merge branch 'scriptserver' of github.com:ipa-fmw/care-o-bot into scriptserver
• graph generation with level
• update positions for lbr
• merge
• performance tuning
• speech suppport for script_server
• update documentation
• source documentation for script server
• added support for live visualization of scripts, lightening up current running procedure has not been done yet
• modified names
• merge
• modified trajectory starttime for better controller performance
• changes to script_server, move_cart_rel still not working
• Merge branch 'review-aub-sss' into scriptserver
• function names changed in script_server
• fixed bug with graph on non string parameters
• merge
• sdh changes and calibration script and parameter
• deps for script_server graph
• working visualization for scripts, needs to be tested, rosrun cob_script_server graph <scriptfile>
• script for camera calibration data
• added graphviz visualization for script server scripts
• modified urdf and adapted xaml files
• Added another file
• Added Mike's Script
• modification for cob3-2
• modi from Reza sample
• temp from reza
• merge and wave files for script server
• Merge branch 'master' of github.com:ipa-uh/care-o-bot
• theo told me to
• bugfix for script_server
• Material for cob_script_server tutorials
• Testing tutorial for cob_script_server
• improved simulation for schunk arm and cleanup in 2dnav package
• fixed init bug
• update dashboard
• update on robot
• dashboard working with script_server
• changed service names to small letters and extended script_server
• grasp from cooler scenarion running
• update script server yaml and lbr urdf description
• update script server yaml and lbr urdf description
• script_server update
• Merge branch 'master' of git@github.com:ipa-fmw/care-o-bot
• First implementation of script to grasp from water cooler
• script server upload files
• Merge branch 'master' of git@github.com:ipa-taj/care-o-bot into review-taj
• small fixes for script_server
• First, untested version of script to grasp from water cooler
• correced files after wrong merge
• Merge branch 'review-fmw'
• Merge branch 'master' of github.com:ipa-taj/care-o-bot Conflicts: cob_apps/cob_script_server/scripts/test_script.py cob_apps/cob_script_server/src/simple_script_server.py
• Sound now tested and working
• update of script_server
• merge with taj
• merge with taj
• rotation around z-axis working, x and y to be changed
• minor modifications to script_server
• Bugfixing on sound section of simple_script_server
• cartesian arm movement is working with script_server
• debuged sound, still not working properly
• merge with taj
• script server working with navigation
• Added sound functionality to simple script server (untested)
• bugfix
• added actionhandler to script_server
• expanded script_server
• moved script_server to open-source repository
• Contributors: Alexander Bubeck, Felix Messmer, Florian Weißhardt, Georg Arbeiter, LucaLattanzi, Mathias Lüdtke, Michael Bowler, Nathan Burke, Tobias Sing, Witalij Siebert, Your full name, abubeck, b-it-bots-secure, cu-noyvirt, fmw, fmw-jiehou, fmw-jk, ipa-fmw, ipa-fxm, ipa-goa, ipa-nhg, ipa-rmb, ipa-taj, ipa-taj-dm, ipa-uhr, ipa-uhr-fm, ipa320, snilsson, uh, uh-mb, uh-reza