0.6.12 (2019-05-20)

• Merge pull request #269 from fmessmer/fixed_link_helper_macro add helper macro for fixed links
• add helper macro for fixed links
• Contributors: Felix Messmer, fmessmer

0.6.11 (2019-04-05)

• Merge pull request #266 from fmessmer/steer_joint_max_vel reduce steer joint max vel
• reduce steer joint max vel
• Contributors: Felix Messmer, fmessmer

0.6.10 (2019-03-14)

• Merge pull request #258 from fmessmer/tricycle_backwards allow drive backwards with tricycle
• allow drive backwards with tricycle
• Merge pull request #257 from fmessmer/introduce_pivot_link add base_pivot_link for tricycle mode
• proper tf hierarchy for base_pivot_link
• add base_pivot_link for tricycle mode
• Contributors: Felix Messmer, fmessmer

0.6.9 (2018-07-21)

• update maintainer
• Merge pull request #254 from fmessmer/add_realsense_d435 add urdf for realsense_d435
• add urdf for realsense_d435
• Merge pull request #253 from fmessmer/fix_fisheye properly simulate fisheye camera
• properly simulate fisheye camera
• Merge pull request #245 from floweisshardt/rotate_base_link rotate base link
• add base_charger_link
• cleanup and rename links
• Merge pull request #252 from ipa-bnm/fix/wheel_radius fixed wheel radius
• fixed wheel radius
• Merge pull request #249 from ipa-fxm/position_interface_base_rotation_joints add PositionJointInterface for fdm rotation joints
• add PositionJointInterface for fdm rotation joints
• added parameter for drive direction
• rotate base link (close to working), docking missing
• Contributors: Benjamin Maidel, Felix Messmer, cob4-13, eva-bonn, fmessmer, ipa-bnm, ipa-fxm

0.6.8 (2018-01-07)

• Merge pull request #246 from ipa320/indigo_release_candidate Indigo release candidate
• Merge pull request #244 from ipa-fxm/fix_depth_registered adjust topic to real hardware
• adjust topic to real hardware
• Merge pull request #243 from ipa-fxm/fix/test_urdf_travis fix test_urdf for travis
• fix test_urdf for travis
• Merge pull request #240 from mgruhler/fix/test_urdf cob_common: fix test_urdf.py
• cob_common: fix test_urdf.py * fix check of return value from subprocess call * use 'rosrun xacro xacro' instead of 'rospack find xacro'/xacro as this does not work in kinetic anymore * clearer error output
• Merge pull request #237 from ipa-fxm/fix/s300-max-range sick_s300: adjust range_max
• sick_s300: adjust range_max
• Merge pull request #235 from ipa-fxm/cob4_tricycle cob4 tricycle
• allow tricycle_mode
• Merge pull request #236 from ipa-fxm/remove_use_old_joint_name remove obsolete argument use_old_joint_names
• remove obsolete argument use_old_joint_names
• Merge pull request #233 from ipa-fxm/fix_asus_coord_frames fix camera coord frames for all cameras for hw and sim
• adjust sick_3dcs according to hardware driver specs
• tweak inertia
• Update usb_cam.gazebo.xacro
• fix frames of sick_3dcs
• fix frames of usb_cam
• fix image color format
• fix coordinate frames for asus camera
• Merge pull request #230 from ipa-fxm/update_maintainer update maintainer
• add missing include
• update maintainer
• Merge pull request #224 from ipa-fxm/APACHE_license use license apache 2.0
• Merge pull request #227 from ipa-fxm/copy_cob4_arm copy cob4_arm description
• copy cob4_arm description
• Merge pull request #226 from ipa-fxm/zr300_unique_macro_names unique macro name for zr300
• unique macro name for zr300
• Merge pull request #225 from ipa-fmw/feature/zr300 add zr300 cameras
• add zr300 urdfs
• use license apache 2.0
• Contributors: Benjamin Maidel, Felix Messmer, Florian Weisshardt, Matthias Gruhler, Richard Bormann, ipa-fmw, ipa-fxm, ipa-uhr-mk

0.6.7 (2017-07-17)

• use asus xtion default values
• usb_cam default values
• use realsense default values
• separate laser scanner from base
• remove static tf frames
• raise effort limit. fixes https://github.com/ipa320/cob_robots/issues/641
• change back mean value of noise (caused troubles for close by obstacles)
• set proper velocity limits for cob4 drive_wheel
• adjusted laserscan-sensors in simulation
• proper conditions
• move gazebo_ros_control plugin
• use xacro --inorder
• fix collision mesh for cob4 torso
• remove obsolete components due to unsupported robots
• Merge pull request #200 from ipa-fxm/latest_xacro_syntax use latest xacro syntax
• allow static sensorring
• fix syntax error
• use latest xacro syntax
• manually fix changelog
• unify torso xacros, use default transmission macro
• move sensors from torso xacro to robot xacro
• remove unused torso_3dof
• use default transmission macro
• unify sensorring xacros
• move sensors from sensorring xacro to robot xacro
• remove unused sensorring_3dcs
• unify head xacros
• introduce default transmission
• move sensors from head xacro to robot xacro
• removed softkinetic description
• updated resolution for usb camera
• updated resolution for usb camera
• renamed xacro and files(head_cam -> usb_cam)
• check camera resolution
• added head_cam frame to urdf
• Contributors: Felix Messmer, Florian Weisshardt, Mathias Lüdtke, fmw-hb, ipa-fxm, ipa-nhg

0.6.6 (2016-10-10)

• review velocity axis limit
• new torso and sensorring configurations
• the realsense publishes already the frames, it is a bug
• added realsense torso description
• realsense camera description
• adapt head urdf to hardware kinematics
• check head urdf model
• Update softkinetic.urdf.xacro
• updated softkinetic urdf
• add geometry macros with meshes
• Contributors: Nadia Hammoudeh García, fmw-hb, ipa-cob4-2, ipa-cob4-5, ipa-fxm, ipa-fxm-cm, ipa-nhg

0.6.5 (2016-04-01)

• fix cob3_tray_3dof meshes
• harmonize simulated cam3d topic namespaces
• restructure simulated lasers and laser topic names
• remove obsolete sensors
• Missed $ key
• added asus sensorring description
• Updated topic name
• added sick sensorring description
• fix joint origins for torsos
• Merge branch 'indigo_dev' into fix_torso_urdf
• fix torso joint orientation in urdf
• Contributors: Nadia Hammoudeh García, ipa-fxm, ipa-nhg

0.6.4 (2015-08-29)

• remove obsolete autogenerated mainpage.dox files
• add explicit exec_depend to xacro
• fix catkin_minimum_required version
• remove trailing whitespaces
• migrate to package format 2
• sort dependencies
• critically review dependencies
• Contributors: ipa-fxm

0.6.3 (2015-06-17)

• missing dependency for urdf checks
• remove unsupported calibration_rising
• separate xacro macro for drive_wheel module used in all bases + significant simplification
• use extended collision model for torso
• add grasp link to sdhx and fix finger orientation
• fix type error
• renamed 'dof' urdfs
• add temporary fix urdf argument for cob4_base joint_names
• recalculated head joint positions
• collada meshes for cob4_gripper
• add new parameter with default value
• allow cob3 components to be used with PositionJointInterface
• renamed joints
• Corrects the suffixes for the basis
• redefined meshes origin
• addapted urdf to the real gripper positions
• proper meshes for cob4_gripper
• Limits now come from the yaml files
• correct collision checking for cob4 components
• Openni needs that topic and link name are the same
• missed joint
• Contributors: Florian Weisshardt, ipa-cob3-9, ipa-cob4-2, ipa-cob4-6, ipa-fxm, ipa-nhg, thiagodefreitas

0.6.2 (2014-12-15)

• fix syntax
• added velocity and position controllers
• more output for urdf test
• static versions for torso and head
• set limit for sensorring
• prepare cob4 component descriptions for new structure
• new reduced stl collision meshes
• use VelocityJointInterface hardware interfaces for simulation of all bases
• Contributors: Florian Weisshardt, ipa-cob4-2, ipa-fmw, ipa-fxm, ipa-nhg

0.6.1 (2014-09-24)

• fix mesh due to assimp error
• fix bumper plugins
• fixed center of gravity and inertia formulas
• Contributors: ipa-fxm, ipa-fxm-fm

0.6.0 (2014-09-16)

• new sick_s300 collision model
• gazebo needs a new link for the topic, if we use the origin of the scanner (the center), the topic detects only the collision model
• Deleting s300 stl mesh because the dae file is used
• make lookat arbitrarily fast
• use VelocityJointInterface for cob4_torso
• new collision mesh
• merge with 320
• make lookat arbitrarily fast
• use VelocityJointInterface for cob4_torso
• Contributors: Florian Weisshardt, ipa-fxm, ipa-nhg

0.5.5 (2014-08-27)

0.5.4 (2014-08-25)

• update changelog
• consistency changes due to latest gazebo tag format
• unify materials
• consitency changes due to new transmission format
• unify materials
• include gazebo_ros dependendy to export materials
• merge with hydro_dev
• cleanup dependencies
• new collision mesh
• beautify indentation + cleaning up
• beautify indentation
• merge with hydro_dev
• for cob3 the topic name should be /cam3d..
• adapt to latest changes in official ros-industrial repo
• Coloured mesh files
• use base mesh with less vertices for collision checking
• use correct mesh for collision geometry
• re-export meshes from meshlab to fix assimp error message
• better approximation of inertias for some more cob4 components
• fixed center of masses
• use default damping
• correct inertias for cob4 torso
• enable gravity
• rotate scanner
• temporary commit for torso inertias
• merged with ipa320/hydro_dev
• removed bumpers and changed transmission config to new syntax
• update gazebo tags for sensor plugins
• no inertia in base_footprint
• deleted unnecessary head versions
• update gazebo tags for sensor plugins
• wrong topic names
• un-hardcodize ur-macro
• beautify mesh files
• Merge pull request #95 from ipa320/hydro_release_candidate bring back changes from Hydro release candidate
• New head_center_link
• New maintainer
• update cob4_base stl file
• remove material physic properties of wheels to use default, fixes #90
• deleted offset
• Merge error
• merge
• New stl files for cob4
• fix xacro:include tag
• New center joint on torso
• New center joint on torso
• fix softkinetic settings
• fix urdf test
• merge cob4
• Contributors: Alexander Bubeck, Felix Messmer, Florian Weisshardt, Nadia Hammoudeh García, fmw, ipa-cob3-8, ipa-cob4-1, ipa-fxm, ipa-fxm-fm, ipa-nhg

0.5.3 (2014-03-31)

• reminder comment ;-)
• ee_link is now back in ur_description
• Contributors: ipa-fxm

0.5.2 (2014-03-20)

• merged with ipa320
• removed Media folder
• merge with groovy_dev
• fix kinect topics for simulation
• fixes while testing in simulation
• update xacro file format
• merge with groovy_dev
• new structure
• fixed some includes and property definitions
• some missed changes
• merge with groovy_dev_cob4
• fixed gazebo_plugins
• added arm_ee_link
• fixed path to file
• fixed path to file
• renamed tray 3DOF
• Tested on simulation
• cob_description structuration
• cleanup
• update cob4 description
• renamed files
• New struture for cob repositories
• tested on robot
• cob4 integration
• cob4 integration
• bring groovy updates to hydro
• Adapt tray position
• Fixed tray powerball
• Adjust limits for tray and torso
• modify axis on mesh model
• some helper makros for default inertia
• optimize effort and joint limits + use visual mesh as collision for upper neck to give arem some more space
• visual and collision geometry of cameras are now not colliding with head_cover anymore
• update transmission for all components
• remove obsolete files
• use default settings
• update xmlns + beautifying
• fix xacro include tag deprecation
• Merge pull request #7 from ipa-fxm/groovy_dev bring groovy updates to hydro
• remove obsolete experimental files
• make lookat work with raw
• ur_connector meshes are now assimp conform
• fixed torso joint limits
• adjust limits for ur_connector
• latest changes in lookat component
• simplified lookat component
• new urdf description for lookat
• fixing simulation for hydro. Still wip
• unified torso frames
• unified head frames
• Revert "depth joint for kinect implemented" This reverts commit f3449462cd05a5efc8f47252e28366d6a495acb2.
• offset back in lbr.urdf.xacro else wrong calibration
• fixed typo
• Removed safety controller urdf/ur_connector/ur_connector.urdf.xacro
• Renamed ur_connector
• New model descriptions for cob3-7
• offset for lbr set to 0
• Solved xacro Warning in hydro.
• Fixed type error
• changes for hydro gazebo, still not fully working
• depth joint for kinect implemented
• new component base_placement for whole body moveit group
• added fixed links for calibration
• new urdf description for lookat
• Contributors: Alexander Bubeck, Denis Štogl, Jannik, Jannik Abbenseth, abubeck, ipa-cob3-5, ipa-cob3-7, ipa-fmw, ipa-fxm, ipa-nhg

0.5.1 (2013-08-16 01:14:35 -0700)

0.5.0 (2013-08-16 01:14:35 -0700)

• added installer stuff
• fixed bug after merging
• merged with upstream changes
• removed generation of mesh files
• changed target name to be specific
• Merge pull request #41 from ipa-fxm/mesh_gen_fix remove mesh file generation from description packages - they are not nee...
• cleanup deps
• cleanup deps
• name failed test files for urdf check
• adapt urdf_check for groovy
• fix kinect FoV
• set update rate to 20hz again
• Catkin for cob_common
• remove mesh file generation from description packages - they are not needed any longer
• fix meshes and transformation for tray_powerball
• changed field of view of RGB image to be more realistic (from 57 to 62)
• moved all hardcoded offsets to calibration_data
• merge
• added colored collada model for sick s300 scanner
• use collision mesh again
• clean up gazebo files
• major adaptions in gazebo.urdf.xacros according to new gazebo format for sensors - simulated sensor data still not fully correct
• major adaptions in gazebo.urdf.xacros according to new gazebo format for sensors
• major adaptions in gazebo.urdf.xacros according to new gazebo format for controllers
• Merge pull request #34 from ipa-fmw/master extend urdf test
• extended urdf test
• added ur10 in raw3-1 description
• Redefined collisions in urdf files
• Groovy migration
• Merge branch 'master' of github.com:ipa320/cob_common
• adjust color settings
• rename topic from scan_top to scan_top_raw
• merge
• Deleted texture colors
• Renamed colors
• adjusted params for prosilica
• Merge pull request #23 from ipa-goa/master changed far clip to 100
• changed far clip to 100
• extended head cover and upper neck meshes
• increased torso_v0 limits for the initialization of cob3-1
• fix colors and powerball tray
• Renamed the colors
• Redefined Care-O-bot colors for Gazebo and Rviz
• Orange color for LBR
• Defined new colors
• Updated phiget sensors position
• Updated joints axis
• Removed stlb as collision mesh files, fuerte does not support this format
• Minor changes in tray_powerball description
• Description for tray_powerball
• Fuerte migration cob_descriptionurdf/base/base.gazebo.xacro
• removed unused reference position for lbr
• final raw-model V2
• update urdf
• Revert "replaced solid with robot in stl" This reverts commit 5a415bb7dc12831d2ed8932aa46b8cdcb044d300.
• fixed stl
• use stl
• replaced solid with robot in stl
• undo previous changes in cob_description/urdf/base/base.gazebo.xacro
• add simulated phidgets sensors to tray
• changed stl files not using solid
• Update desire_description
• fix naming for both kinect plugins
• fixed field of view for kinect
• Merge pull request #12 from abubeck/master fuerte support, compatible with electric
• Merge https://github.com/abubeck/cob_common
• Merge branch 'master' of github.com:abubeck/cob_common
• Merge branch 'electric' of github.com:ipa320/cob_common into release_electric
• changed kinect configuration for fuerte, changed stlb links to stl
• increased upper joint limit and velocity for head_v1
• fixed cam3d topic for head_v1
• finished raw3-1 model --- V1
• limit torso pan and tilt joints
• moved sick_s300 stl to cob_description
• added stl for laser scanner
• substitute 1.57 3.14 6.28 through M_PI
• additional links on tray
• read correct torso stl
• urdf structure change: tray can be calibrated now
• using calibration for laser scanners
• renamed icob to raw and merged and cleaned up lots of things
• Deleted old files and copies
• fix icob urdf
• torso urdf change: made torso middle link longer (as in cad)
• cameras have zero pos/rot offsets in head_v3
• calibrate cam3d to head axis instead of left camera
• setup cob3-4
• don't include urdf files from ros directory
• python urdf test
• merge with ipa320
• added minimum range for kinect
• add dep
• Merge branch 'master' of github.com:ipa-fmw/cob_common into review-ipa-fmw
• fix collision problem with floor: lift collision base_footprint
• fix names in base urdf
• renamed components
• renamed folders
• moved out of ros dir
• moved out of ros dir
• removed schunk components
• removed calibration for now missing calibration link
• fixed bug with xyz values
• removed calib_joint
• merged with goa
• revert urdf changes because of arm planning collisions
• new calibration for cob3-3 and cob3-4
• temporary fix for urdf collision model
• add configs for cob3-4
• beautify sdh transmissions
• adjust cob3-3 torso calibration
• using now kinect plugin from pr2_gazebo
• fixed origin offset
• Merge branch 'master' of github.com:ipa-goa-wt/cob_common into review-goa-wt
• urdf and default configs for cob3-bosch
• added rgb description for kinect
• added sdh_tip link
• new torso calibration
• merge
• Updated calibration for Kinect sensor
• merge
• added comment
• bumpers measure in the coordinate system of the fingers
• Kinect rgb configuration
• Merge branch 'master' of github.com:ipa-goa/cob_common
• neck calib
• added helper coordinate system for calibration, added calibration values
• Merge branch 'master' of github.com:ipa-fmw/cob_common
• new calibration offset for tray
• Updated camera calibration for cob3-3
• commit from icob
• added urdf for standard schunk lwa3
• merge
• fix head_v3 simulation error
• modifications for fetch and carry
• Merge branch 'master' of github.com:ipa-rmb/cob_common into review-rmb
• update cob3-3
• Merge branch 'master' of github.com:ipa-fmw/cob_common into review-fmw
• fix head orientation for cob3-3
• fix head orientation for cob3-3
• merge
• Merge branch 'master' of github.com:ipa-fmw/cob_common into review-fmw
• fix cob3-3 tf
• calibration for cob3-1
• new arm configurations for faster table manipulation
• head urdf for cob3-1
• changes from b-it-bots
• calib test
• calib test
• Merge branch 'master' of github.com:ipa-taj/cob_common
• corrected calib values
• added calib values for cam to neck
• merge
• Left tp right camera change in urdf
• cob_head_axis set
• corrected the swissranger topics to the unified naming scheme
• cleanup cob3-2 description
• calibration for cob3-3 tray
• fix urdf of cob3-3
• merge
• left camea is now reference camera
• merge
• merge
• update for cob3-3
• Merge branch 'master' of github.com:ipa-fmw/cob_common
• alltest launch file
• torso_v1 added
• update torso for cob3-3
• mimic joint for sdh
• update head description with general tof
• small modification for dashboard
• Fix CRLF
• kinect sensor added
• kinect sensor added
• fix names for multiple tof sensors
• changes in tof.gazebo.xacro
• inserted new urdf files for cob3-3, need to be adapted
• merge
• changed base configuration for cob3-2
• fixed voxelization + now including sdh
• new files for prmce voxelization
• urdf model for voxelization
• merge with ipa320
• update cob3-2 arm
• changed the platform urdf to version 1
• arm planning
• beautifying
• single arm and arm with sdh simulation running
• modifications sensor fusion
• Merge branch 'master' of github.com:ipa-jsf/cob_common into review-jsf
• adjust camrea simulation parameters to real cameras
• renamed cameraone to prosilica
• fixed camera topics for simulation
• reduced mass for simulation
• tuned gazebo controller
• fix safety controller in lbr
• simulation working again after merging
• use stlb files in collision now
• generate stlb files
• included calls to base_v1, but still base_v0 is active
• fixed laser sensor names, version number and visual model
• modified base_collision_model
• Merge branch 'review-320'
• removed falling calibration
• Merge branch 'review-brudder'
• Merge branch 'master' of https://github.com/brudder/cob_common into review-brudder
• fixed error in lbr
• Merge branch 'review-brudder'
• Merge branch 'review-320'
• Merge branch 'master' of https://github.com/ipa320/cob_common into review-320
• added correct calibration
• Merge branch 'master' of github.com:ipa-goa/cob_common into review-goa
• modified base collision model for 2dnav_ipa
• new stl models for collision added and implemented
• update configurations and added grassp link to sdh
• Merge branch 'master' of https://github.com/ipa320/cob_common into review-320
• corrected axes and wheel hubs
• desire robot added
• restructure urdf files and launch files for simulation
• changed urdf files for single components
• changed launch file structure for bringup
• added safety_controller for pr2_kinematics
• simple base collision model
• added swissranger in simulation
• corrected calibration
• cleanup in simulation and common
• added hand-eye-calibration values
• Merge branch 'master' of github.com:ipa-goa/care-o-bot
• added camera calibration
• Head axis working, tested on cob3-1 but adapted parameters (-files) should work on both robots
• added sick scanner to urdf
• added real scan values to simulation, added scan filters to simulation
• changed mesh files for new transformations
• added hokuyo support to nav
• Merge branch 'review-320'
• added calibration for right camera
• HeadAxis working
• new torso tranfsormation
• update joint limits for lbr
• cob_base
• 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
• lbr working on cob
• cob_head_axis working
• inserted cob base mesh file
• first version of cob_base urdf
• new trnasformation for base lbr
• new arm transformation for lbr, set_operation_mode with service interface
• tactile sensors in simulation
• cleanup in urdfs
• beautify torso urdf
• changed dimensions of cameras
• preparation for blocklaser
• simulated cameras working
• head axis working in simulation
• removed executable status from files
• preparations for cameras and tof in simulation
• grasp script optimisations
• update urdf to be compatible with ctrutle, add 64bit support for libntcan
• changed transmission and filters to namespaces
• update documentation
• optimized controllers for simulation
• changed angle offset after calibration
• fixed bug with fixed joint
• fixed bug with fixed joint
• changed transformation based on box-style-calibration
• modified urdf and adapted xaml files
• improved simulation for schunk arm and cleanup in 2dnav package
• altered sdh mounting for changed lbr naming
• fixed problem with lbr urdf files occuring on cob3-lbr robot
• update on robot
• grasp from cooler scenarion running
• update for cob3-2
• update script server yaml and lbr urdf description
• dual arm cob3 simulation and modified controllers for schunk simulation
• extended calibration files for camera calibration
• Merge branch 'master' of github.com:abubeck/care-o-bot
• dual arm setup
• modified camera coordinate systems
• added virtual camera support
• updated lbr description, is now correct
• improvements of lbr simulation
• added lbr to simulation
• lbr meshes and simulation
• renamed laser topics
• modified urdf to work with hokuyo simulation
• modified urdf and changes to sdh driver
• changed from cob3-1 to cob3-sim
• small fixes for simulation
• updated simulation files
• clean up in cob_common stack
• added upload file for cob3-1
• changes on powercube chain to accept direct command without actionlib
• missing files for simulation
• new files for navigation, e.g. maps and launch files
• merge
• arm is now on foot block
• arm is now on foot block
• extended limits of joint 1
• rotated arm meshes and tray mesh
• calibration file for sim
• urdf file for cob3-sim
• missing upload file
• new simulation interfaces
• small fix
• separate urdf files for arm and sdh
• separate urdf files for arm and sdh
• missing stl files
• upload files for simulation
• merge
• merge
• big changes to simulation structure
• changed stl files
• modified knoeppkes
• new stl file for tray
• adaptions to urdf for tray
• new stl file for tray
• changed origin of head_cover
• new launch file for cob3-sim
• added sdh controller file
• Merge branch 'fmw-hj'
• modified urdf to have less shaking
• renamed cob launch file
• modified urdf
• inserted new stl files
• new stl file for head cover
• new stl files for torso
• added sdh urdf files
• included calibration files
• modified manifests for documentation
• mesh files for lwa
• included arm
• stl files for base
• missing SR400 files
• missing camera files
• new files for cob_description
• merge
• new urdf desciption
• modifications for cob3-2
• new urdf structure for platform and torso
• Contributors: Alexander Bubeck, COB3-Manipulation, Florian Weißhardt, Georg Arbeiter, Lucian Cucu, Mathias Lüdtke, Richard Bormann, Sven Schneider, abubeck, b-it-bots-secure, brudder, cob, cob3-1-pc1, cpc-pk, fmw-jk, ipa, ipa-bnm, ipa-fmw, ipa-fmw-sh, ipa-fxm, ipa-goa, ipa-goa-wt, ipa-jsf, ipa-mig, ipa-nhg, ipa-rmb, ipa-taj, ipa-taj-dm, ipa-uhr, ipa-uhr-fm, mxcreator, nhg-ipa, robot, root