From 1853fe8593cabec6bad7b2df7ad3cdfb9da6fb59 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Mon, 30 Sep 2024 19:11:12 +0200
Subject: [PATCH] now it's better, some old unused files have been removed
---
.../robotiq_gripper.cpython-310.pyc | Bin 12223 -> 0 bytes
cpp/clik/b2/CMakeCache.txt | 553 -----------
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.../3.28.4/CMakeDetermineCompilerABI_C.bin | Bin 15424 -> 0 bytes
.../3.28.4/CMakeDetermineCompilerABI_CXX.bin | Bin 15440 -> 0 bytes
.../b2/CMakeFiles/3.28.4/CMakeSystem.cmake | 15 -
.../3.28.4/CompilerIdC/CMakeCCompilerId.c | 880 ------------------
.../b2/CMakeFiles/3.28.4/CompilerIdC/a.out | Bin 15536 -> 0 bytes
.../CompilerIdCXX/CMakeCXXCompilerId.cpp | 869 -----------------
.../b2/CMakeFiles/3.28.4/CompilerIdCXX/a.out | Bin 15552 -> 0 bytes
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cpp/clik/b2/CMakeFiles/cmake.check_cache | 1 -
cpp/clik/b2/cmake/tmp-cxx-standard.cpp | 2 -
cpp/clik/src/CMakeLists.txt | 361 -------
python/examples/gepetto_ex.py | 59 --
16 files changed, 3459 deletions(-)
delete mode 100644 cpp/clik/__pycache__/robotiq_gripper.cpython-310.pyc
delete mode 100644 cpp/clik/b2/CMakeCache.txt
delete mode 100644 cpp/clik/b2/CMakeFiles/3.28.4/CMakeCCompiler.cmake
delete mode 100644 cpp/clik/b2/CMakeFiles/3.28.4/CMakeCXXCompiler.cmake
delete mode 100755 cpp/clik/b2/CMakeFiles/3.28.4/CMakeDetermineCompilerABI_C.bin
delete mode 100755 cpp/clik/b2/CMakeFiles/3.28.4/CMakeDetermineCompilerABI_CXX.bin
delete mode 100644 cpp/clik/b2/CMakeFiles/3.28.4/CMakeSystem.cmake
delete mode 100644 cpp/clik/b2/CMakeFiles/3.28.4/CompilerIdC/CMakeCCompilerId.c
delete mode 100755 cpp/clik/b2/CMakeFiles/3.28.4/CompilerIdC/a.out
delete mode 100644 cpp/clik/b2/CMakeFiles/3.28.4/CompilerIdCXX/CMakeCXXCompilerId.cpp
delete mode 100755 cpp/clik/b2/CMakeFiles/3.28.4/CompilerIdCXX/a.out
delete mode 100644 cpp/clik/b2/CMakeFiles/CMakeConfigureLog.yaml
delete mode 100644 cpp/clik/b2/CMakeFiles/cmake.check_cache
delete mode 100644 cpp/clik/b2/cmake/tmp-cxx-standard.cpp
delete mode 100644 cpp/clik/src/CMakeLists.txt
delete mode 100644 python/examples/gepetto_ex.py
diff --git a/cpp/clik/__pycache__/robotiq_gripper.cpython-310.pyc b/cpp/clik/__pycache__/robotiq_gripper.cpython-310.pyc
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-# elif defined(__WINDOWS__)
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-# else /* unknown platform */
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-#else /* unknown platform */
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-#endif
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-# else /* unknown architecture */
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- ('0' + (((n) / 10000)%10)), \
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diff --git a/cpp/clik/src/CMakeLists.txt b/cpp/clik/src/CMakeLists.txt
deleted file mode 100644
index fa73142..0000000
--- a/cpp/clik/src/CMakeLists.txt
+++ /dev/null
@@ -1,361 +0,0 @@
-# TODO idk what the actual minimum version is
-cmake_minimum_required(VERSION 3.20.0)
-project(clik)
-set(PROJECT_DESCRIPTION
- "basic click(s) with ur_rtde and pinocchio"
-)
-set ( CMAKE_EXPORT_COMPILE_COMMANDS ON )
-
-# TODO put this in
-#set(PROJECT_URL https://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME})
-# std=c++17 so that i can use std::filesystem, but otherwise min is 11
-set(CMAKE_CXX_STANDARD 17)
-
-
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-# Add further warning levels, they only help
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- -D_FORTIFY_SOURCE=2 \
- -O2 \
- -fstack-protector \
- -fomit-frame-pointer \
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- -Werror \
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- -Wall -Wextra -Wshadow -Wdeprecated \
- -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith \
- -Wuninitialized -Wunreachable-code \
- -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable \
- -Wunused-value -Wunused-variable -Wunused-result \
- -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn")
-
-# Add current build directory as include directory as it contains generated files.
-#include_directories(SYSTEM ${CMAKE_BINARY_DIR})
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
-add_executable(${PROJECT_NAME} src/clik.cpp)
-
-################
-# ur_rtde library
-find_package(ur_rtde REQUIRED)
-target_link_libraries(${PROJECT_NAME} PUBLIC ur_rtde::rtde)
-#target_link_libraries(clik PUBLIC ur_rtde::rtde)
-
-### pinocchio
-find_package(pinocchio REQUIRED)
-target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio::pinocchio)
-#target_link_libraries(clik PUBLIC pinocchio::pinocchio)
-
-## pinocchio-gepetto-viewer
-find_package(pinocchio-gepetto-viewer REQUIRED)
-target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio-gepetto-viewer)
-
-
-#add_library(${PROJECT_NAME}-core OBJECT ${CMAKE_CURRENT_SOURCE_DIR}/src/clik.cpp)
-#set(LIBRARIES pinocchio::pinocchio ur_rtde::ur_rtde)
-#set(LIBRARIES pinocchio ur_rtde)
-
-# Create executable.
-#add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/${PROJECT_NAME}.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
-#add_executable(
-#target_link_libraries(${PROJECT_NAME} ${LIBRARIES})
-#target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)
-
-
-# TODO this doesn't hurt right?
-# Install executable.
-#install(TARGETS ${PROJECT_NAME} DESTINATION bin COMPONENT ${PROJECT_NAME})
-
-################################################################################
-# TODO implement and then Enable unit testing.
-#enable_testing()
-#add_executable(${PROJECT_NAME}-runner ${CMAKE_CURRENT_SOURCE_DIR}/test/test-behavior.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
-#target_link_libraries(${PROJECT_NAME}-runner ${LIBRARIES})
-#add_test(NAME ${PROJECT_NAME}-runner COMMAND ${PROJECT_NAME}-runner)
-
-
-# TODO probably a good idea to start using doxygen or something similar
-#option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
-#set(DOXYGEN_USE_MATHJAX YES)
-#set(DOXYGEN_USE_TEMPLATE_CSS YES)
-
-# Create different building options
-# TODO idk what this does actually
-#option(ENABLE_VECTORIZATION
-# "Enable vectorization and further processor-related optimizations" OFF)
-# TODO see how to do this with pybind11 (just extend ur_rtde approach)
-#option(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
-#option(BUILD_BENCHMARK "Build the benchmark" ON)
-#option(BUILD_EXAMPLES "Build the examples" ON)
-#option(BUILD_WITH_IPOPT "Build the IPOPT wrapper." ON)
-#option(GENERATE_PYTHON_STUBS
-# "Generate the Python stubs associated to the Python library" OFF)
-
-#if(ENABLE_VECTORIZATION)
-# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
-#endif()
-
-# Check if the conan file exist to find the dependencies
-#if (EXISTS ${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
-#include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
-#conan_basic_setup(NO_OUTPUT_DIRS KEEP_RPATHS SKIP_STD TARGETS)
-#set(Boost_USE_STATIC_LIBS ON)
-#set(Boost_ADDITIONAL_VERSIONS 1.75.0)
-#endif()
-#find_package(Boost REQUIRED COMPONENTS system thread program_options)
-#find_package(Threads)
-
-############### pybind copied from ur_rtde and i don't get it ######
-
-#if(${PYTHON_BINDINGS})
-## This is required to find python site-packages for installation of ur_rtde python bindings.
-#if(NOT PYBIND11_PYTHON_VERSION)
-# set(PYBIND11_PYTHON_VERSION "" CACHE STRING "Python version to use for compiling modules")
-#endif()
-#set(Python_ADDITIONAL_VERSIONS 3.11 3.10 3.9 3.8 3.7 3.6 3.5 3.4)
-#find_package(PythonLibsNew ${PYBIND11_PYTHON_VERSION} REQUIRED)
-#
-#include(FetchContent)
-#
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-# pybind11-src
-# GIT_REPOSITORY https://github.com/pybind/pybind11.git
-# GIT_TAG v2.10.1
-#)
-#FetchContent_MakeAvailable(pybind11-src)
-#
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-#
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-#if(${PYTHON_BINDINGS})
-#pybind11_add_module(rtde_control SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} ${LIB_URCL_HEADER_FILES} src/rtde_python_bindings.cpp)
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-# PUBLIC ${Boost_INCLUDE_DIRS}
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-# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-# $<INSTALL_INTERFACE:include>
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-# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
-# PRIVATE ${PYTHON_INCLUDE_DIRS})
-#target_link_libraries(rtde_control PRIVATE
-# #${PYTHON_LIBRARIES}
-# ${Boost_SYSTEM_LIBRARY}
-# ${Boost_THREAD_LIBRARY}
-# ${CMAKE_THREAD_LIBS_INIT})
-# target_compile_definitions(rtde_control PRIVATE rtde_EXPORTS)
-#
-#pybind11_add_module(rtde_receive SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} src/rtde_python_bindings.cpp)
-#target_include_directories(rtde_receive
-# PUBLIC ${Boost_INCLUDE_DIRS}
-# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-# $<INSTALL_INTERFACE:include>
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-#target_link_libraries(rtde_receive PRIVATE
-# #${PYTHON_LIBRARIES}
-# ${Boost_SYSTEM_LIBRARY}
-# ${Boost_THREAD_LIBRARY})
-# target_compile_definitions(rtde_receive PRIVATE rtde_EXPORTS)
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-#pybind11_add_module(rtde_io SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} src/rtde_python_bindings.cpp)
-#target_include_directories(rtde_io
-# PUBLIC ${Boost_INCLUDE_DIRS}
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-# $<INSTALL_INTERFACE:include>
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-# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
-# PRIVATE ${PYTHON_INCLUDE_DIRS})
-#target_link_libraries(rtde_io PRIVATE
-# #${PYTHON_LIBRARIES}
-# ${Boost_SYSTEM_LIBRARY}
-# ${Boost_THREAD_LIBRARY})
-#target_compile_definitions(rtde_io PRIVATE rtde_EXPORTS)
-#
-#pybind11_add_module(script_client SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} src/rtde_python_bindings.cpp)
-#target_include_directories(script_client
-# PUBLIC ${Boost_INCLUDE_DIRS}
-# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-# $<INSTALL_INTERFACE:include>
-# PRIVATE ${PYBIND11_INCLUDE_DIR} # from project CMakeLists.txt
-# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
-# PRIVATE ${PYTHON_INCLUDE_DIRS})
-# target_link_libraries(script_client PRIVATE
-# #${PYTHON_LIBRARIES}
-# ${Boost_SYSTEM_LIBRARY}
-# ${Boost_THREAD_LIBRARY})
-# target_compile_definitions(script_client PRIVATE rtde_EXPORTS)
-#
-#
-#pybind11_add_module(dashboard_client SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} src/rtde_python_bindings.cpp)
-#target_include_directories(dashboard_client
-# PUBLIC ${Boost_INCLUDE_DIRS}
-# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-# $<INSTALL_INTERFACE:include>
-# PRIVATE ${PYBIND11_INCLUDE_DIR} # from project CMakeLists.txt
-# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
-# PRIVATE ${PYTHON_INCLUDE_DIRS})
-#target_link_libraries(dashboard_client PRIVATE
-# #${PYTHON_LIBRARIES}
-# ${Boost_SYSTEM_LIBRARY}
-# ${Boost_THREAD_LIBRARY})
-#target_compile_definitions(dashboard_client PRIVATE rtde_EXPORTS)
-#
-#endif()
-
-######################################################
-
-
-#add_project_dependency(pinocchio 2.6.3 REQUIRED PKG_CONFIG_REQUIRES
-# "pinocchio >= 2.6.3")
-#if(BUILD_EXAMPLES
-# OR BUILD_TESTING
-# OR BUILD_BENCHMARK)
-# add_project_dependency(example-robot-data 4.0.7 REQUIRED PKG_CONFIG_REQUIRES
-# "example-robot-data >= 4.0.7")
-#else()
-# add_optional_dependency(example-robot-data)
-#endif()
-
-# i don't have experience with any of this,
-# but it's probably good
-#option(
-# BUILD_WITH_CODEGEN_SUPPORT
-# "Build the library with the Code Generation support (required CppADCodeGen)"
-# OFF)
-#
-#option(BUILD_WITH_MULTITHREADS
-# "Build the library with the Multithreading support (required OpenMP)"
-# OFF)
-#if(BUILD_WITH_MULTITHREADS)
-# # If BUILD_WITH_NTHREADS defined, use the value - otherwise detect
-# if(NOT DEFINED BUILD_WITH_NTHREADS)
-# include(ProcessorCount)
-# ProcessorCount(NPROCESSOR)
-# if(NOT NPROCESSOR EQUAL 0)
-# math(EXPR NPROCESSOR ${NPROCESSOR}/2)
-# set(BUILD_WITH_NTHREADS
-# ${NPROCESSOR}
-# CACHE STRING "Number of threads")
-# else()
-# set(BUILD_WITH_NTHREADS
-# "4"
-# CACHE STRING "Number of threads") # Default setting
-# endif()
-# endif()
-# string(REGEX MATCH "^[0-9]+$" BUILD_WITH_NTHREADS ${BUILD_WITH_NTHREADS})
-# if(NOT BUILD_WITH_NTHREADS MATCHES "^[0-9]+$")
-# set(BUILD_WITH_NTHREADS 4) # Default setting 4.
-# message(
-# WARNING
-# "The number of threads has to be an integer value, set to ${BUILD_WITH_NTHREADS}"
-# )
-# endif()
-#endif()
-#
-#if(BUILD_WITH_CODEGEN_SUPPORT)
-# add_project_dependency(cppad 20200000.0 REQUIRED)
-# add_project_dependency(cppadcg 2.4.1 REQUIRED)
-# add_definitions(-DCROCODDYL_WITH_CODEGEN)
-# # Pinocchio codegen related preproccessor defs.
-# add_definitions(-DPINOCCHIO_WITH_CPPADCG_SUPPORT)
-# add_definitions(-DPINOCCHIO_WITH_CPPAD_SUPPORT)
-# # Packaging for downstream.
-# set(PACKAGE_EXTRA_MACROS
-# "${PACKAGE_EXTRA_MACROS}\nADD_DEFINITIONS(-DCROCODDYL_WITH_CODEGEN -DPINOCCHIO_WITH_CPPAD_SUPPORT -DPINOCCHIO_WITH_CPPADCG_SUPPORT)"
-# )
-# if(NOT ${EIGEN3_VERSION} VERSION_GREATER "3.3.0")
-# add_definitions(-DPINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN)
-# set(PACKAGE_EXTRA_MACROS
-# "${PACKAGE_EXTRA_MACROS}\nADD_DEFINITIONS(-DPINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN)"
-# )
-# endif(NOT ${EIGEN3_VERSION} VERSION_GREATER "3.3.0")
-#endif()
-#
-## Add OpenMP
-#if(BUILD_WITH_MULTITHREADS)
-# find_package(OpenMP REQUIRED COMPONENTS CXX)
-#
-# add_definitions(-DCROCODDYL_WITH_MULTITHREADING)
-# add_definitions(-DCROCODDYL_WITH_NTHREADS=${BUILD_WITH_NTHREADS})
-# set(PACKAGE_EXTRA_MACROS
-# "${PACKAGE_EXTRA_MACROS}\nADD_DEFINITIONS(-DCROCODDYL_WITH_MULTITHREADING -DCROCODDYL_WITH_NTHREADS=${BUILD_WITH_NTHREADS})"
-# )
-# set(OMP_NUM_THREADS ${BUILD_WITH_NTHREADS})
-#endif()
-#
-## Add Ipopt
-#if(BUILD_WITH_IPOPT AND IPOPT_FOUND)
-# add_definitions(-DCROCODDYL_WITH_IPOPT)
-# link_directories(${IPOPT_LIBRARY_DIRS})
-#endif()
-
-#set(BOOST_REQUIRED_COMPONENTS filesystem serialization system)
-#set(BOOST_BUILD_COMPONENTS unit_test_framework)
-#set_boost_default_options()
-#export_boost_default_options()
-#add_project_dependency(Boost 1.65 REQUIRED COMPONENTS
-# ${BOOST_REQUIRED_COMPONENTS})
-#find_package(Boost 1.65 REQUIRED COMPONENTS ${BOOST_BUILD_COMPONENTS})
-#
-#if(Boost_VERSION GREATER 107299)
-# # Silence a warning about a deprecated use of boost bind by boost python at
-# # least fo boost 1.73 to 1.75
-# add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
-#endif()
-
-#target_include_directories(${PROJECT_NAME}
-# PUBLIC $<INSTALL_INTERFACE:include>)
-#target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)
-#target_link_libraries(${PROJECT_NAME} Boost::filesystem Boost::system
-# Boost::serialization)
-
-# add this if you add this
-#if(BUILD_WITH_MULTITHREADS)
-#target_link_libraries(${PROJECT_NAME} OpenMP::OpenMP_CXX)
-#endif()
-#
-#if(BUILD_WITH_IPOPT AND IPOPT_FOUND)
-#target_link_libraries(${PROJECT_NAME} ipopt)
-#target_include_directories(${PROJECT_NAME} PUBLIC ${IPOPT_INCLUDE_DIRS})
-#endif()
-
-# TODO try to figure it out
-# Build the Python interface
-#if(BUILD_PYTHON_INTERFACE)
-# # Include and add the bindings directory
-# include_directories(bindings)
-# add_subdirectory(bindings)
-#endif(BUILD_PYTHON_INTERFACE)
-#
-## Build the unit tests
-#if(BUILD_TESTING)
-# add_subdirectory(unittest)
-#endif(BUILD_TESTING)
-#
-## Build the benchmark
-#if(BUILD_BENCHMARK)
-# add_subdirectory(benchmark)
-#endif(BUILD_BENCHMARK)
-#
-## Build the examples
-#if(BUILD_EXAMPLES)
-# if(BUILD_PYTHON_INTERFACE)
-# add_subdirectory(examples)
-# else(BUILD_PYTHON_INTERFACE)
-# message(
-# WARNING "Python interface is not built, hence cannot build examples.")
-# endif(BUILD_PYTHON_INTERFACE)
-#endif(BUILD_EXAMPLES)
-
-# TODO: generate this as well for full points i guess
-# PkgConfig packaging of the project
-#pkg_config_append_libs(${PROJECT_NAME})
-#pkg_config_append_boost_libs(${BOOST_REQUIRED_COMPONENTS})
diff --git a/python/examples/gepetto_ex.py b/python/examples/gepetto_ex.py
deleted file mode 100644
index 3d89c53..0000000
--- a/python/examples/gepetto_ex.py
+++ /dev/null
@@ -1,59 +0,0 @@
-# TODO:
-# - get python gepetto viz to work
-# - put that into robot manager
-# - delete this file afterward
-
-import pinocchio as pin
-import numpy as np
-import sys
-import os
-from os.path import dirname, join, abspath
-import time
-
-from pinocchio.visualize import GepettoVisualizer
-import gepetto.corbaserver
-gepetto.corbaserver.start_server()
-time.sleep(3)
-
-# Load the URDF model.
-# Conversion with str seems to be necessary when executing this file with ipython
-#pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),"models")
-
-#model_path = join(pinocchio_model_dir, "example-robot-data/robots")
-mesh_dir = "/home/gospodar/lund/praxis/ur_driver_humble_ws/src/Universal_Robots_ROS2_Description/meshes/ur5e/"
-#urdf_filename = "talos_reduced.urdf"
-#urdf_model_path = join(join(model_path,"talos_data/robots"),urdf_filename)
-urdf_model_path = "/home/gospodar/lund/praxis/ur_driver_humble_ws/src/Universal_Robots_ROS2_Description/urdf/ur5e.urdf"
-package_dir = "/home/gospodar/lund/praxis/ur_driver_humble_ws/src/Universal_Robots_ROS2_Description/meshes/ur5e/"
-
-#model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
-#model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
-#model = pin.Model()
-model = pin.buildModelFromUrdf(urdf_model_path)
-visual_model = pin.buildGeomFromUrdf(model, urdf_model_path, pin.GeometryType.VISUAL)
-collision_model = pin.buildGeomFromUrdf(model, urdf_model_path, pin.GeometryType.COLLISION)
-viz = GepettoVisualizer(model, collision_model, visual_model)
-viz.initViewer()
-viz.loadViewerModel()
-
-NQ, NV = model.nq, model.nv
-
-# Display a robot configuration.
-q0 = pin.neutral(model)
-viz.display(q0)
-data = pin.Data(model)
-
-#for i in range(10000):
-# q0[0] += 0.001
-# pin.forwardKinematics(model, data, q0)
-# viz.display(q0)
-
-# Display another robot.
-#viz2 = GepettoVisualizer(model, collision_model, visual_model)
-#viz2.initViewer(viz.viewer)
-#viz2.loadViewerModel(rootNodeName = "pinocchio2")
-#q = q0.copy()
-#q[1] = 1.0
-#viz2.display(q)
-
-
--
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