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Getting Started
Getting Started
Accessing the Source Code
Compilation and Installation
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The Examples
The Examples
ExampleGposServer v1.1
ExampleMobilityServer v1.1
ExampleClient v1.1
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Tutorials
Tutorials
Creating Your First Component
SDK Guides
SDK Guides
Service Implementations
Service Implementations
Core v1.1
Core v1.1
Discovery
Internal Concepts
Internal Concepts
The System Registry
Upgrading Versions
Upgrading Versions
Upgrading from 2023.x to 2024.x
SAE JAUS
SAE JAUS
Basics
Basics
The JAUS System
JAUS Services
Service Set Versioning
Services
Services
Core v1.1
Core v1.1
Events
AccessControl
Liveness
Discovery
RAS-G IOP
RAS-G IOP
Addressing
Reference
Reference
Services
Services
Core v1.1
Core v1.1
AccessControl
Discovery
Events
ListManager
Liveness
Management
Time
Transport
Mobilty v1.1
Mobilty v1.1
AccelerationStateSensor
GlobalLoiterDriver
GlobalOperatingZone
GlobalPathSegmentDriver
GlobalPoseSensor
GlobalVectorDriver
GlobalWaypointDriver
GlobalWaypointListDriver
GPSFix
InertialSensorControl
LocalLoiterDriver
LocalOperatingZone
LocalPathSegmentDriver
LocalPoseSensor
LocalVectorDriver
LocalWaypointDriver
LocalWaypointListDriver
NavigationState
PrimitiveDriver
VelocityStateDriver
VelocityStateSensor
Manipulator v2.0
Manipulator v2.0
ManipulatorActuatorForceTorqueDriver
ManipulatorEndEffectorPoseDriver
ManipulatorEndEffectorPoseListDriver
ManipulatorEndEffectorPoseSensor
ManipulatorEndEffectorVelocityStateDriver
ManipulatorEndEffectorVelocityStateSensor
ManipulatorJointForceTorqueSensor
ManipulatorJointMotionProfile
ManipulatorJointPositionDriver
ManipulatorJointPositionListDriver
ManipulatorJointPositionSensor
ManipulatorJointVelocityDriver
ManipulatorJointVelocitySensor
ManipulatorListDriver
ManipulatorSpecificationService
ManipulatorToolOffsetService
PanTiltJointPositionDriver
PanTiltJointPositionSensor
PanTiltJointVelocityDriver
PanTiltJointVelocitySensor
PanTiltMotionProfileService
PanTiltSpecificationService
PrimitiveEndEffector
PrimitiveManipulator
PrimitivePanTilt
Environment v2.0
Environment v2.0
AnalogVideo
DigitalAudioOutput
DigitalAudioSensor
DigitalResourceDiscovery
DigitalVideo
ForceTorqueSensor
H264VideoEncoding
PortMapper
RangeSensor
StillImage
VideoIlluminator
VisualSensor
UGV v1.0
UGV v1.0
AckermannDriver
AnnunciatorService
DriveTrainDriver
IlluminationService
OdometryService
ParkingBrakeDriver
PlatformSpecificationsService
PowerPlantManager
SkidSteerDriver
StabilizerDriver
Autonomy v1.0
Autonomy v1.0
CommsLostPolicyManager
CostMap2D
PathReporter
Retrotraverse
SelfRighting
Mobility v1.0
Mobility v1.0
AccelerationStateSensor
GlobalPathSegmentDriver
GlobalPoseSensor
GlobalVectorDriver
GlobalWaypointDriver
GlobalWaypointListDriver
ListManager
LocalPathSegmentDriver
LocalPoseSensor
LocalVectorDriver
LocalWaypointDriver
LocalWaypointListDriver
PrimitiveDriver
VelocityStateDriver
VelocityStateSensor
Environment v1.0
Environment v1.0
AnalogVideo
DigitalVideo
RangeSensor
StillImage
VisualSensor
Messages
Messages
Core v1.1
Core v1.1
0x0001 - SetAuthority
0x0002 - Shutdown
0x0003 - Standby
0x0004 - Resume
0x0005 - Reset
0x0006 - SetEmergency
0x0007 - ClearEmergency
0x000D - RequestControl
0x000E - ReleaseControl
0x000F - ConfirmControl
0x0010 - RejectControl
0x0011 - SetTime
0x01F0 - CreateEvent
0x01F1 - UpdateEvent
0x01F2 - CancelEvent
0x01F3 - ConfirmEventRequest
0x01F4 - RejectEventRequest
0x01F6 - CreateCommandEvent
0x041A - SetElement
0x041B - DeleteElement
0x041C - ConfirmElementRequest
0x041D - RejectElementRequest
0x0B00 - RegisterServices
0x2001 - QueryAuthority
0x2002 - QueryStatus
0x2003 - QueryTimeout
0x200D - QueryControl
0x2011 - QueryTime
0x21F0 - QueryEvents
0x21F2 - QueryEventTimeout
0x2202 - QueryHeartbeatPulse
0x241A - QueryElement
0x241B - QueryElementList
0x241C - QueryElementCount
0x2B00 - QueryIdentification
0x2B01 - QueryConfiguration
0x2B02 - QuerySubsystemList
0x2B03 - QueryServices
0x2B04 - QueryServiceList
0x4001 - ReportAuthority
0x4002 - ReportStatus
0x4003 - ReportTimeout
0x400D - ReportControl
0x4011 - ReportTime
0x41F0 - ReportEvents
0x41F1 - Event
0x41F2 - ReportEventTimeout
0x41F6 - CommandEvent
0x4202 - ReportHeartbeatPulse
0x441A - ReportElement
0x441B - ReportElementList
0x441C - ReportElementCount
0x4B00 - ReportIdentification
0x4B01 - ReportConfiguration
0x4B02 - ReportSubsystemList
0x4B03 - ReportServices
0x4B04 - ReportServiceList
Mobilty v1.1
Mobilty v1.1
0x0402 - SetGlobalPose
0x0403 - SetLocalPose
0x0405 - SetWrenchEffort
0x0407 - SetGlobalVector
0x0408 - SetLocalVector
0x040A - SetTravelSpeed
0x040C - SetGlobalWaypoint
0x040D - SetLocalWaypoint
0x0412 - SetGeomagneticProperty
0x0415 - SetVelocityCommand
0x0416 - SetAccelerationLimit
0x041E - ExecuteList
0x0422 - DeleteZone
0x0423 - SetGlobalOperatingZone
0x0425 - SetGlobalLoiter
0x0426 - SetLocalLoiter
0x0427 - SetLocalOperatingZone
0x0428 - RequestGPSFix
0x0429 - InertialSensorControl
0x04A2 - SetGlobalPoseExt
0x04A3 - SetLocalPoseExt
0x04A7 - SetGlobalVectorExt
0x04A8 - SetLocalVectorExt
0x04AA - SetTravelSpeedExt
0x04AC - SetGlobalWaypointExt
0x04AD - SetLocalWaypointExt
0x04AE - ExecuteListExt
0x04B5 - SetVelocityCommandExt
0x2402 - QueryGlobalPose
0x2403 - QueryLocalPose
0x2404 - QueryVelocityState
0x2405 - QueryWrenchEffort
0x2407 - QueryGlobalVector
0x2408 - QueryLocalVector
0x240A - QueryTravelSpeed
0x240C - QueryGlobalWaypoint
0x240D - QueryLocalWaypoint
0x240F - QueryGlobalPathSegment
0x2410 - QueryLocalPathSegment
0x2412 - QueryGeomagneticProperty
0x2415 - QueryVelocityCommand
0x2416 - QueryAccelerationLimit
0x2417 - QueryAccelerationState
0x241E - QueryActiveElement
0x2421 - QueryNavigation
0x2423 - QueryGlobalOperatingZone
0x2424 - QueryExcursion
0x2425 - QueryGlobalLoiter
0x2426 - QueryLocalLoiter
0x2427 - QueryLocalOperatingZone
0x2428 - QueryGPSFix
0x2429 - QueryInertialSensorStatus
0x24A2 - QueryGlobalPoseExt
0x24A3 - QueryLocalPoseExt
0x24A4 - QueryVelocityStateExt
0x24A7 - QueryGlobalVectorExt
0x24A8 - QueryLocalVectorExt
0x24AA - QueryTravelSpeedExt
0x24AC - QueryGlobalWaypointExt
0x24AD - QueryLocalWaypointExt
0x24AF - QueryGlobalPathSegmentExt
0x24B0 - QueryLocalPathSegmentExt
0x24B5 - QueryVelocityCommandExt
0x24B7 - QueryAccelerationStateExt
0x4402 - ReportGlobalPose
0x4403 - ReportLocalPose
0x4404 - ReportVelocityState
0x4405 - ReportWrenchEffort
0x4407 - ReportGlobalVector
0x4408 - ReportLocalVector
0x440A - ReportTravelSpeed
0x440C - ReportGlobalWaypoint
0x440D - ReportLocalWaypoint
0x440F - ReportGlobalPathSegment
0x4410 - ReportLocalPathSegment
0x4412 - ReportGeomagneticProperty
0x4415 - ReportVelocityCommand
0x4416 - ReportAccelerationLimit
0x4417 - ReportAccelerationState
0x441E - ReportActiveElement
0x4421 - ReportNavigation
0x4423 - ReportGlobalOperatingZone
0x4424 - ReportExcursion
0x4425 - ReportGlobalLoiter
0x4426 - ReportLocalLoiter
0x4427 - ReportLocalOperatingZone
0x4428 - ReportGPSFix
0x4429 - ReportInertialSensorStatus
0x44A2 - ReportGlobalPoseExt
0x44A3 - ReportLocalPoseExt
0x44A4 - ReportVelocityStateExt
0x44A7 - ReportGlobalVectorExt
0x44A8 - ReportLocalVectorExt
0x44AA - ReportTravelSpeedExt
0x44AC - ReportGlobalWaypointExt
0x44AD - ReportLocalWaypointExt
0x44AF - ReportGlobalPathSegmentExt
0x44B0 - ReportLocalPathSegmentExt
0x44B5 - ReportVelocityCommandExt
0x44B7 - ReportAccelerationStateExt
Manipulator v2.0
Manipulator v2.0
0x0601 - SetJointEffort
0x0602 - SetJointPositions
0x0603 - SetJointVelocity
0x0604 - SetToolOffset
0x0607 - SetJointMotionProfile
0x0610 - SetEndEffectorPose
0x0612 - SetEndEffectorVelocityState
0x0613 - SetActuatorForceTorques
0x061E - ExecuteList
0x0621 - SetPanTiltJointEffort
0x0622 - SetPanTiltJointPositions
0x0623 - SetPanTiltJointVelocity
0x0627 - SetPanTiltMotionProfile
0x0633 - SetEndEffectorEffort
0x2600 - QueryManipulatorSpecifications
0x2601 - QueryJointEffort
0x2602 - QueryJointPositions
0x2603 - QueryJointVelocity
0x2604 - QueryToolOffset
0x2605 - QueryJointForceTorques
0x2607 - QueryJointMotionProfile
0x2608 - QueryCommandedJointPositions
0x2610 - QueryCommandedEndEffectorPose
0x2611 - QueryCommandedJointVelocity
0x2612 - QueryCommandedEndEffectorVelocityState
0x2613 - QueryCommandedActuatorForceTorques
0x2615 - QueryEndEffectorPose
0x2616 - QueryEndEffectorVelocityState
0x261E - QueryActiveElement
0x2620 - QueryPanTiltSpecifications
0x2621 - QueryPanTiltJointEffort
0x2622 - QueryPanTiltJointPositions
0x2623 - QueryPanTiltJointVelocity
0x2627 - QueryPanTiltMotionProfile
0x2628 - QueryCommandedPanTiltJointPositions
0x2631 - QueryCommandedPanTiltJointVelocity
0x2632 - QueryEndEffectorSpecification
0x2633 - QueryEndEffectorEffort
0x4600 - ReportManipulatorSpecifications
0x4601 - ReportJointEffort
0x4602 - ReportJointPositions
0x4603 - ReportJointVelocity
0x4604 - ReportToolOffset
0x4605 - ReportJointForceTorques
0x4607 - ReportJointMotionProfile
0x4608 - ReportCommandedJointPositions
0x4610 - ReportCommandedEndEffectorPose
0x4611 - ReportCommandedJointVelocity
0x4612 - ReportCommandedEndEffectorVelocityState
0x4613 - ReportCommandedActuatorForceTorques
0x4615 - ReportEndEffectorPose
0x4616 - ReportEndEffectorVelocityState
0x461E - ReportActiveElement
0x4620 - ReportPanTiltSpecifications
0x4621 - ReportPanTiltJointEffort
0x4622 - ReportPanTiltJointPositions
0x4623 - ReportPanTiltJointVelocity
0x4627 - ReportPanTiltMotionProfile
0x4628 - ReportCommandedPanTiltJointPositions
0x4631 - ReportCommandedPanTiltJointVelocity
0x4632 - ReportEndEffectorSpecification
0x4633 - ReportEndEffectorEffort
Environment v2.0
Environment v2.0
0x0801 - ConfirmSensorConfiguration
0x0802 - SetRangeSensorConfiguration
0x0803 - SetVisualSensorConfiguration
0x0804 - SetDigitalVideoSensorConfiguration
0x0805 - ControlDigitalVideoSensorStream
0x0806 - SetAnalogVideoSensorConfiguration
0x0807 - SetStillImageSensorConfiguration
0x0808 - RegisterDigitalResourceEndpoint
0x0809 - RemoveDigitalResourceEndpoint
0x080A - ConfirmDigitalResourceEndpoint
0x080B - CancelPortMapping
0x080C - RequestPortMapping
0x080D - SetH264VideoEncodingConfiguration
0x080E - GrantPortMapping
0x080F - SetDigitalAudioSensorConfiguration
0x0810 - ControlDigitalVideoSensorRecording
0x0818 - SetDigitalAudioOutputSource
0x081A - SetVideoIlluminatorConfiguration
0x2801 - QueryRangeSensorCapabilities
0x2802 - QueryRangeSensorConfiguration
0x2803 - QueryRangeSensorData
0x2804 - QueryRangeSensorCompressedData
0x2805 - QuerySensorGeometricProperties
0x2806 - QueryVisualSensorCapabilities
0x2807 - QueryVisualSensorConfiguration
0x2809 - QueryDigitalVideoSensorConfiguration
0x280A - QueryVisualSensorCapabilitiesExt
0x280B - QueryForceTorqueCapabilities
0x280C - QueryForceTorque
0x280D - QueryH264VideoEncodingConfiguration
0x280E - QueryH264VideoEncodingCapabilities
0x280F - QueryDigitalAudioSensorConfiguration
0x2810 - QueryAnalogVideoSensorCapabilities
0x2811 - QueryAnalogVideoSensorConfiguration
0x2812 - QueryStillImageSensorCapabilities
0x2813 - QueryStillImageSensorConfiguration
0x2815 - QueryPortMappings
0x2816 - QueryDigitalResourceEndpoint
0x2817 - QueryDigitalAudioSensorCapabilities
0x2818 - QueryDigitalAudioOutputSource
0x2819 - QueryDigitalAudioOutputCapabilities
0x281A - QueryVideoIlluminatorConfiguration
0x281B - QueryVideoIlluminatorCapabilities
0x281C - QueryStillImageDataExt
0x281D - QueryDigitalVideoSensorCapabilitiesExt
0x281E - QueryDigitalVideoSensorStatus
0x4801 - ReportRangeSensorCapabilities
0x4802 - ReportRangeSensorConfiguration
0x4803 - ReportRangeSensorData
0x4804 - ReportRangeSensorCompressedData
0x4805 - ReportSensorGeometricProperties
0x4806 - ReportVisualSensorCapabilities
0x4807 - ReportVisualSensorConfiguration
0x4809 - ReportDigitalVideoSensorConfiguration
0x480A - ReportVisualSensorCapabilitiesExt
0x480B - ReportForceTorqueCapabilities
0x480C - ReportForceTorque
0x480D - ReportH264VideoEncodingConfiguration
0x480E - ReportH264VideoEncodingCapabilities
0x480F - ReportDigitalAudioSensorConfiguration
0x4810 - ReportAnalogVideoSensorCapabilities
0x4811 - ReportAnalogVideoSensorConfiguration
0x4812 - ReportStillImageSensorCapabilities
0x4813 - ReportStillImageSensorConfiguration
0x4815 - ReportPortMappings
0x4816 - ReportDigitalResourceEndpoint
0x4817 - ReportDigitalAudioSensorCapabilities
0x4818 - ReportDigitalAudioOutputSource
0x4819 - ReportDigitalAudioOutputCapabilities
0x481A - ReportVideoIlluminatorConfiguration
0x481B - ReportVideoIlluminatorCapabilities
0x481C - ReportStillImageDataExt
0x481D - ReportDigitalVideoSensorCapabilitiesExt
0x481E - ReportDigitalVideoSensorStatus
UGV v1.0
UGV v1.0
0x0500 - SetAckermannConfiguration
0x0501 - SetSkidSteerEffort
0x0503 - SetStabilizerEffort
0x0504 - SetStabilizerPosition
0x0506 - SetPowerPlantConfiguration
0x0509 - SetTransmissionState
0x0510 - SetTransferCaseState
0x0512 - SetParkingBrake
0x0513 - SetIlluminationState
0x0515 - ResetOdometry
0x0516 - SetAnnunciatorState
0x2500 - QueryAckermannConfiguration
0x2501 - QuerySkidSteerEffort
0x2502 - QueryPlatformSpecifications
0x2503 - QueryStabilizerEffort
0x2504 - QueryStabilizerPosition
0x2505 - QueryStabilizerCapabilities
0x2506 - QueryPowerPlantConfiguration
0x2507 - QueryPowerPlantCapabilities
0x2508 - QueryPowerPlantStatus
0x2509 - QueryTransmissionState
0x2510 - QueryTransferCaseState
0x2511 - QueryTransmissionCapabilities
0x2512 - QueryParkingBrake
0x2513 - QueryIlluminationState
0x2514 - QueryIlluminationConfiguration
0x2515 - QueryOdometry
0x2516 - QueryAnnunciatorState
0x2517 - QueryAnnunciatorConfiguration
0x4500 - ReportAckermannConfiguration
0x4501 - ReportSkidSteerEffort
0x4502 - ReportPlatformSpecifications
0x4503 - ReportStabilizerEffort
0x4504 - ReportStabilizerPosition
0x4505 - ReportStabilizerCapabilities
0x4506 - ReportPowerPlantConfiguration
0x4507 - ReportPowerPlantCapabilities
0x4508 - ReportPowerPlantStatus
0x4509 - ReportTransmissionState
0x4510 - ReportTransferCaseState
0x4511 - ReportTransmissionCapabilities
0x4512 - ReportParkingBrake
0x4513 - ReportIlluminationState
0x4514 - ReportIlluminationConfiguration
0x4515 - ReportOdometry
0x4516 - ReportAnnunciatorState
0x4517 - ReportAnnunciatorConfiguration
Autonomy v1.0
Autonomy v1.0
0x0C01 - SetCommsLostPolicy
0x0C50 - StartRetrotraverse
0x0C51 - CancelRetrotraverse
0x0C60 - SetSelfRightingState
0x2C02 - QueryCommsLostCapabilities
0x2C03 - QueryCommsLostConfiguration
0x2C04 - QueryCommsLostStatus
0x2C11 - QueryCostMap2D
0x2C40 - QueryPathReporterCapabilities
0x2C41 - QueryPath
0x2C51 - QueryRetrotraverseCapabilities
0x2C52 - QueryRetrotraverseStatus
0x2C60 - QuerySelfRightingState
0x4C01 - SetCommsLostPolicyResponse
0x4C02 - ReportCommsLostCapabilities
0x4C03 - ReportCommsLostConfiguration
0x4C04 - ReportCommsLostStatus
0x4C11 - ReportCostMap2D
0x4C40 - ReportPathReporterCapabilities
0x4C41 - ReportPath
0x4C50 - StartRetrotraverseResponse
0x4C51 - ReportRetrotraverseCapabilities
0x4C52 - ReportRetrotraverseStatus
0x4C60 - ReportSelfRightingState
Mobility v1.0
Mobility v1.0
0x0402 - SetGlobalPose
0x0403 - SetLocalPose
0x0405 - SetWrenchEffort
0x0407 - SetGlobalVector
0x0408 - SetLocalVector
0x040A - SetTravelSpeed
0x040C - SetGlobalWaypoint
0x040D - SetLocalWaypoint
0x040F - SetGlobalPathSegment
0x0410 - SetLocalPathSegment
0x0412 - SetGeomagneticProperty
0x0415 - SetVelocityCommand
0x0416 - SetAccelerationLimit
0x041A - SetElement
0x041B - DeleteElement
0x041C - ConfirmElementRequest
0x041D - RejectElementRequest
0x041E - ExecuteList
0x2402 - QueryGlobalPose
0x2403 - QueryLocalPose
0x2404 - QueryVelocityState
0x2405 - QueryWrenchEffort
0x2407 - QueryGlobalVector
0x2408 - QueryLocalVector
0x240A - QueryTravelSpeed
0x240C - QueryGlobalWaypoint
0x240D - QueryLocalWaypoint
0x240F - QueryGlobalPathSegment
0x2410 - QueryLocalPathSegment
0x2412 - QueryGeomagneticProperty
0x2415 - QueryVelocityCommand
0x2416 - QueryAccelerationLimit
0x2417 - QueryAccelerationState
0x241A - QueryElement
0x241B - QueryElementList
0x241C - QueryElementCount
0x241E - QueryActiveElement
0x4402 - ReportGlobalPose
0x4403 - ReportLocalPose
0x4404 - ReportVelocityState
0x4405 - ReportWrenchEffort
0x4407 - ReportGlobalVector
0x4408 - ReportLocalVector
0x440A - ReportTravelSpeed
0x440C - ReportGlobalWaypoint
0x440D - ReportLocalWaypoint
0x440F - ReportGlobalPathSegment
0x4410 - ReportLocalPathSegment
0x4412 - ReportGeomagneticProperty
0x4415 - ReportVelocityCommand
0x4416 - ReportAccelerationLimit
0x4417 - ReportAccelerationState
0x441A - ReportElement
0x441B - ReportElementList
0x441C - ReportElementCount
0x441E - ReportActiveElement
Environment v1.0
Environment v1.0
0x0801 - ConfirmSensorConfiguration
0x0802 - SetRangeSensorConfiguration
0x0803 - SetVisualSensorConfiguration
0x0804 - SetDigitalVideoSensorConfiguration
0x0805 - ControlDigitalVideoSensorStream
0x0806 - SetAnalogVideoSensorConfiguration
0x0807 - SetStillImageSensorConfiguration
0x2801 - QueryRangeSensorCapabilities
0x2802 - QueryRangeSensorConfiguration
0x2803 - QueryRangeSensorData
0x2804 - QueryRangeSensorCompressedData
0x2805 - QuerySensorGeometricProperties
0x2806 - QueryVisualSensorCapabilities
0x2807 - QueryVisualSensorConfiguration
0x2808 - QueryDigitalVideoSensorCapabilities
0x2809 - QueryDigitalVideoSensorConfiguration
0x2810 - QueryAnalogVideoSensorCapabilities
0x2811 - QueryAnalogVideoSensorConfiguration
0x2812 - QueryStillImageSensorCapabilities
0x2813 - QueryStillImageSensorConfiguration
0x2814 - QueryStillImageData
0x4801 - ReportRangeSensorCapabilities
0x4802 - ReportRangeSensorConfiguration
0x4803 - ReportRangeSensorData
0x4804 - ReportRangeSensorCompressedData
0x4805 - ReportSensorGeometricProperties
0x4806 - ReportVisualSensorCapabilities
0x4807 - ReportVisualSensorConfiguration
0x4808 - ReportDigitalVideoSensorCapabilities
0x4809 - ReportDigitalVideoSensorConfiguration
0x4810 - ReportAnalogVideoSensorCapabilities
0x4811 - ReportAnalogVideoSensorConfiguration
0x4812 - ReportStillImageSensorCapabilities
0x4813 - ReportStillImageSensorConfiguration
0x4814 - ReportStillImageData
FAQ
FAQ
What Hardware, Operating Systems, and/or Compilers are Supported?
How do I find the version of an OpenJAUS package?
What will happen if I upgrade from OpenJAUS SDK version X to version Y?
What version of the OpenJAUS SDK do I need for SAE document X?
Where can I find the SAE JAUS Documents?
I get an error about long paths on Windows when I try to build the project. What can I do?
JAUS Service Reference
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