From e54263ce87f823d4f991ce4e780dbe0d94943338 Mon Sep 17 00:00:00 2001 From: Olivier Stasse <olivier.stasse@laas.fr> Date: Sun, 3 Oct 2021 10:16:00 +0200 Subject: [PATCH] Adding a mindmap of Gepetto's activities. --- pictures/mindmaps/Gepetto.svg | 2005 +++++++++++++++++++++++++++++++++ 1 file changed, 2005 insertions(+) create mode 100644 pictures/mindmaps/Gepetto.svg diff --git a/pictures/mindmaps/Gepetto.svg b/pictures/mindmaps/Gepetto.svg new file mode 100644 index 0000000..cbf2c95 --- /dev/null +++ b/pictures/mindmaps/Gepetto.svg @@ -0,0 +1,2005 @@ +<?xml version="1.0" encoding="UTF-8" standalone="no"?> +<!-- Created with Inkscape (http://www.inkscape.org/) --> + +<svg + width="325.06277mm" + height="219.01447mm" + viewBox="0 0 325.06277 219.01447" + version="1.1" + id="svg5" + inkscape:version="1.1.1 (c3084ef, 2021-09-22)" + sodipodi:docname="Gepetto-v2.svg" + xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" + xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" + xmlns="http://www.w3.org/2000/svg" + xmlns:svg="http://www.w3.org/2000/svg"> + <sodipodi:namedview + id="namedview7" + pagecolor="#ffffff" + bordercolor="#666666" + borderopacity="1.0" + inkscape:pageshadow="2" + inkscape:pageopacity="0.0" + inkscape:pagecheckerboard="0" + inkscape:document-units="mm" + showgrid="false" + inkscape:zoom="3.3235436" + inkscape:cx="1003.5975" + inkscape:cy="626.28937" + inkscape:window-width="1790" + inkscape:window-height="999" + inkscape:window-x="0" + inkscape:window-y="25" + inkscape:window-maximized="0" + inkscape:current-layer="layer1" + showguides="false" + units="mm" + showborder="false" + fit-margin-top="0" + fit-margin-left="0" + fit-margin-right="0" + fit-margin-bottom="0" /> + <defs + id="defs2" /> + <g + inkscape:label="Calque 1" + inkscape:groupmode="layer" + id="layer1" + transform="translate(-106.93848,-59.518499)"> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 347.18603,205.65894 -9.80758,-6.71472 -0.80543,1.43788 9.45324,7.55292 z" + id="path74542-0-3-3" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.159587px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 380.11892,121.64646 5.3705,5.35223 v 0 l -6.01488,-3.38252 z" + id="path39237-6-5-3-7" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.159587px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 371.17004,124.59247 2.25037,7.24048 v 0 l -3.73983,-5.79947 z" + id="path39237-6-5-3" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 362.17021,110.1227 4.61104,9.71303 v 0 l -7.66296,-7.77994 z" + id="path39237-6-5" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 359.95235,228.53636 -7.24097,9.42575 1.39167,0.88284 8.05855,-9.02608 z" + id="path74542-0-4-7-0" /> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 363.71654,219.69743 -4.06007,-11.17104 -1.49226,0.69951 3.28376,11.64591 z" + id="path74542-0-4-7-6" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 223.55609,82.61406 7.29423,-7.604735 -5.5259,8.775218 z" + id="path29629-2-9" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 298.70411,88.661142 10.6259,4.492742 -0.46391,1.200422 -9.43217,-2.155023 z" + id="path39237-61" /> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 380.42187,219.07837 2.48445,-11.62342 -1.63606,-0.19866 -3.39444,11.61414 z" + id="path74542-0-4-7" /> + <path + style="fill:#ccaaff;stroke:#ccaaff;stroke-width:0.214553px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 144.79657,133.5945 -9.77244,13.44743 v 0 l 14.40521,-13.1527 z" + id="path112373-7-6" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ccaaff;stroke:#ccaaff;stroke-width:0.214553px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 137.89743,109.74989 -16.42766,-2.54282 v 0 l 18.28371,6.79775 z" + id="path112373-7-9" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#0000ff;stroke:#0000ff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 172.79809,161.9907 -3.3765,-12.83297 1.44099,-0.96732 5.36279,12.38492 z" + id="path127065-0" /> + <path + style="fill:#2a2aff;stroke:#2a2aff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 189.84073,161.84767 12.21028,-5.19566 1.16541,1.28606 -11.47987,7.09635 z" + id="path127065-33" /> + <path + style="fill:#0000ff;stroke:#0000ff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 181.02931,188.94696 11.71524,6.23209 -0.26788,1.71475 -12.73461,-4.46941 z" + id="path127065-2" /> + <path + style="fill:#0000ff;stroke:#0000ff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 172.63679,193.78422 1.49031,13.18578 -1.56544,0.74936 -3.52046,-13.02888 z" + id="path127065-4" /> + <path + style="fill:#0000ff;stroke:#0000ff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 154.29134,195.52791 -8.1343,10.48423 -1.64418,-0.55571 6.57073,-11.78861 z" + id="path127065-1" /> + <path + style="fill:#0000ff;stroke:#0000ff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 147.77786,190.61008 -13.26764,-0.23603 -0.53956,-1.64955 13.37593,-1.79729 z" + id="path127065-3" /> + <path + style="fill:#0000ff;stroke:#0000ff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 152.72981,185.68294 -6.78003,-11.40689 1.11887,-1.32675 8.56613,10.42916 z" + id="path127065-8" /> + <path + style="fill:#0000ff;stroke:#0000ff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 167.91622,180.71701 6.96513,-11.29482 1.69423,0.3765 -5.27092,12.4243 z" + id="path127065" /> + <path + id="path112218" + style="fill:#5500d4;stroke:#5500d4;stroke-width:0.535706px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 239.0665,153.7205 -78.55508,-32.72521 -5.57541,-1.86205 80.78428,37.96158 z" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 190.65497,101.82629 10.17593,1.76132 -0.57099,1.56522 z" + id="path29478" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 202.34473,83.709172 -5.99802,-8.663808 7.49752,7.164303 z" + id="path29629" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 202.94603,84.436615 -5.99802,-8.663808 7.49752,7.164303 z" + id="path29629-2" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.417682px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 207.02705,80.246969 -0.80203,-16.490134 4.08816,15.740074 z" + id="path29629-3" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.417682px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 214.88252,81.343835 5.14658,-15.686952 -1.80948,16.161334 z" + id="path29629-3-9" /> + <path + style="fill:#ccaaff;stroke:#ccaaff;stroke-width:0.397446px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 148.88702,102.32354 -8.73319,-11.073042 -2.22909,2.557536 7.41367,13.053306 z" + id="path112373" /> + <path + style="fill:#ccaaff;stroke:#ccaaff;stroke-width:0.214553px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 139.75348,114.00482 -9.77244,13.44743 v 0 l 14.40521,-13.1527 z" + id="path112373-7" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ccaaff;stroke:#ccaaff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 151.0699,120.04018 1.28178,8.74616 2.3201,-0.4251 0.26423,-9.228 z" + id="path112373-7-0" /> + <path + style="fill:#ccaaff;stroke:#ccaaff;stroke-width:0.32476px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 162.58804,104.02381 2.2298,-13.85749 -2.08017,-1.151242 -3.69066,13.382682 z" + id="path112373-7-0-0" /> + <path + style="fill:#55ddff;stroke:#55ddff;stroke-width:0.299855px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 173.46213,252.48124 3.22538,11.53735 1.94085,-1.03831 -1.95274,-10.09208 z" + id="path97662-2-8" /> + <path + style="fill:#55ddff;stroke:#55ddff;stroke-width:0.299855px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 185.64111,250.21683 11.79228,-2.11083 -0.84856,-2.03099 -10.23227,0.98176 z" + id="path97662-2-8-2" /> + <path + style="fill:#55ddff;stroke:#55ddff;stroke-width:0.299855px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 156.02617,250.8606 -9.78015,6.91824 1.63064,1.4785 8.84718,-5.23361 z" + id="path97662-2" /> + <path + style="fill:#55ddff;stroke:#55ddff;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 153.44234,242.42662 -9.68012,-4.70177 -0.27657,1.93603 8.02066,4.70177 z" + id="path97662" /> + <path + style="fill:#00aad4;stroke:#00aad4;stroke-width:0.28193px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 248.12268,180.34505 -64.81919,60.45172 2.23162,2.00818 67.95935,-58.9103 z" + id="path97493" /> + <path + style="fill:#87decd;stroke:#87decd;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 319.50996,263.77435 4.46965,5.13775 1.03257,-0.70847 -4.0553,-5.82948 z" + id="path90172-7" /> + <path + style="fill:#87decd;stroke:#87decd;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 321.94417,259.54622 6.57451,-1.7748 -0.18595,-1.23837 -7.01561,1.09981 z" + id="path90172-0" /> + <path + style="fill:#87decd;stroke:#87decd;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 307.49445,264.69089 1.52116,6.63779 1.24459,-0.13829 -0.82973,-7.05265 z" + id="path90172" /> + <path + style="fill:#37c8ab;stroke:#37c8ab;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 255.05978,242.53332 -7.84125,-9.05229 0.85394,-1.29956 9.3249,8.26845 z" + id="path83781-2-3-4-7" + inkscape:transform-center-x="8.292541" + inkscape:transform-center-y="11.392603" /> + <path + style="fill:#37c8ab;stroke:#37c8ab;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 270.60218,254.12323 -0.86319,11.94504 -1.52294,0.31423 -0.73987,-12.4408 z" + id="path83781-2-3" + inkscape:transform-center-x="-14.075062" + inkscape:transform-center-y="-1.749992" /> + <path + style="fill:#37c8ab;stroke:#37c8ab;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 254.34102,251.37975 -10.71263,5.35431 -1.04751,-1.14926 10.32077,-6.98589 z" + id="path83781-2-3-4" + inkscape:transform-center-x="-8.799402" + inkscape:transform-center-y="10.759253" /> + <path + style="fill:#37c8ab;stroke:#37c8ab;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 278.67117,239.25711 7.09806,-9.64608 1.45601,0.546 -6.00605,10.92009 z" + id="path83781" /> + <path + style="fill:#37c8ab;stroke:#37c8ab;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 286.38785,251.23086 8.9474,7.96073 -0.67847,1.3992 -10.31705,-6.99138 z" + id="path83781-2" + inkscape:transform-center-x="-6.798272" + inkscape:transform-center-y="-12.466527" /> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 373.71368,230.8788 1.68364,11.76612 1.60398,-0.37873 -0.82647,-12.07176 z" + id="path74542" /> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 385.70303,231.17474 10.83768,4.88066 0.53934,-1.55734 -10.63664,-5.7682 z" + id="path74542-0" /> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 408.8841,240.261 3.97078,11.20308 1.49781,-0.68759 -3.19072,-11.67174 z" + id="path74542-0-3" /> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 387.80938,224.6777 6.51943,-9.93847 -1.45352,-0.77683 -7.36448,9.60076 z" + id="path74542-0-4" /> + <path + style="fill:#5fd35f;stroke:#5fd35f;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 388.20272,227.20177 11.88209,-0.30313 -0.18951,-1.63716 -12.08592,-0.58378 z" + id="path74542-0-5" /> + <path + style="fill:#217821;stroke:#217821;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 282.49321,169.18653 46.04637,47.6844 25.08803,5.16331 -1.06909,1.70596 -25.11095,-5.77726 -48.41239,-46.22838 z" + id="path74391" + sodipodi:nodetypes="ccccccc" /> + <path + style="fill:#abc837;stroke:#abc837;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 353.10978,170.82455 16.49282,-2.89017 -0.25132,-1.43416 -16.49282,2.89017 z" + id="path63081" /> + <path + style="fill:#abc837;stroke:#abc837;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 335.04275,164.4682 -3.0446,-10.88996 0.8588,-0.30094 5.10574,10.1677 z" + id="path62859" + inkscape:transform-center-x="3.1064951" + inkscape:transform-center-y="0.72390802" /> + <path + style="fill:#abc837;stroke:#abc837;stroke-width:0.286019px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 344.16188,176.90455 10.22155,8.51318 0.61502,-0.66174 -8.74549,-10.10138 z" + id="path62859-7" /> + <path + style="fill:#abc837;stroke:#abc837;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 345.73405,165.72851 9.28207,-12.0121 v 0 l -6.18805,12.0121 z" + id="path62859-2" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#abc837;stroke:#abc837;stroke-width:0.347239px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 355.69261,172.7137 16.93735,4.92306 v 0 l -19.83521,-2.21165 z" + id="path62859-2-9" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#677821;stroke:#677821;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 285.40523,163.18049 42.04235,5.64204 -2.91203,3.27603 -42.04234,-2.91202 z" + id="path62678" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ff6600;stroke:#ff6600;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 318.63922,117.50964 7.64407,13.46811 v 0 l -12.55811,-10.19208 z" + id="path38875-0-4" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ff6600;stroke:#ff6600;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 291.14401,117.91771 -10.92008,-1.63801 -2.91202,-2.36602 12.01209,-3.09403 z" + id="path38875-0-4-5" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ff6600;stroke:#ff6600;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 320.34074,106.02136 29.66624,-1.27401 2.00202,3.09403 -30.39425,1.63801 z" + id="path38875-0" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 299.1892,83.294327 11.46609,-1.27401 0.182,1.27401 -9.28207,2.730022 z" + id="path39237" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 364.76862,100.21783 8.91807,-6.00605 v 0 l -6.55205,8.73607 z" + id="path39237-6" + sodipodi:nodetypes="ccccc" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 366.42076,106.35668 9.9103,-0.0115 v 0 l -10.62051,4.39756 z" + id="path39237-6-2" + sodipodi:nodetypes="ccccc" + inkscape:transform-center-x="1.2920629" + inkscape:transform-center-y="6.1517817" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 353.27943,99.694064 -0.0367,-10.75189 v 0 l 3.62126,10.302169 z" + id="path39237-6-8" + sodipodi:nodetypes="ccccc" + inkscape:transform-center-x="-11.455795" + inkscape:transform-center-y="-10.452384" /> + <path + style="fill:#ff9955;stroke:#ff9955;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 270.43296,84.932341 -7.28005,0.910007 0.182,0.910007 h 6.55205 z" + id="path39056" /> + <path + style="fill:#ff6600;stroke:#ff6600;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="M 295.18517,102.76849 C 286.6311,92.2124 286.6311,92.2124 286.6311,92.2124 h 2.91202 l 8.00807,8.91807 z" + id="path38875" /> + <path + style="fill:#aa4400;stroke:#aa4400;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 293.72916,140.07879 5.82404,-20.56617 1.63802,0.36401 -1.27402,21.65817 z" + id="path38694" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 219.09855,106.46264 17.32761,-4.33191 0.49984,0.99967 -13.49554,4.83174 z" + id="path30216" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 214.48872,98.167543 0.47338,-10.579422 1.20708,-0.119167 1.32449,9.689016 z" + id="path30035" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 201.9974,107.61418 -2.66579,11.49621 5.33158,-10.82976 z" + id="path29780" /> + <path + style="fill:#ffaaaa;stroke:#ffaaaa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 212.83521,115.23588 6.99769,12.16265 -4.49852,-13.16232 z" + id="path29782" /> + <path + style="fill:#ff2a2a;stroke:#ff0000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 221.76434,119.95818 28.99043,30.15671 6.16463,-11.82942 -33.98878,-21.49291 z" + id="path29236" /> + <ellipse + style="fill:#ffaaaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff5555;stroke-width:0.222114;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9" + cx="246.58949" + cy="101.38098" + rx="10.984507" + ry="7.6522741" /> + <g + id="g112833" + transform="translate(112.92921,69.940406)"> + <ellipse + style="fill:#ff8080;fill-opacity:1;fill-rule:evenodd;stroke:#800000;stroke-width:0.365;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022" + cx="103.31033" + cy="38.248112" + rx="18.410589" + ry="12.329264" /> + <text + xml:space="preserve" + style="font-size:7.05556px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="91.730827" + y="40.247456" + id="text15630"><tspan + sodipodi:role="line" + id="tspan15628" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#ffffff;stroke-width:0.264583" + x="91.730827" + y="40.247456">Robots</tspan></text> + </g> + <ellipse + style="fill:#ff9955;fill-opacity:1;fill-rule:evenodd;stroke:#aa4400;stroke-width:0.365;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6" + cx="304.9624" + cy="111.57683" + rx="18.410589" + ry="12.329264" /> + <g + id="g74194" + transform="translate(211.20452,88.029031)"> + <ellipse + style="fill:#5fd38d;fill-opacity:1;fill-rule:evenodd;stroke:#16502d;stroke-width:0.326887;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7" + cx="159.2513" + cy="137.13811" + rx="20.067659" + ry="9.0722923" /> + <text + xml:space="preserve" + style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="159.10652" + y="134.96155" + id="text15630-2-2-2"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="159.10652" + y="134.96155" + id="tspan30622-8-4">Motion</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="159.10652" + y="142.23155" + id="tspan63796"> Planning</tspan></text> + </g> + <text + xml:space="preserve" + style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="305.285" + y="109.88827" + id="text15630-2"><tspan + sodipodi:role="line" + id="tspan15628-2" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="305.285" + y="109.88827">Optimization</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="305.285" + y="117.15828" + id="tspan30622">for control</tspan></text> + <ellipse + style="fill:#bcd35f;fill-opacity:1;fill-rule:evenodd;stroke:#445016;stroke-width:0.295883;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2" + cx="339.09567" + cy="170.55156" + rx="18.445148" + ry="8.0867863" /> + <text + xml:space="preserve" + style="font-size:4.93889px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="339.52869" + y="168.79671" + id="text15630-2-2"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.93889px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="339.52869" + y="168.79671" + id="tspan30622-8">Software</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.93889px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="339.52869" + y="175.15797" + id="tspan159485">open source</tspan></text> + <g + id="g74204" + transform="translate(114.32384,71.087737)"> + <ellipse + style="fill:#dde9af;fill-opacity:1;fill-rule:evenodd;stroke:#abc837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9" + cx="212.03174" + cy="80.171661" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="212.28276" + y="81.57383" + id="text15630-2-2-8"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#445016;stroke-width:0.264583" + x="212.28276" + y="81.57383" + id="tspan30622-8-2">Packaging</tspan></text> + </g> + <g + id="g74219" + transform="translate(135.07119,59.32761)"> + <ellipse + style="fill:#dde9af;fill-opacity:1;fill-rule:evenodd;stroke:#abc837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4" + cx="247.88602" + cy="118.84697" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="248.31905" + y="120.24914" + id="text15630-2-2-8-5"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#445016;stroke-width:0.264583" + x="248.31905" + y="120.24914" + id="tspan30622-8-2-7">C++</tspan></text> + </g> + <g + id="g74188" + transform="translate(205.69702,67.644057)"> + <ellipse + style="fill:#afe9af;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1" + cx="202.74965" + cy="145.05518" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="202.98773" + y="146.16589" + id="text15630-2-2-8-5-9-0"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="202.98773" + y="146.16589" + id="tspan30622-8-2-7-1-8">Collision Detection</tspan></text> + </g> + <g + id="g74183" + transform="translate(206.59859,62.533667)"> + <ellipse + style="fill:#afe9af;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0" + cx="208.8116" + cy="163.63449" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="208.82451" + y="162.7187" + id="text15630-2-2-8-5-9-0-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="208.82451" + y="162.7187" + id="tspan30622-8-2-7-1-8-0">Stochastic</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="208.82451" + y="167.71684" + id="tspan153447">Exploration</tspan></text> + </g> + <g + id="g74173" + transform="translate(262.97311,107.93555)"> + <ellipse + style="fill:#afe9af;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0" + cx="116.29894" + cy="138.50313" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="116.53703" + y="139.61385" + id="text15630-2-2-8-5-9-0-1-2-9"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="116.53703" + y="139.61385" + id="tspan30622-8-2-7-1-8-0-4-0">Steering Method</tspan></text> + </g> + <ellipse + style="fill:#afe9af;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-59" + cx="409.6669" + cy="238.50798" + rx="16.472258" + ry="5.8408928" /> + <g + id="g159087" + transform="translate(-14.523317,-2.4768448)"> + <ellipse + style="fill:#d7f4e3;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.115549;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-8" + cx="427.64975" + cy="253.20108" + rx="6.2318778" + ry="3.6502583" /> + <text + xml:space="preserve" + style="font-size:3.175px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="427.71899" + y="254.08664" + id="text15630-2-2-8-5-9-0-1-2-9-16"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.175px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="427.71899" + y="254.08664" + id="tspan30622-8-2-7-1-8-0-4-0-8">Agimus</tspan></text> + </g> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="409.42734" + y="237.23044" + id="text15630-2-2-8-5-9-0-1-2-9-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="409.42734" + y="237.23044" + id="tspan30622-8-2-7-1-8-0-4-0-2"> Plan</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="409.42734" + y="242.22858" + id="tspan179495">Execution</tspan></text> + <g + id="g74214" + transform="translate(153.97306,65.217852)"> + <ellipse + style="fill:#dde9af;fill-opacity:1;fill-rule:evenodd;stroke:#abc837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5" + cx="205.29767" + cy="124.67101" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="205.73068" + y="126.07317" + id="text15630-2-2-8-5-9"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#445016;stroke-width:0.264583" + x="205.73068" + y="126.07317" + id="tspan30622-8-2-7-1">Python</tspan></text> + </g> + <g + id="g74199" + transform="translate(115.23384,66.901703)"> + <ellipse + style="fill:#dde9af;fill-opacity:1;fill-rule:evenodd;stroke:#abc837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-0" + cx="249.34203" + cy="84.448692" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="249.59305" + y="85.850861" + id="text15630-2-2-8-2"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#445016;stroke-width:0.264583" + x="249.59305" + y="85.850861" + id="tspan30622-8-2-6">Versionning</tspan></text> + </g> + <text + xml:space="preserve" + style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="238.50056" + y="102.99084" + id="text15630-3"><tspan + sodipodi:role="line" + id="tspan15628-0" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#ffffff;stroke-width:0.264583" + x="238.50056" + y="102.99084">ODRI</tspan></text> + <g + id="g36061" + transform="translate(139.2099,93.668413)"> + <ellipse + style="fill:#ffccaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.284747;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7" + cx="213.41985" + cy="12.407555" + rx="17.367739" + ry="7.9541807" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="214.46991" + y="12.3018" + id="text15630-3-2"><tspan + sodipodi:role="line" + id="tspan15628-0-8" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="214.46991" + y="12.3018">Model Predictive </tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="214.46991" + y="17.754305" + id="tspan33266">control</tspan></text> + </g> + <g + id="g36061-5" + transform="translate(123.62567,118.75316)"> + <ellipse + style="fill:#ffccaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.284747;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-7" + cx="213.41985" + cy="12.407555" + rx="17.367739" + ry="7.9541807" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="213.9239" + y="11.755795" + id="text15630-3-2-96"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="213.9239" + y="11.755795" + id="tspan33266-12">Inverse Optimal</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="213.9239" + y="17.2083" + id="tspan50776">Control</tspan></text> + </g> + <g + id="g36061-5-3" + transform="translate(52.099081,102.91903)"> + <ellipse + style="fill:#ffccaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.284747;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-7-8" + cx="213.41985" + cy="12.407555" + rx="17.367739" + ry="7.9541807" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="213.7419" + y="13.393808" + id="text15630-3-2-96-3"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="213.7419" + y="13.393808" + id="tspan33266-12-2">Visual-Servoing</tspan></text> + </g> + <g + id="g38623" + transform="translate(99.16957,72.010235)"> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.207959;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06" + cx="222.86084" + cy="10.465086" + rx="13.311099" + ry="5.5355544" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="222.54587" + y="11.906343" + id="text15630-3-2-6"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="222.54587" + y="11.906343" + id="tspan33266-0">TSID</tspan></text> + </g> + <g + id="g143404" + transform="translate(100.516,74.811987)"> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.145552;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06-59" + cx="214.57437" + cy="19.167934" + rx="8.0178776" + ry="4.501873" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="214.52562" + y="21.141634" + id="text15630-3-2-6-9"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="214.52562" + y="21.141634" + id="tspan33266-0-9">SoT</tspan></text> + </g> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.257669;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06-8" + cx="349.88129" + cy="89.412964" + rx="17.339266" + ry="6.5239544" /> + <text + xml:space="preserve" + style="font-size:3.52778px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="350.38065" + y="88.947868" + id="text15630-3-2-6-7"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="350.38065" + y="88.947868" + id="tspan44705">Whole body model</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="350.38065" + y="93.491631" + id="tspan173060">Croccodyl</tspan></text> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.270458;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06-8-2" + cx="388.12811" + cy="91.778984" + rx="19.590094" + ry="6.3618097" /> + <text + xml:space="preserve" + style="font-size:3.52778px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="388.83951" + y="91.01931" + id="text15630-3-2-6-7-5"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="388.83951" + y="91.01931" + id="tspan45244">Centroidal Dynamics</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="388.83951" + y="95.563072" + id="tspan46502">jrl-walkgen</tspan></text> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.149682;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06-8-2-6" + cx="383.50632" + cy="106.87901" + rx="10.418606" + ry="3.6638937" /> + <text + xml:space="preserve" + style="font-size:3.52778px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="383.7674" + y="107.87373" + id="text15630-3-2-6-7-5-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="383.7674" + y="107.87373" + id="tspan46502-5">Integrator</tspan></text> + <g + id="g164586-1" + transform="translate(-15.413427,5.6485413)"> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.206892;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06-8-2-6-1" + cx="385.08252" + cy="115.49168" + rx="12.754262" + ry="5.7180896" /> + <text + xml:space="preserve" + style="font-size:3.52778px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="385.11841" + y="114.17843" + id="text15630-3-2-6-7-5-1-7"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="385.11841" + y="114.17843" + id="tspan46502-5-8">Optimal</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="385.11841" + y="118.72219" + id="tspan164701">Policy</tspan></text> + </g> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.0934274;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06-8-2-6-1-9" + cx="387.45734" + cy="126.9946" + rx="4.9301248" + ry="3.0165176" /> + <text + xml:space="preserve" + style="font-size:2.82222px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ffb380;stroke:#ffb380;stroke-width:0.264583" + x="387.83096" + y="127.9893" + id="text15630-3-2-6-7-5-1-7-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:2.82222px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffb380;stroke:#ffb380;stroke-width:0.264583" + x="387.83096" + y="127.9893" + id="tspan164701-9">RL</tspan></text> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.109862;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06-8-2-6-1-9-3" + cx="372.20221" + cy="132.96153" + rx="6.8358326" + ry="3.0083003" /> + <text + xml:space="preserve" + style="font-size:2.82222px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ffb380;stroke:#ffb380;stroke-width:0.264583" + x="372.46326" + y="133.95622" + id="text15630-3-2-6-7-5-1-7-1-3"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:2.82222px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffb380;stroke:#ffb380;stroke-width:0.264583" + x="372.46326" + y="133.95622" + id="tspan164701-9-7">IREPA</tspan></text> + <ellipse + style="fill:#ffe6d5;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.207959;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-06-5" + cx="250.95882" + cy="86.024353" + rx="13.311099" + ry="5.5355544" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="250.64384" + y="87.465607" + id="text15630-3-2-6-8"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ff7f2a;stroke:#ff7f2a;stroke-width:0.264583" + x="250.64384" + y="87.465607" + id="tspan33266-0-4">Stabilizer</tspan></text> + <g + id="g37000" + transform="translate(39.10908,38.339961)"> + <ellipse + style="fill:#ffccaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff7f2a;stroke-width:0.284747;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-7-0" + cx="246.9185" + cy="48.150772" + rx="17.367739" + ry="7.9541807" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="246.33055" + y="47.13501" + id="text15630-3-2-9"><tspan + sodipodi:role="line" + id="tspan15628-0-8-1" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="246.33055" + y="47.13501">QP</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="246.33055" + y="52.587517" + id="tspan33266-1">controller</tspan></text> + </g> + <g + id="g112828" + transform="translate(81.05117,108.62993)"> + <ellipse + style="fill:#ffaaaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff5555;stroke-width:0.222114;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-0" + cx="113.39035" + cy="15.089091" + rx="10.984507" + ry="7.6522741" /> + <text + xml:space="preserve" + style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="104.78349" + y="16.982677" + id="text15630-3-4"><tspan + sodipodi:role="line" + id="tspan15628-0-5" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#ffffff;stroke-width:0.264583" + x="104.78349" + y="16.982677">TIAGO</tspan></text> + </g> + <g + id="g74209" + transform="translate(119.23788,62.352475)"> + <ellipse + style="fill:#dde9af;fill-opacity:1;fill-rule:evenodd;stroke:#abc837;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-8" + cx="260.44412" + cy="102.64884" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="260.69513" + y="104.05101" + id="text15630-2-2-8-8"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#445016;stroke-width:0.264583" + x="260.69513" + y="104.05101" + id="tspan30622-8-2-2">CMake</tspan></text> + </g> + <ellipse + style="fill:#afe9dd;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5" + cx="297.23532" + cy="228.33702" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="297.47342" + y="229.44774" + id="text15630-2-2-8-5-9-0-1-2-9-9"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="297.47342" + y="229.44774" + id="tspan30622-8-2-7-1-8-0-4-0-0">Estimation</tspan></text> + <g + id="g81576" + transform="translate(180.93639,89.833892)" + style="fill:#87decd"> + <ellipse + style="fill:#afe9dd;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-6-9" + cx="88.63472" + cy="181.27347" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="88.87281" + y="180.56418" + id="text15630-2-2-8-5-9-0-1-2-9-9-2-4"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="88.87281" + y="180.56418" + id="tspan30622-8-2-7-1-8-0-4-0-0-4-2">Object Pose</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="88.87281" + y="185.56232" + id="tspan80800">Estimation</tspan></text> + </g> + <ellipse + style="fill:#afe9dd;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2" + cx="235.35483" + cy="230.52104" + rx="16.472258" + ry="5.8408928" /> + <g + id="g97424" + transform="translate(123.57227,67.354823)"> + <ellipse + style="fill:#80e5ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.251851;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0" + cx="88.227333" + cy="177.69925" + rx="17.294872" + ry="6.2486463" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="88.298729" + y="176.68222" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="88.298729" + y="176.68222" + id="tspan30622-8-2-7-1-8-0-4-0-0-0-3">Locomotion</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="88.298729" + y="181.68036" + id="tspan93404">Analysis</tspan></text> + </g> + <ellipse + style="fill:#b380ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.231921;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-9" + cx="121.77213" + cy="126.62725" + rx="14.642624" + ry="6.2586112" /> + <text + xml:space="preserve" + style="font-size:4.93889px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="121.57729" + y="127.82282" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-8"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.93889px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="121.57729" + y="127.82282" + id="tspan93404-5">Pinocchio</tspan></text> + <g + id="g109847" + transform="translate(73.226981,-19.536829)"> + <ellipse + style="fill:#b380ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.200303;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-9-9" + cx="46.606533" + cy="125.77348" + rx="12.794884" + ry="5.3426452" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="46.677929" + y="127.01933" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-8-5"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="46.677929" + y="127.01933" + id="tspan107640">Lie Algebra</tspan></text> + </g> + <g + id="g109847-2" + transform="translate(84.524914,-46.835065)"> + <ellipse + style="fill:#b380ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.251851;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-9-9-4" + cx="43.145657" + cy="134.69189" + rx="17.294872" + ry="6.2486463" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="43.217052" + y="133.67487" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-8-5-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="43.217052" + y="133.67487" + id="tspan93404-5-8-7">Rigid Body</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="43.217052" + y="138.673" + id="tspan107640-7">Mechanics</tspan></text> + </g> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="235.59291" + y="231.63176" + id="text15630-2-2-8-5-9-0-1-2-9-9-5"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="235.59291" + y="231.63176" + id="tspan30622-8-2-7-1-8-0-4-0-0-0">SLAM</tspan></text> + <g + id="g81576-6" + style="fill:#87decd" + transform="translate(140.53205,75.637785)"> + <path + style="fill:#217867;stroke:#217867;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 119.57497,103.37683 5.82405,62.24451 3.64003,0.182 -2.00202,-62.42651 z" + id="path83623" /> + <ellipse + style="fill:#afe9dd;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-6-9-4" + cx="88.63472" + cy="181.27347" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="88.87281" + y="180.38217" + id="text15630-2-2-8-5-9-0-1-2-9-9-2-4-9"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="88.87281" + y="180.38217" + id="tspan80800-0">Feature</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="88.87281" + y="185.38031" + id="tspan82542">Extraction</tspan></text> + </g> + <g + id="g74194-7" + transform="translate(112.13982,109.58106)"> + <ellipse + style="fill:#37c8ab;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.326887;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5" + cx="159.2513" + cy="137.13811" + rx="20.067659" + ry="9.0722923" /> + <text + xml:space="preserve" + style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="159.10652" + y="137.69157" + id="text15630-2-2-2-6"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="159.10652" + y="137.69157" + id="tspan63796-5">Perception</tspan></text> + </g> + <g + id="g84248-9" + transform="translate(134.43287,85.083139)"> + <path + style="fill:#87decd;stroke:#87decd;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 162.96661,178.36316 -1.1063,5.11663 0.96801,0.13829 1.79774,-5.11664 z" + id="path89991" /> + <ellipse + style="fill:#d7f4ee;fill-opacity:1;fill-rule:evenodd;stroke:#87decd;stroke-width:0.133192;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-6-8" + cx="177.69423" + cy="189.01128" + rx="6.9135075" + ry="4.371953" /> + <text + xml:space="preserve" + style="font-size:3.175px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="178.27805" + y="190.39857" + id="text15630-2-2-8-5-9-0-1-2-9-9-2-5"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.175px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="178.27805" + y="190.39857" + id="tspan30622-8-2-7-1-8-0-4-0-0-4-6">LIDAR</tspan></text> + <ellipse + style="fill:#d7f4ee;fill-opacity:1;fill-rule:evenodd;stroke:#87decd;stroke-width:0.122428;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-6-8-6" + cx="160.75401" + cy="186.38383" + rx="6.2274532" + ry="4.1007605" /> + <text + xml:space="preserve" + style="font-size:3.175px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="160.78468" + y="187.49455" + id="text15630-2-2-8-5-9-0-1-2-9-9-2-5-2"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.175px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="160.78468" + y="187.49455" + id="tspan30622-8-2-7-1-8-0-4-0-0-4-6-1">IMU</tspan></text> + <ellipse + style="fill:#d7f4ee;fill-opacity:1;fill-rule:evenodd;stroke:#87decd;stroke-width:0.133192;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-6-8-0" + cx="198.0916" + cy="172.27852" + rx="6.9135075" + ry="4.371953" /> + <text + xml:space="preserve" + style="font-size:3.175px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="198.39883" + y="173.11267" + id="text15630-2-2-8-5-9-0-1-2-9-9-2-5-9"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.175px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="198.39883" + y="173.11267" + id="tspan30622-8-2-7-1-8-0-4-0-0-4-6-7">Camera</tspan></text> + <ellipse + style="fill:#d7f4ee;fill-opacity:1;fill-rule:evenodd;stroke:#87decd;stroke-width:0.135838;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-6-8-8" + cx="196.91615" + cy="185.34666" + rx="7.8110518" + ry="4.0249114" /> + <text + xml:space="preserve" + style="font-size:3.175px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="197.15425" + y="186.38824" + id="text15630-2-2-8-5-9-0-1-2-9-9-2-5-5"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.175px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="197.15425" + y="186.38824" + id="tspan30622-8-2-7-1-8-0-4-0-0-4-6-79">Encoders</tspan></text> + </g> + <g + id="g84248" + transform="translate(105.04176,74.545765)"> + <ellipse + style="fill:#afe9dd;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-6" + cx="202.93166" + cy="185.27753" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="203.16975" + y="186.38824" + id="text15630-2-2-8-5-9-0-1-2-9-9-2"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="203.16975" + y="186.38824" + id="tspan30622-8-2-7-1-8-0-4-0-0-4">Sensors</tspan></text> + </g> + <g + id="g74194-7-7" + transform="translate(9.4026474,109.99028)" + style="fill:#2ad4ff"> + <ellipse + style="fill:#2ad4ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.326887;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7" + cx="159.2513" + cy="137.13811" + rx="20.067659" + ry="9.0722923" /> + <text + xml:space="preserve" + style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="159.3831" + y="138.5213" + id="text15630-2-2-2-6-4"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="159.3831" + y="138.5213" + id="tspan63796-5-1">Biomechanics</tspan></text> + </g> + <g + id="g97429" + transform="translate(132.42266,82.289858)"> + <ellipse + style="fill:#80e5ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-7" + cx="48.953728" + cy="184.47534" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="49.025124" + y="185.53262" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-2"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="49.025124" + y="185.53262" + id="tspan30622-8-2-7-1-8-0-4-0-0-0-3-4">Performance</tspan></text> + </g> + <g + id="g97434" + transform="translate(110.29668,131.52016)"> + <ellipse + style="fill:#80e5ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-7-8" + cx="26.551172" + cy="131.37299" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="26.622568" + y="132.43027" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-2-8"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="26.622568" + y="132.43027" + id="tspan30622-8-2-7-1-8-0-4-0-0-0-3-4-5">Cycling</tspan></text> + </g> + <g + id="g97439" + transform="translate(101.16971,119.35087)"> + <ellipse + style="fill:#80e5ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.237634;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-7-8-3" + cx="29.316919" + cy="118.37398" + rx="16.472258" + ry="5.8408928" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="29.388315" + y="119.43126" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-2-8-6"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#165044;stroke-width:0.264583" + x="29.388315" + y="119.43126" + id="tspan30622-8-2-7-1-8-0-4-0-0-0-3-4-5-5">Parkour</tspan></text> + </g> + <g + id="g109841" + transform="translate(133.58161,-6.6939135)"> + <ellipse + style="fill:#b380ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.283241;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-9-1" + cx="31.114656" + cy="92.09938" + rx="19.353487" + ry="7.0626755" /> + <text + xml:space="preserve" + style="font-size:4.93889px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="31.04776" + y="93.294952" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-8-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.93889px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="31.04776" + y="93.294952" + id="tspan93404-5-7">Spatial Algebra</tspan></text> + </g> + <g + id="g112872" + transform="translate(101.8471,73.214659)"> + <ellipse + style="fill:#b380ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.283241;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-9-1-3" + cx="54.874039" + cy="59.400986" + rx="19.353487" + ry="7.0626755" /> + <text + xml:space="preserve" + style="font-size:4.93889px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="54.807144" + y="60.596558" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-8-1-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.93889px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="54.807144" + y="60.596558" + id="tspan93404-5-7-3">Calibration</tspan></text> + </g> + <g + id="g112863" + transform="translate(102.26913,-3.21274)"> + <ellipse + style="fill:#9955ff;fill-opacity:1;fill-rule:evenodd;stroke:#4400aa;stroke-width:0.34066;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-8" + cx="52.230762" + cy="114.14164" + rx="20.379208" + ry="9.7022762" /> + <text + xml:space="preserve" + style="font-size:5.86639px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.244433" + x="53.104622" + y="112.64856" + id="text15630-2-2-2-6-4-5" + transform="scale(0.99201094,1.0080534)"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.86639px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.244433" + x="53.104622" + y="112.64856" + id="tspan63796-5-1-4">Mechanical</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.86639px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.244433" + x="53.104622" + y="120.20444" + id="tspan177070">Model</tspan></text> + </g> + <path + style="fill:#0000aa;stroke:#0000aa;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="m 227.21398,162.83355 -48.56769,21.64839 0.37649,0.94124 51.95614,-19.01294 z" + id="path125059" /> + <ellipse + style="fill:#8080ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000ff;stroke-width:0.233232;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7-1-5" + cx="179.96402" + cy="165.28078" + rx="13.149353" + ry="7.0484042" /> + <g + id="g121546" + transform="translate(4.1469904,51.673515)" + style="fill:#2ad4ff"> + <ellipse + style="fill:#5555ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000aa;stroke-width:0.326887;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7" + cx="159.2513" + cy="137.13811" + rx="20.067659" + ry="9.0722923" /> + <text + xml:space="preserve" + style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="158.81836" + y="135.13286" + id="text15630-2-2-2-6-4-4"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="158.81836" + y="135.13286" + id="tspan63796-5-1-2">Artificial </tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="158.81836" + y="142.40286" + id="tspan113262">Intelligence</tspan></text> + </g> + <g + id="g121540" + transform="translate(25.795385,40.190455)" + style="fill:#2ad4ff"> + <ellipse + style="fill:#8080ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000ff;stroke-width:0.289948;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7-1" + cx="178.26425" + cy="156.33929" + rx="15.756452" + ry="9.0907621" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="178.25255" + y="153.9294" + id="text15630-2-2-2-6-4-4-4"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="178.25255" + y="153.9294" + id="tspan113262-4">Learning</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="178.25255" + y="159.83629" + id="tspan114142">Warmstart</tspan></text> + </g> + <g + id="g123140" + transform="translate(13.747584,37.743246)" + style="fill:#2ad4ff"> + <ellipse + style="fill:#8080ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000ff;stroke-width:0.306568;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7-1-3" + cx="126.68459" + cy="173.658" + rx="17.63061" + ry="9.0824518" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="126.29641" + y="171.6246" + id="text15630-2-2-2-6-4-4-4-4"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="126.29641" + y="171.6246" + id="tspan113262-4-1">Learning</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="126.29641" + y="177.53149" + id="tspan114142-5">Value function</tspan></text> + </g> + <ellipse + style="fill:#8080ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000ff;stroke-width:0.306568;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7-1-3-5" + cx="179.77577" + cy="212.90723" + rx="17.63061" + ry="9.0824518" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="180.32881" + y="212.75629" + id="text15630-2-2-2-6-4-4-4-4-01"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="180.32881" + y="212.75629" + id="tspan114142-5-0">Dimensionnality</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="180.32881" + y="218.66318" + id="tspan126323">Reduction</tspan></text> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="180.96133" + y="163.39159" + id="text15630-2-2-2-6-4-4-4-4-0"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="180.96133" + y="163.39159" + id="tspan114142-5-9">Learning</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="180.96133" + y="168.38972" + id="tspan121770">Perception</tspan></text> + <ellipse + style="fill:#d5d5ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000ff;stroke-width:0.169688;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7-1-3-7" + cx="166.78673" + cy="148.24442" + rx="9.9809256" + ry="4.9153361" /> + <text + xml:space="preserve" + style="font-size:3.52778px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="166.96329" + y="148.75233" + id="text15630-2-2-2-6-4-4-4-4-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#0000ff;stroke-width:0.264583" + x="166.96329" + y="148.75233" + id="tspan114142-5-5">CosyPose</tspan></text> + <ellipse + style="fill:#d5d5ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000ff;stroke-width:0.146485;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7-1-3-7-3" + cx="208.95404" + cy="156.90378" + rx="8.2041826" + ry="4.4563203" /> + <text + xml:space="preserve" + style="font-size:3.52778px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="208.47173" + y="158.25882" + id="text15630-2-2-2-6-4-4-4-4-1-9"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.52778px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#0000ff;stroke-width:0.264583" + x="208.47173" + y="158.25882" + id="tspan114142-5-5-9">VLAD</tspan></text> + <g + id="g125543" + transform="translate(106.35949,68.521865)"> + <ellipse + style="fill:#8080ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000ff;stroke-width:0.238126;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7-1-3-0" + cx="19.389427" + cy="120.8545" + rx="13.711646" + ry="7.0459571" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="18.436508" + y="122.02129" + id="text15630-2-2-2-6-4-4-4-4-07"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="18.436508" + y="122.02129" + id="tspan114142-5-3">Sim2Real</tspan></text> + </g> + <g + id="g125538" + transform="translate(112.19514,71.910309)"> + <ellipse + style="fill:#8080ff;fill-opacity:1;fill-rule:evenodd;stroke:#0000ff;stroke-width:0.295163;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-7-5-7-7-1-3-0-2" + cx="31.437233" + cy="97.323647" + rx="15.37735" + ry="9.652895" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#2ad4ff;stroke-width:0.264583" + x="31.990288" + y="95.290245" + id="text15630-2-2-2-6-4-4-4-4-07-0"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="31.990288" + y="95.290245" + id="tspan114142-5-3-9">Exploration </tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#ffffff;stroke-width:0.264583" + x="31.990288" + y="101.19713" + id="tspan124368">Exploitation</tspan></text> + </g> + <g + id="g83746" + transform="translate(124.48816,73.215335)"> + <path + style="fill:#e3dbdb;fill-opacity:1;stroke:#6c5353;stroke-width:0.465;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" + d="m 109.27825,75.64826 c -1.61764,-9.29054 9.17633,-18.139181 15.62311,-12.460599 3.78099,-7.983575 9.87926,-11.603238 16.80904,-10.205499 6.2716,2.13466 11.19474,11.00121 11.19474,11.00121 0,0 13.70261,-4.961711 19.14463,-1.385467 5.44202,3.576245 6.54948,18.766777 6.54948,18.766777 0,0 4.81356,10.160592 2.64498,14.358471 -2.16858,4.197879 -12.4692,5.793767 -12.4692,5.793767 0,0 -6.02825,9.28463 -11.08373,10.20208 -5.05548,0.91745 -14.61038,-5.91972 -14.61038,-5.91972 0,0 -11.33254,6.31598 -16.21899,4.27838 -4.88645,-2.03759 -8.97131,-11.835477 -8.97131,-11.835477 0,0 -13.20959,-1.294173 -16.71486,-6.874759 -3.505279,-5.580589 8.10249,-15.719164 8.10249,-15.719164 z" + id="path64" + sodipodi:nodetypes="cccczczczczczc" /> + <text + xml:space="preserve" + style="font-size:7.05556px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ffffff;stroke:#ffffff;stroke-width:0.264583" + x="113.79577" + y="81.639717" + id="text3271"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:8.46667px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy, Bold';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;fill:#ffffff;stroke:#ffffff;stroke-width:0.264583" + x="113.79577" + y="81.639717" + id="tspan3273">Anthropomorphic</tspan></text> + <text + xml:space="preserve" + style="font-size:7.05556px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#ffffff;stroke:#ffffff;stroke-width:0.265;stroke-miterlimit:4;stroke-dasharray:none" + x="128.95744" + y="92.636086" + id="text4239"><tspan + sodipodi:role="line" + id="tspan4237" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:8.46667px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy, Bold';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;fill:#ffffff;stroke:#ffffff;stroke-width:0.265;stroke-miterlimit:4;stroke-dasharray:none" + x="128.95744" + y="92.636086">Structure</tspan></text> + </g> + <ellipse + style="fill:#e5d5ff;fill-opacity:1;fill-rule:evenodd;stroke:#165044;stroke-width:0.200303;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-5-2-0-9-9-2" + cx="136.45587" + cy="147.4904" + rx="12.794884" + ry="5.3426452" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';fill:#87decd;stroke-width:0.264583" + x="136.52727" + y="148.73625" + id="text15630-2-2-8-5-9-0-1-2-9-9-5-6-8-5-7"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#b380ff;stroke-width:0.264583" + x="136.52727" + y="148.73625" + id="tspan107640-3">Gemini</tspan></text> + <g + id="g74188-9" + transform="translate(178.72248,60.840862)"> + <ellipse + style="fill:#afe9af;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.164627;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-3" + cx="203.68141" + cy="145.05518" + rx="7.8565693" + ry="5.8773966" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="203.78639" + y="146.43211" + id="text15630-2-2-8-5-9-0-7"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="203.78639" + y="146.43211" + id="tspan30622-8-2-7-1-8-4">HPP</tspan></text> + </g> + <g + id="g149243"> + <g + id="g149237" + transform="translate(20.765261,19.700375)"> + <ellipse + style="fill:#f4d7d7;fill-opacity:1;fill-rule:evenodd;stroke:#d35f5f;stroke-width:0.182259;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-3" + cx="170.38162" + cy="54.042919" + rx="11.004435" + ry="5.1430998" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="161.74039" + y="55.703785" + id="text15630-3-0"><tspan + sodipodi:role="line" + id="tspan15628-0-55" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#de8787;stroke-width:0.264583" + x="161.74039" + y="55.703785">RENOIR</tspan></text> + </g> + </g> + <g + id="g152170" + transform="translate(3.3775156,7.655702)"> + <ellipse + style="fill:#f4d7d7;fill-opacity:1;fill-rule:evenodd;stroke:#d35f5f;stroke-width:0.130864;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-3-36-6" + cx="220.21402" + cy="55.841591" + rx="8.3844109" + ry="3.4800394" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="216.58997" + y="57.381191" + id="text15630-3-0-6-7"><tspan + sodipodi:role="line" + id="tspan15628-0-55-2-1" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#de8787;stroke-width:0.264583" + x="216.58997" + y="57.381191">Bolt</tspan></text> + </g> + <g + id="g152175" + transform="translate(-3.7152671,-0.33775156)"> + <ellipse + style="fill:#f4d7d7;fill-opacity:1;fill-rule:evenodd;stroke:#d35f5f;stroke-width:0.130864;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-3-36" + cx="208.04665" + cy="63.401722" + rx="8.3844109" + ry="3.4800394" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="202.38889" + y="65.287758" + id="text15630-3-0-6"><tspan + sodipodi:role="line" + id="tspan15628-0-55-2" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#de8787;stroke-width:0.264583" + x="202.38889" + y="65.287758">SOLO</tspan></text> + </g> + <g + id="g149243-6" + transform="translate(47.387397)"> + <g + id="g149237-5" + transform="translate(20.765261,19.700375)"> + <ellipse + style="fill:#f4d7d7;fill-opacity:1;fill-rule:evenodd;stroke:#d35f5f;stroke-width:0.205249;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-3-3" + cx="170.38162" + cy="54.109474" + rx="10.99294" + ry="6.5292664" /> + <text + xml:space="preserve" + style="font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="163.47083" + y="53.041573" + id="text15630-3-0-8"><tspan + sodipodi:role="line" + id="tspan15628-0-55-6" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#de8787;stroke-width:0.264583" + x="163.47083" + y="53.041573">Control </tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.23333px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#de8787;stroke-width:0.264583" + x="163.47083" + y="58.49408" + id="tspan149309">Boards</tspan></text> + </g> + </g> + <ellipse + style="fill:#ffaaaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff5555;stroke-width:0.222114;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-0-1" + cx="185.82246" + cy="101.43031" + rx="10.984507" + ry="7.6522741" /> + <ellipse + style="fill:#ffaaaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff5555;stroke-width:0.229286;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-0-1-1" + cx="215.43958" + cy="85.25737" + rx="15.307017" + ry="5.8516951" /> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="202.35568" + y="86.512878" + id="text15630-3-4-7-3"><tspan + sodipodi:role="line" + id="tspan15628-0-5-6-1" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#ffffff;stroke-width:0.264583" + x="202.35568" + y="86.512878">Mechatronics</tspan></text> + <text + xml:space="preserve" + style="font-size:4.58611px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="175.71698" + y="102.82497" + id="text15630-3-4-7"><tspan + sodipodi:role="line" + id="tspan15628-0-5-6" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:4.58611px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#ffffff;stroke-width:0.264583" + x="175.71698" + y="102.82497">Simulators</tspan></text> + <g + id="g144102-2" + transform="translate(19.767798,46.223797)"> + <ellipse + style="fill:#ffaaaa;fill-opacity:1;fill-rule:evenodd;stroke:#ff5555;stroke-width:0.222114;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-9-0-1-8" + cx="198.00122" + cy="84.89019" + rx="10.984507" + ry="7.6522741" /> + <text + xml:space="preserve" + style="font-size:5.64444px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="188.56129" + y="86.950394" + id="text15630-3-4-7-2"><tspan + sodipodi:role="line" + id="tspan15628-0-5-6-7" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:5.64444px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';fill:#ffffff;stroke-width:0.264583" + x="188.56129" + y="86.950394">TALOS</tspan></text> + </g> + <ellipse + style="fill:#afe9af;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.23652;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9" + cx="346.4205" + cy="240.3597" + rx="14.446303" + ry="6.597733" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="346.43341" + y="239.56332" + id="text15630-2-2-8-5-9-0-1-2"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="346.43341" + y="239.56332" + id="tspan30622-8-2-7-1-8-0-4">Locomotion</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="346.43341" + y="244.56146" + id="tspan154748">Planning</tspan></text> + <g + id="g156187" + transform="translate(14.090759,-6.2094869)"> + <ellipse + style="fill:#afe9af;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.258079;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-3" + cx="342.63629" + cy="212.63512" + rx="15.709264" + ry="7.2238235" /> + <text + xml:space="preserve" + style="font-size:3.88056px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="343.12686" + y="212.47562" + id="text15630-2-2-8-5-9-0-1-2-1"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="343.12686" + y="212.47562" + id="tspan30622-8-2-7-1-8-0-4-06">Task and Motion</tspan><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.88056px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="343.12686" + y="217.47375" + id="tspan154748-3">Planning</tspan></text> + </g> + <g + id="g159087-7" + transform="translate(-93.985391,-53.730301)"> + <ellipse + style="fill:#d7f4e3;fill-opacity:1;fill-rule:evenodd;stroke:#37c837;stroke-width:0.141089;stroke-miterlimit:4;stroke-dasharray:none" + id="path15022-6-2-9-4-5-1-0-9-0-8-2" + cx="427.25171" + cy="253.20108" + rx="9.3238516" + ry="3.6374881" /> + <text + xml:space="preserve" + style="font-size:3.175px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';stroke-width:0.264583" + x="427.71899" + y="254.08664" + id="text15630-2-2-8-5-9-0-1-2-9-16-8"><tspan + sodipodi:role="line" + style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:3.175px;font-family:Noteworthy;-inkscape-font-specification:'Noteworthy Bold';text-align:center;text-anchor:middle;fill:#217821;stroke-width:0.264583" + x="427.71899" + y="254.08664" + id="tspan30622-8-2-7-1-8-0-4-0-8-9">hpp-manip</tspan></text> + </g> + </g> +</svg> -- GitLab