lookout-config 1.15.1__py3-none-any.whl

lookout_config/__init__.py

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+# IMPORTANT
+# After changing this file, run `python3 -m lookout_config.generate_schemas`
+# To re-generate the json schemas
+import yaml
+import os
+from typing import Any
+from pathlib import Path
+
+from lookout_config.types import (
+    LookoutConfig,
+    Mode,
+    LogLevel,
+    Network,
+    GeolocationMode,
+    Point,
+    Polygon,
+    CameraExtended,
+    PositioningSystem,
+)
+from lookout_config.helpers import YamlDumper
+
+
+LOOKOUT_CONFIG_FILE_NAME = "lookout.yml"
+LOOKOUT_SCHEMA_URL = "https://greenroom-robotics.github.io/lookout/schemas/lookout.schema.json"
+
+
+def find_config() -> Path:
+    """Returns the path to the .config/greenroom directory"""
+    return Path.home().joinpath(".config/greenroom")
+
+
+def get_path():
+    return find_config() / LOOKOUT_CONFIG_FILE_NAME
+
+
+def parse(config: dict[str, Any]) -> LookoutConfig:
+    return LookoutConfig(**config or {})
+
+
+def read() -> LookoutConfig:
+    path = get_path()
+    with open(path) as stream:
+        return parse(yaml.safe_load(stream))
+
+
+def write(config: LookoutConfig):
+    path = get_path()
+    # Make the parent dir if it doesn't exist
+    os.makedirs(path.parent, exist_ok=True)
+    json_string = config.model_dump(mode="json")
+    with open(path, "w") as stream:
+        print(f"Writing: {path}")
+        headers = f"# yaml-language-server: $schema={LOOKOUT_SCHEMA_URL}"
+        data = "\n".join([headers, yaml.dump(json_string, Dumper=YamlDumper, sort_keys=True)])
+        stream.write(data)
+
+
+__all__ = [
+    "find_config",
+    "get_path",
+    "parse",
+    "read",
+    "write",
+    "LOOKOUT_SCHEMA_URL",
+    "LookoutConfig",
+    "Mode",
+    "LogLevel",
+    "Network",
+    "GeolocationMode",
+    "Point",
+    "Polygon",
+    "CameraExtended",
+    "PositioningSystem",
+]

lookout_config/generate_schemas.py

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+import os
+from pathlib import Path
+import json
+from lookout_config import LookoutConfig
+
+
+def generate_schemas():
+    """Generates the schemas for the config files"""
+    SCHEMAS_PATH = Path(os.path.dirname(__file__)) / "schemas"
+    with open(SCHEMAS_PATH / "lookout.schema.json", "w") as f:
+        main_model_schema = LookoutConfig.model_json_schema()
+        json.dump(main_model_schema, f, indent=2)
+
+
+if __name__ == "__main__":
+    generate_schemas()

lookout_config/generate_urdf.py

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+from lookout_config import LookoutConfig
+from greenstream_config import Offsets, get_cameras_urdf
+from gr_urchin import URDF, Joint, Material, Link, xyz_rpy_to_matrix, Visual, Mesh, Geometry, Box
+from math import radians
+
+
+def joint_from_offsets(offsets: Offsets, parent: str, child: str) -> Joint:
+    return Joint(
+        name=f"{parent}_to_{child}",
+        parent=parent,
+        child=child,
+        joint_type="fixed",
+        origin=xyz_rpy_to_matrix(
+            [
+                offsets.forward or 0.0,
+                offsets.left or 0.0,
+                offsets.up or 0.0,
+                offsets.roll or 0.0,
+                offsets.pitch or 0.0,
+                offsets.yaw or 0.0,
+            ]
+        ),
+    )
+
+
+def generate_urdf(
+    config: LookoutConfig,
+    add_optical_frame: bool = True,
+):
+    mesh_path = f"package://lookout_bringup/meshes/{config.offsets.name}"
+    file_path = f"/tmp/vessel_{config.mode.value}.urdf"
+    camera_links, camera_joints = get_cameras_urdf(config.cameras, add_optical_frame)  # type: ignore
+
+    urdf = URDF(
+        name="origins",
+        materials=[
+            Material(name="grey", color=[0.75, 0.75, 0.75, 0.6]),
+            Material(name="blue", color=[0, 0.12, 0.25, 0.9]),
+        ],
+        links=[
+            Link(name="ins", inertial=None, visuals=None, collisions=None),
+            Link(
+                name="waterline",
+                visuals=[
+                    Visual(
+                        name="waterline",
+                        geometry=Geometry(box=Box([10.0, 10.0, 0.01])),
+                        material=Material(name="blue"),
+                    )
+                ],
+                inertial=None,
+                collisions=None,
+            ),
+            Link(
+                name="base_link",
+                visuals=[
+                    Visual(
+                        name="visual",
+                        geometry=Geometry(
+                            mesh=Mesh(filename=mesh_path, combine=False, lazy_filename=mesh_path)
+                        ),
+                        origin=xyz_rpy_to_matrix([0, 0, 0, radians(-90), 0, 0]),
+                        material=Material(name="grey"),
+                    ),
+                ],
+                inertial=None,
+                collisions=None,
+            ),
+            *camera_links,
+        ],
+        joints=[
+            joint_from_offsets(config.offsets.baselink_to_ins, "base_link", "ins"),
+            joint_from_offsets(config.offsets.baselink_to_waterline, "base_link", "waterline"),
+            *camera_joints,
+        ],
+    )
+
+    urdf.save(file_path)
+
+    with open(file_path) as infp:
+        robot_description = infp.read()
+
+    return robot_description

lookout_config/helpers.py

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+import yaml
+
+
+class YamlDumper(yaml.Dumper):
+    """
+    A YAML dumpler that show lists on the same line if they do not contain dicts or list
+    """
+
+    def represent_sequence(self, tag, sequence, flow_style=None):
+        if isinstance(sequence, list) and all(
+            [not isinstance(item, (dict, list)) for item in sequence]
+        ):
+            flow_style = True
+        return super().represent_sequence(tag, sequence, flow_style)
+
+    def represent_mapping(self, tag, mapping, flow_style=None):
+        flow_style = False
+        return super().represent_mapping(tag, mapping, flow_style)

lookout_config/launch_parameters.py

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+# Generated by 'python3 -m parameter_persistence.generate_models'
+
+from __future__ import annotations
+
+from typing import List, Optional
+
+from pydantic import BaseModel, Field
+
+
+class WebBridgeParameters(BaseModel):
+    address: Optional[str] = Field(
+        None, description="The host address to bind the WebSocket server to"
+    )
+    asset_uri_allowlist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
+    )
+    capabilities: Optional[List[str]] = Field(None, description="Server capabilities")
+    certfile: Optional[str] = Field(None, description="Path to the certificate to use for TLS")
+    client_topic_whitelist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
+    )
+    disable_load_message: Optional[bool] = Field(
+        None,
+        description="Do not publish as loaned message when publishing a client message",
+    )
+    include_hidden: Optional[bool] = Field(None, description="Include hidden topics and services")
+    keyfile: Optional[str] = Field(None, description="Path to the private key to use for TLS")
+    max_qos_depth: Optional[int] = Field(
+        None, description="Maximum depth used for the QoS profile of subscriptions."
+    )
+    min_qos_depth: Optional[int] = Field(
+        None, description="Minimum depth used for the QoS profile of subscriptions."
+    )
+    param_whitelist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
+    )
+    port: Optional[int] = Field(None, description="The TCP port to bind the WebSocket server to")
+    send_buffer_limit: Optional[int] = Field(
+        None,
+        description="Connection send buffer limit in bytes. Messages will be dropped when a connection's send buffer reaches this limit to avoid a queue of outdated messages building up.",
+    )
+    service_whitelist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted service names.",
+    )
+    tls: Optional[bool] = Field(
+        None, description="Use Transport Layer Security for encrypted communication"
+    )
+    topic_whitelist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted topic names.",
+    )
+    use_compression: Optional[bool] = Field(
+        None,
+        description="Use websocket compression (permessage-deflate). Suited for connections with smaller bandwidth, at the cost of additional CPU load.",
+    )
+
+
+class LookoutGreenstreamBringupParameters(BaseModel):
+    launch_package: Optional[str] = Field(None, description="")
+    launch_executable: Optional[str] = Field(None, description="")
+
+
+class LaunchParameters(BaseModel):
+    web_bridge: Optional[WebBridgeParameters] = None
+    lookout_greenstream_bringup: Optional[LookoutGreenstreamBringupParameters] = None

lookout_config/schemas/lookout.schema.json

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+{
+  "$defs": {
+    "CameraExtended": {
+      "properties": {
+        "name": {
+          "title": "Name",
+          "type": "string"
+        },
+        "order": {
+          "title": "Order",
+          "type": "integer"
+        },
+        "type": {
+          "default": "color",
+          "title": "Type",
+          "type": "string"
+        },
+        "ptz": {
+          "default": false,
+          "title": "Ptz",
+          "type": "boolean"
+        },
+        "camera_offsets": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/Offsets"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null
+        },
+        "ptz_offsets": {
+          "default": [],
+          "items": {
+            "$ref": "#/$defs/PTZOffsets"
+          },
+          "title": "Ptz Offsets",
+          "type": "array"
+        },
+        "ignore_regions": {
+          "items": {
+            "$ref": "#/$defs/Polygon"
+          },
+          "title": "Ignore Regions",
+          "type": "array"
+        }
+      },
+      "required": [
+        "name",
+        "order"
+      ],
+      "title": "CameraExtended",
+      "type": "object"
+    },
+    "GeolocationMode": {
+      "enum": [
+        "none",
+        "relative_bearing",
+        "absolute_bearing",
+        "range_bearing"
+      ],
+      "title": "GeolocationMode",
+      "type": "string"
+    },
+    "LogLevel": {
+      "enum": [
+        "info",
+        "debug"
+      ],
+      "title": "LogLevel",
+      "type": "string"
+    },
+    "Mode": {
+      "enum": [
+        "simulator",
+        "hardware",
+        "stubs",
+        "rosbag"
+      ],
+      "title": "Mode",
+      "type": "string"
+    },
+    "Network": {
+      "enum": [
+        "shared",
+        "host"
+      ],
+      "title": "Network",
+      "type": "string"
+    },
+    "Offsets": {
+      "properties": {
+        "roll": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Roll"
+        },
+        "pitch": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Pitch"
+        },
+        "yaw": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Yaw"
+        },
+        "forward": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Forward"
+        },
+        "left": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Left"
+        },
+        "up": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Up"
+        }
+      },
+      "title": "Offsets",
+      "type": "object"
+    },
+    "PTZOffsets": {
+      "properties": {
+        "roll": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Roll"
+        },
+        "pitch": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Pitch"
+        },
+        "yaw": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Yaw"
+        },
+        "forward": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Forward"
+        },
+        "left": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Left"
+        },
+        "up": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Up"
+        },
+        "type": {
+          "enum": [
+            "pan",
+            "tilt"
+          ],
+          "title": "Type",
+          "type": "string"
+        }
+      },
+      "required": [
+        "type"
+      ],
+      "title": "PTZOffsets",
+      "type": "object"
+    },
+    "Point": {
+      "properties": {
+        "x": {
+          "title": "X",
+          "type": "integer"
+        },
+        "y": {
+          "title": "Y",
+          "type": "integer"
+        }
+      },
+      "required": [
+        "x",
+        "y"
+      ],
+      "title": "Point",
+      "type": "object"
+    },
+    "Polygon": {
+      "properties": {
+        "points": {
+          "items": {
+            "$ref": "#/$defs/Point"
+          },
+          "title": "Points",
+          "type": "array"
+        }
+      },
+      "required": [
+        "points"
+      ],
+      "title": "Polygon",
+      "type": "object"
+    },
+    "PositioningSystem": {
+      "enum": [
+        "none",
+        "septentrio_ins",
+        "advanced_navigation_ins",
+        "nmea_2000_sat_compass",
+        "nmea_2000_compass",
+        "nmea_0183_sat_compass",
+        "nmea_0183_compass"
+      ],
+      "title": "PositioningSystem",
+      "type": "string"
+    },
+    "VesselOffsets": {
+      "properties": {
+        "name": {
+          "title": "Name",
+          "type": "string"
+        },
+        "baselink_to_ins": {
+          "$ref": "#/$defs/Offsets"
+        },
+        "baselink_to_waterline": {
+          "$ref": "#/$defs/Offsets"
+        }
+      },
+      "required": [
+        "name",
+        "baselink_to_ins",
+        "baselink_to_waterline"
+      ],
+      "title": "VesselOffsets",
+      "type": "object"
+    }
+  },
+  "properties": {
+    "ros_domain_id": {
+      "default": 0,
+      "description": "ROS domain ID for the vessel. This only applies if 'simple_discovery' is true.",
+      "title": "Ros Domain Id",
+      "type": "integer"
+    },
+    "namespace_vessel": {
+      "default": "vessel_1",
+      "title": "Namespace Vessel",
+      "type": "string"
+    },
+    "gama_vessel": {
+      "default": false,
+      "title": "Gama Vessel",
+      "type": "boolean"
+    },
+    "mode": {
+      "$ref": "#/$defs/Mode",
+      "default": "hardware"
+    },
+    "log_level": {
+      "$ref": "#/$defs/LogLevel",
+      "default": "info"
+    },
+    "cameras": {
+      "items": {
+        "$ref": "#/$defs/CameraExtended"
+      },
+      "title": "Cameras",
+      "type": "array"
+    },
+    "network": {
+      "$ref": "#/$defs/Network",
+      "default": "host"
+    },
+    "gpu": {
+      "default": true,
+      "title": "Gpu",
+      "type": "boolean"
+    },
+    "geolocation_mode": {
+      "$ref": "#/$defs/GeolocationMode",
+      "default": "none"
+    },
+    "positioning_system": {
+      "$ref": "#/$defs/PositioningSystem",
+      "default": "none"
+    },
+    "offsets": {
+      "$ref": "#/$defs/VesselOffsets",
+      "default": {
+        "name": "mars.stl",
+        "baselink_to_ins": {
+          "forward": 1.416,
+          "left": 0.153,
+          "pitch": null,
+          "roll": null,
+          "up": 0.184,
+          "yaw": null
+        },
+        "baselink_to_waterline": {
+          "forward": null,
+          "left": null,
+          "pitch": null,
+          "roll": null,
+          "up": 0.3,
+          "yaw": null
+        }
+      }
+    },
+    "components": {
+      "title": "Components"
+    },
+    "prod": {
+      "default": true,
+      "title": "Prod",
+      "type": "boolean"
+    },
+    "log_directory": {
+      "default": "~/greenroom/lookout/logs",
+      "title": "Log Directory",
+      "type": "string"
+    },
+    "recording_directory": {
+      "default": "~/greenroom/lookout/recordings",
+      "title": "Recording Directory",
+      "type": "string"
+    },
+    "with_discovery_server": {
+      "default": true,
+      "description": "Run the discovery server. It will bind to 0.0.0.0:11811",
+      "title": "With Discovery Server",
+      "type": "boolean"
+    },
+    "simple_discovery": {
+      "default": false,
+      "description": "Use simple discovery. This should NOT be used in production due to performance issues.",
+      "title": "Simple Discovery",
+      "type": "boolean"
+    },
+    "discovery_server_ip": {
+      "default": "0.0.0.0",
+      "description": "IP/host/interface of the discovery server. Assumes port of 11811",
+      "title": "Discovery Server Ip",
+      "type": "string"
+    },
+    "own_ip": {
+      "default": "0.0.0.0",
+      "description": "IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
+      "title": "Own Ip",
+      "type": "string"
+    }
+  },
+  "title": "LookoutConfig",
+  "type": "object"
+}

lookout_config/test/lookout_config_test.py

@@ -0,0 +1,3 @@
+def test_lookout_config():
+    # TODO: Add tests
+    assert True is True

lookout_config/types.py

@@ -0,0 +1,146 @@
+# Updates here should also be made to:
+# * lookout_interfaces/msg/Config.msg
+# * lookout_config_manager/mappers.py
+
+from typing import Optional, Any
+from enum import Enum
+from pydantic import BaseModel, field_validator, ConfigDict
+from pydantic.fields import Field
+
+from greenstream_config.types import Camera, Offsets
+
+
+class Mode(str, Enum):
+    SIMULATOR = "simulator"
+    HARDWARE = "hardware"
+    STUBS = "stubs"
+    ROSBAG = "rosbag"
+
+    def __str__(self):
+        return self.value
+
+
+class PositioningSystem(str, Enum):
+    NONE = "none"
+    SEPTENTRIO_INS = "septentrio_ins"
+    ADNAV_INS = "advanced_navigation_ins"
+    NMEA_2000_SAT_COMPASS = "nmea_2000_sat_compass"
+    NMEA_2000_COMPASS = "nmea_2000_compass"
+    NMEA_0183_SAT_COMPASS = "nmea_0183_sat_compass"
+    NMEA_0183_COMPASS = "nmea_0183_compass"
+
+    def __str__(self):
+        return self.value
+
+
+class LogLevel(str, Enum):
+    INFO = "info"
+    DEBUG = "debug"
+
+    def __str__(self):
+        return self.value
+
+
+class Network(str, Enum):
+    SHARED = "shared"
+    HOST = "host"
+
+    def __str__(self):
+        return self.value
+
+
+class GeolocationMode(str, Enum):
+    NONE = "none"
+    RELATIVE_BEARING = "relative_bearing"
+    ABSOLUTE_BEARING = "absolute_bearing"
+    RANGE_BEARING = "range_bearing"
+
+    def __str__(self):
+        return self.value
+
+
+class Point(BaseModel):
+    x: int
+    y: int
+
+    def __eq__(self, other):
+        if isinstance(other, Point):
+            return self.x == other.x and self.y == other.y
+        return False
+
+
+class Polygon(BaseModel):
+    points: list[Point]
+
+
+class CameraExtended(Camera):
+    ignore_regions: list[Polygon] = Field(default_factory=list)
+
+    @field_validator("ignore_regions")
+    def check_polygon(cls, ignore_regions):
+        if ignore_regions:
+            for polygon in ignore_regions:
+                if len(polygon.points) < 4:  # 3 points for a triangle, 1 to close the polygon
+                    raise ValueError("Polygon must have at least 3 sides (4 points)")
+                if polygon.points[0] != polygon.points[-1]:
+                    raise ValueError("Polygon must close. Must have same start and end point")
+        return ignore_regions
+
+
+class VesselOffsets(BaseModel):
+    name: str
+    baselink_to_ins: Offsets
+    baselink_to_waterline: Offsets
+
+
+class LookoutConfig(BaseModel):
+    # So enum values are written and read to the yml correctly
+    model_config = ConfigDict(
+        use_enum_values=False,
+        json_encoders={
+            Mode: lambda v: v.value,
+            LogLevel: lambda v: v.value,
+            Network: lambda v: v.value,
+            GeolocationMode: lambda v: v.value,
+            PositioningSystem: lambda v: v.value,
+        },
+    )
+    ros_domain_id: int = Field(
+        default=0,
+        description="ROS domain ID for the vessel. This only applies if 'simple_discovery' is true.",
+    )
+    namespace_vessel: str = "vessel_1"
+    gama_vessel: bool = False
+    mode: Mode = Mode.HARDWARE
+    log_level: LogLevel = LogLevel.INFO
+    cameras: list[CameraExtended] = Field(default_factory=list)
+    network: Network = Network.HOST
+    gpu: bool = True
+    geolocation_mode: GeolocationMode = GeolocationMode.NONE
+    positioning_system: PositioningSystem = PositioningSystem.NONE
+    offsets: VesselOffsets = VesselOffsets(
+        name="mars.stl",
+        baselink_to_ins=Offsets(forward=1.4160, left=0.153, up=0.184),
+        baselink_to_waterline=Offsets(
+            up=0.3,
+        ),
+    )
+    components: Any = Field(default_factory=dict)
+    prod: bool = True
+    log_directory: str = "~/greenroom/lookout/logs"
+    recording_directory: str = "~/greenroom/lookout/recordings"
+    with_discovery_server: bool = Field(
+        default=True, description="Run the discovery server. It will bind to 0.0.0.0:11811"
+    )
+    simple_discovery: bool = Field(
+        default=False,
+        description="Use simple discovery. This should NOT be used in production due to performance issues.",
+    )
+    discovery_server_ip: str = Field(
+        default="0.0.0.0",
+        description="IP/host/interface of the discovery server. Assumes port of 11811",
+    )
+    own_ip: str = Field(
+        default="0.0.0.0",
+        description="IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
+    )

lookout_config-1.15.1.dist-info/METADATA

@@ -0,0 +1,62 @@
+Metadata-Version: 2.2
+Name: lookout_config
+Version: 1.15.1
+Summary: A library for reading / writing Lookout config files
+Home-page: https://github.com/Greenroom-Robotics/lookout
+Author: Greenroom Robotics
+Author-email: team@greenroomrobotics.com
+Maintainer: David Revay
+Maintainer-email: david.revay@greenroomrobotics.com
+License: Copyright (C) 2023, Greenroom Robotics
+Keywords: colcon
+Classifier: Development Status :: 3 - Alpha
+Classifier: Environment :: Plugins
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python
+Classifier: Topic :: Software Development :: Build Tools
+Description-Content-Type: text/markdown
+Requires-Dist: setuptools
+Requires-Dist: dacite
+Requires-Dist: PyYAML
+Requires-Dist: dc-schema
+Requires-Dist: greenstream-config==3.10.1
+Requires-Dist: gr-urchin
+
+# Lookout Config
+
+Lookout Config is used to load config stored inside the `~/.config/greenroom` folder.
+
+## Install
+
+* `pip install -e ./packages/lookout_config`
+* or...
+* `pip install lookout_config` (Public on [PyPi](https://pypi.org/project/lookout-config/))
+
+## Usage
+
+### Reading config
+
+```python
+from lookout_config import read
+
+config = read()
+```
+
+### Writing config
+
+```python
+from lookout_config import write, LookoutConfig
+
+config = LookoutConfig()
+
+write(config)
+
+```
+
+### Generating schemas
+
+After changing the dataclasses, you can generate the schemas with:
+
+```bash
+python3 -m lookout_config.generate_schemas
+```

lookout_config-1.15.1.dist-info/RECORD

@@ -0,0 +1,13 @@
+lookout_config/__init__.py,sha256=3D-vqwfTPSuvLVBo4wiYQglpPUm4Fj6Y5MYGIS-e0fI,1738
+lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
+lookout_config/generate_urdf.py,sha256=O5n0hNsRJwTgQnWdPZIg_LgpxlDQOzWv5IccjT7yDS4,2719
+lookout_config/helpers.py,sha256=3GkGRPDzQ67I5srwcWoI8PI1dgrWvTsUwA8-yRUttLM,603
+lookout_config/launch_parameters.py,sha256=wvLXQMPi7D3ExesyvSNLPYEb2WChj9YTslnvQYPsXbk,3033
+lookout_config/types.py,sha256=o--5Mo7ADSCv5k240oyiA-sJDA5BLd6nx5RGzFZFygo,4325
+lookout_config/schemas/lookout.schema.json,sha256=eH6i8OW-9jBBEusm4qMaACV7fujtrqw1_Bm5YwuQNxw,9390
+lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
+lookout_config-1.15.1.dist-info/METADATA,sha256=Ij7EiKJ5hzyvI-QGafkWPiSBufKxPSRbQcvI6ROtaG4,1442
+lookout_config-1.15.1.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+lookout_config-1.15.1.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
+lookout_config-1.15.1.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+lookout_config-1.15.1.dist-info/RECORD,,

lookout_config-1.15.1.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (75.8.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

lookout_config-1.15.1.dist-info/top_level.txt

@@ -0,0 +1 @@
+lookout_config

lookout_config-1.15.1.dist-info/zip-safe

@@ -0,0 +1 @@
+