[Release v1.3.0] - #83
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- i2rt/robot_models/: version existing arm models and add the YAM Ultra v2 model assets - i2rt/robots/: add version-aware assembly, recording support, configuration updates, and coverage - examples/: update MuJoCo, Viser, and minimum-gello workflows for the synchronized APIs - .agents/, .claude/, .codex/: synchronize URDF and MJCF alignment workflows - pyproject.toml and uv.lock: synchronize the dev dependency set while retaining package version 1.1.2 Co-authored-by: Codex <noreply@openai.com>
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Summary
Release v1.3.0 mirrors the current dev/JH_i2rt-main content into the public repository. It adds versioned arm models, YAM Ultra v2 support, MCAP recording, refreshed examples, and the aligned URDF/MJCF tooling. Per release direction,
pyproject.tomlremains at package version1.1.2; its change only adds the MCAP dependency.Changes
.agents/skills/align-urdf-mjcf/SKILL.md: add Codex-native guidance for regenerating and validating aligned URDF and MJCF arm models.agents/skills/align-urdf-mjcf/scripts/sync_gripper_mounts.py: add the tool that propagates versioned terminal-mount transforms into every gripper configuration.agents/skills/align-urdf-mjcf/scripts/urdf_to_arm_mjcf.py: add the deterministic URDF-to-arm-MJCF generator.agents/skills/transform-onshape-urdf/SKILL.md: add Codex-native guidance for normalizing and orienting ONShape URDF exports.agents/skills/transform-onshape-urdf/scripts/apply_urdf_heading.py: add the tool that bakes an operator-selected heading into URDF geometry and inertia.agents/skills/transform-onshape-urdf/scripts/normalize_onshape_urdf.py: add deterministic ONShape URDF cleanup and frame normalization.agents/skills/transform-onshape-urdf/scripts/urdf_align_lib.py: add shared transform, mesh, and forward-kinematics helpers for the alignment pipeline.agents/skills/transform-onshape-urdf/scripts/view_urdf.py: add the visual inspection step used before committing a URDF heading.claude/skills/align-urdf-mjcf/SKILL.md: update Claude alignment guidance for versioned arm layouts and terminal-mount composition.claude/skills/align-urdf-mjcf/scripts/sync_gripper_mounts.py: update gripper-mount synchronization for arm model versions.claude/skills/align-urdf-mjcf/scripts/urdf_to_arm_mjcf.py: update MJCF generation for the versioned model layout and gripper mount frame.claude/skills/transform-onshape-urdf/SKILL.md: update the ONShape transformation workflow for versioned source models.claude/skills/transform-onshape-urdf/scripts/normalize_onshape_urdf.py: update normalization logic for the aligned versioned model pipeline.codex/skills/align-urdf-mjcf/SKILL.md: update Codex alignment guidance to match the version-aware robot model contractAGENTS.md: add Codex project architecture, workflow, and verification guidanceCLAUDE.md: document versioned arm models, runtime gripper composition, recording, and alignment behaviorexamples/control_with_mujoco/README.md: document hardware-version selection and recording options for the MuJoCo control exampleexamples/control_with_mujoco/control_with_mujoco.py: propagate arm model versions and optional MCAP recording through the MuJoCo control exampleexamples/control_with_viser/README.md: document hardware-version selection and recording options for the Viser exampleexamples/control_with_viser/control_with_viser.py: propagate arm model versions and optional MCAP recording through the Viser control exampleexamples/minimum_gello/README.md: document the stale-command timeout used to prevent growing teleoperation lagexamples/minimum_gello/minimum_gello.py: drop stale follower commands and expose the maximum accepted command agei2rt/robot_models/__init__.py: resolve versioned arm model paths while preserving v1 compatibility aliasesi2rt/robot_models/arm/big_yam/README.md -> i2rt/robot_models/arm/big_yam/v1/README.md: move and update the arm documentation fromi2rt/robot_models/arm/big_yam/README.mdto the versioned v1 pathi2rt/robot_models/arm/big_yam/v1/README.mdi2rt/robot_models/arm/big_yam/assets/base.stl -> i2rt/robot_models/arm/big_yam/v1/assets/base.stl: move the base.stl mesh fromi2rt/robot_models/arm/big_yam/assets/base.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/base.stli2rt/robot_models/arm/big_yam/assets/gripper.stl -> i2rt/robot_models/arm/big_yam/v1/assets/gripper.stl: move the gripper.stl mesh fromi2rt/robot_models/arm/big_yam/assets/gripper.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/gripper.stli2rt/robot_models/arm/big_yam/assets/link1.stl -> i2rt/robot_models/arm/big_yam/v1/assets/link1.stl: move the link1.stl mesh fromi2rt/robot_models/arm/big_yam/assets/link1.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/link1.stli2rt/robot_models/arm/big_yam/assets/link2.stl -> i2rt/robot_models/arm/big_yam/v1/assets/link2.stl: move the link2.stl mesh fromi2rt/robot_models/arm/big_yam/assets/link2.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/link2.stli2rt/robot_models/arm/big_yam/assets/link3.stl -> i2rt/robot_models/arm/big_yam/v1/assets/link3.stl: move the link3.stl mesh fromi2rt/robot_models/arm/big_yam/assets/link3.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/link3.stli2rt/robot_models/arm/big_yam/assets/link4.stl -> i2rt/robot_models/arm/big_yam/v1/assets/link4.stl: move the link4.stl mesh fromi2rt/robot_models/arm/big_yam/assets/link4.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/link4.stli2rt/robot_models/arm/big_yam/assets/link5.stl -> i2rt/robot_models/arm/big_yam/v1/assets/link5.stl: move the link5.stl mesh fromi2rt/robot_models/arm/big_yam/assets/link5.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/link5.stli2rt/robot_models/arm/big_yam/assets/tip_left.stl -> i2rt/robot_models/arm/big_yam/v1/assets/tip_left.stl: move the tip_left.stl mesh fromi2rt/robot_models/arm/big_yam/assets/tip_left.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/tip_left.stli2rt/robot_models/arm/big_yam/assets/tip_right.stl -> i2rt/robot_models/arm/big_yam/v1/assets/tip_right.stl: move the tip_right.stl mesh fromi2rt/robot_models/arm/big_yam/assets/tip_right.stlto the versioned v1 asset pathi2rt/robot_models/arm/big_yam/v1/assets/tip_right.stli2rt/robot_models/arm/big_yam/big_yam.urdf -> i2rt/robot_models/arm/big_yam/v1/big_yam.urdf: move the URDF source fromi2rt/robot_models/arm/big_yam/big_yam.urdfto the versioned v1 pathi2rt/robot_models/arm/big_yam/v1/big_yam.urdfi2rt/robot_models/arm/big_yam/big_yam.xml -> i2rt/robot_models/arm/big_yam/v1/big_yam.xml: move the MJCF model fromi2rt/robot_models/arm/big_yam/big_yam.xmltoi2rt/robot_models/arm/big_yam/v1/big_yam.xmland retain the v1-aligned modeli2rt/robot_models/arm/yam/README.md -> i2rt/robot_models/arm/yam/v1/README.md: move and update the arm documentation fromi2rt/robot_models/arm/yam/README.mdto the versioned v1 pathi2rt/robot_models/arm/yam/v1/README.mdi2rt/robot_models/arm/yam/assets/base.stl -> i2rt/robot_models/arm/yam/v1/assets/base.stl: move the base.stl mesh fromi2rt/robot_models/arm/yam/assets/base.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/base.stli2rt/robot_models/arm/yam/assets/gripper.stl -> i2rt/robot_models/arm/yam/v1/assets/gripper.stl: move the gripper.stl mesh fromi2rt/robot_models/arm/yam/assets/gripper.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/gripper.stli2rt/robot_models/arm/yam/assets/link1.stl -> i2rt/robot_models/arm/yam/v1/assets/link1.stl: move the link1.stl mesh fromi2rt/robot_models/arm/yam/assets/link1.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/link1.stli2rt/robot_models/arm/yam/assets/link2.stl -> i2rt/robot_models/arm/yam/v1/assets/link2.stl: move the link2.stl mesh fromi2rt/robot_models/arm/yam/assets/link2.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/link2.stli2rt/robot_models/arm/yam/assets/link3.stl -> i2rt/robot_models/arm/yam/v1/assets/link3.stl: move the link3.stl mesh fromi2rt/robot_models/arm/yam/assets/link3.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/link3.stli2rt/robot_models/arm/yam/assets/link4.stl -> i2rt/robot_models/arm/yam/v1/assets/link4.stl: move the link4.stl mesh fromi2rt/robot_models/arm/yam/assets/link4.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/link4.stli2rt/robot_models/arm/yam/assets/link5.stl -> i2rt/robot_models/arm/yam/v1/assets/link5.stl: move the link5.stl mesh fromi2rt/robot_models/arm/yam/assets/link5.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/link5.stli2rt/robot_models/arm/yam/assets/tip_left.stl -> i2rt/robot_models/arm/yam/v1/assets/tip_left.stl: move the tip_left.stl mesh fromi2rt/robot_models/arm/yam/assets/tip_left.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/tip_left.stli2rt/robot_models/arm/yam/assets/tip_right.stl -> i2rt/robot_models/arm/yam/v1/assets/tip_right.stl: move the tip_right.stl mesh fromi2rt/robot_models/arm/yam/assets/tip_right.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam/v1/assets/tip_right.stli2rt/robot_models/arm/yam/yam.urdf -> i2rt/robot_models/arm/yam/v1/yam.urdf: move the URDF source fromi2rt/robot_models/arm/yam/yam.urdfto the versioned v1 pathi2rt/robot_models/arm/yam/v1/yam.urdfi2rt/robot_models/arm/yam/yam.xml -> i2rt/robot_models/arm/yam/v1/yam.xml: move the MJCF model fromi2rt/robot_models/arm/yam/yam.xmltoi2rt/robot_models/arm/yam/v1/yam.xmland retain the v1-aligned modeli2rt/robot_models/arm/yam_pro/README.md -> i2rt/robot_models/arm/yam_pro/v1/README.md: move and update the arm documentation fromi2rt/robot_models/arm/yam_pro/README.mdto the versioned v1 pathi2rt/robot_models/arm/yam_pro/v1/README.mdi2rt/robot_models/arm/yam_pro/assets/base.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/base.stl: move the base.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/base.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/base.stli2rt/robot_models/arm/yam_pro/assets/gripper.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/gripper.stl: move the gripper.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/gripper.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/gripper.stli2rt/robot_models/arm/yam_pro/assets/link1.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/link1.stl: move the link1.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/link1.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/link1.stli2rt/robot_models/arm/yam_pro/assets/link2.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/link2.stl: move the link2.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/link2.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/link2.stli2rt/robot_models/arm/yam_pro/assets/link3.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/link3.stl: move the link3.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/link3.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/link3.stli2rt/robot_models/arm/yam_pro/assets/link4.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/link4.stl: move the link4.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/link4.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/link4.stli2rt/robot_models/arm/yam_pro/assets/link5.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/link5.stl: move the link5.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/link5.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/link5.stli2rt/robot_models/arm/yam_pro/assets/tip_left.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/tip_left.stl: move the tip_left.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/tip_left.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/tip_left.stli2rt/robot_models/arm/yam_pro/assets/tip_right.stl -> i2rt/robot_models/arm/yam_pro/v1/assets/tip_right.stl: move the tip_right.stl mesh fromi2rt/robot_models/arm/yam_pro/assets/tip_right.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_pro/v1/assets/tip_right.stli2rt/robot_models/arm/yam_pro/yam_pro.urdf -> i2rt/robot_models/arm/yam_pro/v1/yam_pro.urdf: move the URDF source fromi2rt/robot_models/arm/yam_pro/yam_pro.urdfto the versioned v1 pathi2rt/robot_models/arm/yam_pro/v1/yam_pro.urdfi2rt/robot_models/arm/yam_pro/yam_pro.xml -> i2rt/robot_models/arm/yam_pro/v1/yam_pro.xml: move the MJCF model fromi2rt/robot_models/arm/yam_pro/yam_pro.xmltoi2rt/robot_models/arm/yam_pro/v1/yam_pro.xmland retain the v1-aligned modeli2rt/robot_models/arm/yam_ultra/README.md -> i2rt/robot_models/arm/yam_ultra/v1/README.md: move and update the arm documentation fromi2rt/robot_models/arm/yam_ultra/README.mdto the versioned v1 pathi2rt/robot_models/arm/yam_ultra/v1/README.mdi2rt/robot_models/arm/yam_ultra/assets/base.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/base.stl: move the base.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/base.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/base.stli2rt/robot_models/arm/yam_ultra/assets/gripper.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/gripper.stl: move the gripper.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/gripper.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/gripper.stli2rt/robot_models/arm/yam_ultra/assets/link1.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/link1.stl: move the link1.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/link1.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/link1.stli2rt/robot_models/arm/yam_ultra/assets/link2.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/link2.stl: move the link2.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/link2.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/link2.stli2rt/robot_models/arm/yam_ultra/assets/link3.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/link3.stl: move the link3.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/link3.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/link3.stli2rt/robot_models/arm/yam_ultra/assets/link4.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/link4.stl: move the link4.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/link4.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/link4.stli2rt/robot_models/arm/yam_ultra/assets/link5.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/link5.stl: move the link5.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/link5.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/link5.stli2rt/robot_models/arm/yam_ultra/assets/tip_left.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/tip_left.stl: move the tip_left.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/tip_left.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/tip_left.stli2rt/robot_models/arm/yam_ultra/assets/tip_right.stl -> i2rt/robot_models/arm/yam_ultra/v1/assets/tip_right.stl: move the tip_right.stl mesh fromi2rt/robot_models/arm/yam_ultra/assets/tip_right.stlto the versioned v1 asset pathi2rt/robot_models/arm/yam_ultra/v1/assets/tip_right.stli2rt/robot_models/arm/yam_ultra/yam_ultra.urdf -> i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf: move the URDF source fromi2rt/robot_models/arm/yam_ultra/yam_ultra.urdfto the versioned v1 pathi2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdfi2rt/robot_models/arm/yam_ultra/yam_ultra.xml -> i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xml: move the MJCF model fromi2rt/robot_models/arm/yam_ultra/yam_ultra.xmltoi2rt/robot_models/arm/yam_ultra/v1/yam_ultra.xmland retain the v1-aligned modeli2rt/robot_models/arm/yam_ultra/v2/README.md: document YAM Ultra v2 kinematics, inertial properties, frames, and model conventionsi2rt/robot_models/arm/yam_ultra/v2/assets/base.stl: add the YAM Ultra v2 base.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/assets/gripper.stl: add the YAM Ultra v2 gripper.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/assets/link1.stl: add the YAM Ultra v2 link1.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/assets/link2.stl: add the YAM Ultra v2 link2.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/assets/link3.stl: add the YAM Ultra v2 link3.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/assets/link4.stl: add the YAM Ultra v2 link4.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/assets/link5.stl: add the YAM Ultra v2 link5.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/assets/tip_left.stl: add the YAM Ultra v2 tip_left.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/assets/tip_right.stl: add the YAM Ultra v2 tip_right.stl mesh asseti2rt/robot_models/arm/yam_ultra/v2/yam_ultra.urdf: add the YAM Ultra v2 URDF source modeli2rt/robot_models/arm/yam_ultra/v2/yam_ultra.xml: add the generated YAM Ultra v2 MuJoCo modeli2rt/robots/config/big_yam.yml -> i2rt/robots/config/big_yam_v1.yml: renamei2rt/robots/config/big_yam.ymltoi2rt/robots/config/big_yam_v1.ymlso the arm configuration is explicitly versioned as v1i2rt/robots/config/crank_4310.yml: key terminal-mount transforms by arm model version for the crank gripperi2rt/robots/config/flexible_4310.yml: key terminal-mount transforms by arm model version for the flexible gripperi2rt/robots/config/linear_3507.yml: key terminal-mount transforms by arm model version for the 3507 linear gripperi2rt/robots/config/linear_4310.yml: key terminal-mount transforms by arm model version for the 4310 linear gripperi2rt/robots/config/no_gripper.yml: key terminal-mount transforms by arm model version for arm-only assembliesi2rt/robots/config/yam_pro.yml -> i2rt/robots/config/yam_pro_v1.yml: renamei2rt/robots/config/yam_pro.ymltoi2rt/robots/config/yam_pro_v1.ymlso the arm configuration is explicitly versioned as v1i2rt/robots/config/yam_teaching_handle.yml: key terminal-mount transforms by arm model version for the teaching handlei2rt/robots/config/yam_ultra.yml -> i2rt/robots/config/yam_ultra_v1.yml: renamei2rt/robots/config/yam_ultra.ymltoi2rt/robots/config/yam_ultra_v1.ymlso the arm configuration is explicitly versioned as v1i2rt/robots/config/yam_ultra_v2.yml: add motor, gain, direction, and gravity-compensation configuration for YAM Ultra v2i2rt/robots/config/yam.yml -> i2rt/robots/config/yam_v1.yml: renamei2rt/robots/config/yam.ymltoi2rt/robots/config/yam_v1.ymlso the arm configuration is explicitly versioned as v1i2rt/robots/get_robot.py: thread the requested hardware version through robot configuration and model selectioni2rt/robots/motor_chain_robot.py: add timestamped joint command and observation recording supporti2rt/robots/tests/test_assembly.py: cover version-aware arm and gripper model compositioni2rt/robots/tests/test_motor_chain_recording.py: cover motor-chain command and observation recording behaviori2rt/robots/tests/test_onshape_normalization.py: cover deterministic ONShape URDF normalization behaviori2rt/robots/tests/test_robot_variants.py: cover versioned arm configuration and model selectioni2rt/robots/tests/test_urdf_mjcf_alignment.py: validate home-pose URDF and MJCF alignment across versioned arm modelsi2rt/robots/tests/test_urdf_mjcf_posed_alignment.py: validate posed URDF and MJCF alignment across versioned arm modelsi2rt/robots/utils.py: implement version-aware arm paths, config loading, and gripper mount compositioni2rt/utils/recording.py: add the MCAP-based robot command and observation recorderi2rt/utils/tests/test_recording.py: cover recorder schema, timestamps, serialization, and close behaviorpyproject.toml: add the MCAP ROS 2 support dependency while retaining package version 1.1.2uv.lock: lock the MCAP ROS 2 support dependency graph without changing the package versionHow to Test
uv sync --lockedin a fresh checkout and confirm dependency resolution succeeds without modifyinguv.lock.uv run ruff check .and confirmAll checks passed!.uv run pytest -n autoand confirm all tests pass; the verified release tree produced 374 passed and 2 skipped.uv run pytest i2rt/robots/tests/test_robot_variants.py i2rt/robots/tests/test_assembly.py -vand confirm both v1 and v2 model/config selections pass.uv run pytest i2rt/robots/tests/test_urdf_mjcf_alignment.py i2rt/robots/tests/test_urdf_mjcf_posed_alignment.py -vand confirm home and posed alignment checks pass across supported variants.uv run pytest i2rt/robots/tests/test_motor_chain_recording.py i2rt/utils/tests/test_recording.py -vand confirm command, observation, timestamp, and close behavior passes.🤖 Generated with Claude Code