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/usr/share/sadms-2.0.15/ssh-nopassword.expect is in sadms 2.0.15.repack-0ubuntu2.

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# bbou@ac-toulouse.fr
# 2005-08-15 08:23:21 
# expect-ssh-nopasswd

set HOST [lindex $argv 0]
set USER [lindex $argv 1]
set COMMAND [lindex $argv 2]

set timeout -1
log_user 0
spawn ssh -l $USER $HOST $COMMAND
expect {
 "Enter passphrase for key" 
		{ 
		close
		wait
		exit -1
		} 
 "password:"	{ 
		close
		wait
		exit -1
		}
 "Password:"	{ 
		close
		wait
		exit -1
		}
 default 	{
		log_user 1
		send_user $expect_out(buffer)
		}
}
set result [lindex [wait] 3]
if {$result} {
	#puts -nonewline "$expect_out(buffer)"
	exit $result
}
exit 0