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‎.github/workflows/CI.yml

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name: CI
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on:
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push:
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branches:
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- master
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tags: ['*']
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pull_request:
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branches:
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- master
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concurrency:
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# Skip intermediate builds: always.
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# Cancel intermediate builds: only if it is a pull request build.
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: ${{ startsWith(github.ref, 'refs/pull/') }}
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jobs:
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test:
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name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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version:
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# - '1.0'
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- '1.9'
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- 'nightly'
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os:
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- ubuntu-latest
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arch:
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- x64
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: 'true'
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- uses: julia-actions/setup-julia@v1
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with:
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version: ${{ matrix.version }}
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arch: ${{ matrix.arch }}
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- uses: julia-actions/cache@v1
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- uses: julia-actions/julia-buildpkg@v1
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- uses: julia-actions/julia-runtest@v1

‎.github/workflows/CompatHelper.yml

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name: CompatHelper
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on:
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schedule:
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- cron: 0 0 * * *
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workflow_dispatch:
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permissions:
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contents: write
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pull-requests: write
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jobs:
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CompatHelper:
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runs-on: ubuntu-latest
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steps:
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- name: Check if Julia is already available in the PATH
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id: julia_in_path
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run: which julia
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continue-on-error: true
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- name: Install Julia, but only if it is not already available in the PATH
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uses: julia-actions/setup-julia@v2
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with:
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version: '1'
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arch: ${{ runner.arch }}
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if: steps.julia_in_path.outcome != 'success'
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- name: "Add the General registry via Git"
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run: |
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import Pkg
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ENV["JULIA_PKG_SERVER"] = ""
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Pkg.Registry.add("General")
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shell: julia --color=yes {0}
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- name: "Install CompatHelper"
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run: |
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import Pkg
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name = "CompatHelper"
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uuid = "aa819f21-2bde-4658-8897-bab36330d9b7"
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version = "3"
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Pkg.add(; name, uuid, version)
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shell: julia --color=yes {0}
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- name: "Run CompatHelper"
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run: |
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import CompatHelper
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CompatHelper.main()
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shell: julia --color=yes {0}
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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# This repo uses Documenter, so we can reuse our [Documenter SSH key](https://documenter.juliadocs.org/stable/man/hosting/walkthrough/).
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# If we didn't have one of those setup, we could configure a dedicated ssh deploy key `COMPATHELPER_PRIV` following https://juliaregistries.github.io/CompatHelper.jl/dev/#Creating-SSH-Key.
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# Either way, we need an SSH key if we want the PRs that CompatHelper creates to be able to trigger CI workflows themselves.
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# That is because GITHUB_TOKEN's can't trigger other workflows (see https://docs.github.com/en/actions/security-for-github-actions/security-guides/automatic-token-authentication#using-the-github_token-in-a-workflow).
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# Check if you have a deploy key setup using these docs: https://docs.github.com/en/authentication/keeping-your-account-and-data-secure/reviewing-your-deploy-keys.
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COMPATHELPER_PRIV: ${{ secrets.DOCUMENTER_KEY }}
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# COMPATHELPER_PRIV: ${{ secrets.COMPATHELPER_PRIV }}

‎.github/workflows/TagBot.yml

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name: TagBot
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on:
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issue_comment:
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types:
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- created
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workflow_dispatch:
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jobs:
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TagBot:
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if: github.event_name == 'workflow_dispatch' || github.actor == 'JuliaTagBot'
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runs-on: ubuntu-latest
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steps:
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- uses: JuliaRegistries/TagBot@v1
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with:
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token: ${{ secrets.GITHUB_TOKEN }}
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ssh: ${{ secrets.DOCUMENTER_KEY }}

‎.github/workflows/documentation.yml

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name: Documentation
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on:
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push:
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branches:
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- main
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tags: '*'
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pull_request:
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jobs:
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build:
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permissions:
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actions: write
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contents: write
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pull-requests: read
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statuses: write
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: julia-actions/setup-julia@v2
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with:
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version: '1'
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- uses: julia-actions/cache@v2
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- name: Install dependencies
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run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
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- name: Build and deploy
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # If authenticating with GitHub Actions token
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DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }} # If authenticating with SSH deploy key
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run: julia --project=docs/ docs/make.jl

‎.gitignore

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Manifest.toml
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*.mp4
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*.pdf
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*.bak
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*.pb.gz
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.vscode
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docs/build/*

‎.gitmodules

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[submodule "RSONs"]
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path = RSONs
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url = [email protected]:Larbino1/RSONs.git

‎LICENSE

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MIT License
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Copyright (c) 2023 Daniel Larby
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎Project.toml

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name = "VMRobotControl"
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uuid = "7d923390-5bb2-4b12-9c06-5b46ef7ec375"
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authors = ["Daniel Larby <[email protected]>"]
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version = "0.1.0"
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[deps]
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BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
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ColorTypes = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
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Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
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DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
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DiffResults = "163ba53b-c6d8-5494-b064-1a9d43ac40c5"
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DigitalAssetExchangeFormatIO = "43182933-f65b-495a-9e05-4d939cea427d"
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EzXML = "8f5d6c58-4d21-5cfd-889c-e3ad7ee6a615"
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FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
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FileWatching = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
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ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
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FunctionWrappers = "069b7b12-0de2-55c6-9aab-29f3d0a68a2e"
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GeometryBasics = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
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Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
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InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
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JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
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LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
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LoopVectorization = "bdcacae8-1622-11e9-2a5c-532679323890"
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MeshIO = "7269a6da-0436-5bbc-96c2-40638cbb6118"
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Observables = "510215fc-4207-5dde-b226-833fc4488ee2"
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OrderedCollections = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
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Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
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PreallocationTools = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
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Profile = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79"
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Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
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ResultTypes = "08a2b407-ddc3-586a-afd6-c784ad1fffe2"
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SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
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StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
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StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
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Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
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UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
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[weakdeps]
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DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
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Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
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[extensions]
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VMRobotControlDifferentialEquationsExt = "DifferentialEquations"
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VMRobotControlMakieExt = "Makie"
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[compat]
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BenchmarkTools = "1"
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ColorTypes = ">= 0.11"
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Colors = ">= 0.12"
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DataStructures = ">= 0.18"
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DifferentialEquations = "7"
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DiffResults = "1"
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DigitalAssetExchangeFormatIO = ">= 1.1.2" # This is required, previous versions broken
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EzXML = "1"
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FileIO = "1"
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ForwardDiff = ">= 0.10"
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FunctionWrappers = "1"
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GeometryBasics = ">= 0.4"
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Graphs = "1"
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JSON = ">= 0.21"
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LoopVectorization = ">= 0.12"
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Makie = ">= 0.21"
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MeshIO = ">= 0.4"
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Observables = ">= 0.5"
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OrderedCollections = "1"
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PreallocationTools = ">= 0.4"
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ResultTypes = "4"
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StaticArrays = ">= 1.8.1" # Manual
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StatsBase = ">= 0.34"
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Pkg = "1"
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SparseArrays = "1"
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[extras]
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DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
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Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
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ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
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Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
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[targets]
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test = ["Test", "ProgressMeter"]

‎README.md

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# VMRobotControl.jl
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![VMRobotControl.jl logo](docs/src/assets/Logo.svg)
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VMRobotControl allows you to build dynamic controllers for your robot as intuitive
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virtual mechanisms.
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You design your controller by building a virtual mechanism.
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You connect the virtual mechanism to the robot through compliant elements (like springs and dampers).
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The control action is automatically translated to the robot actuators (desired joint forces/torques).
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This package is designed for building, simulating and controlling robots
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using passivity-based controllers represented by virtual mechanisms.
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This is in the tradition of *virtual model control* and *energy shaping/damping injection*.
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For a defined robot geometry, you can select specific *coordinates* and connect
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*components* to shape the robot dynamic properties.
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properties.
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This provides a simple way to program complex robot behaviour incrementally, from mechanical
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primitives.
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# Installation
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Julia must be installed, I recommend using [juliaup](https://github.com/JuliaLang/juliaup). `VMRobotControl.jl` is only tested on the latest julia version.
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Then, from the Julia REPL run:
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```julia
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using Pkg
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Pkg.add("VMRobotControl")
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```
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To load the package, use the command:
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```julia
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using VMRobotControl
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```
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## Developer installation
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Then clone [the github repository](https://github.com/Cambridge-Control-Lab/VMRobotControl.jl), and navigate to the repos's root folder in a terminal, e.g.
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```
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git clone [email protected]:Cambridge-Control-Lab/VMRobotControl.jl.git
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```
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Run julia and hit the `]` key to enter the `Pkg` context for managing packages/environments.
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Run the following sequence of commands:
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```
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registry update
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develop ./VMRobotControl.jl
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```
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This updates the package registry from online, then marks the folder `VMRobotControl.jl` as a
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package under development.
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To check things are working, while still in the `Pkg` context, you can run the packages self-tests
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by activating the packages environment, and running test
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```
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activate ./VMRobotControl.jl
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test
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```
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# Manually building documentation
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Activate the docs environment, from the VMRobotControl.jl folder:
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```
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activate docs
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add DifferentialEquations, Documenter, FileIO, ForwardDiff, GLMakie, Literate, LiveServer, MeshIO, StaticArrays
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```
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Then, run the contents of `./docs/make.jl`...
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```julia
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include("./docs/make.jl")
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```
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and host them using `LiveServer.jl`:
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```julia
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include("./docs/make.jl")
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```

‎RSONs/README.md

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# RSONs
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Collection of robots in "Robot Structured Object Notation" format.
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This format is still in development, does not have a publicly available parser, and is subject to change.
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The motivation behind this format is twofold:
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- To develop a portable definition format in plaintext for robots which goes beyond kinematic/inertial properties, allowing the definition of springs, dampers, inerters and other components.
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- To develop a format which is not based upon XML (such as URDF), because I don't like it.
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## Franka panda
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Frank panda inertial parameters are taken from https://github.com/frankaemika/franka_ros/blob/develop/franka_description/robots/common/inertial.yaml

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