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.devcontainer/Dockerfile

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FROM node:18.17.1-bookworm
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ENV PS_VERSION=0.12.125 \
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URSIM_VERSION=0.10.147 \
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SDK_VERSION=5.1.45
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SHELL ["/bin/bash", "-c"]
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RUN set -ex; \
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apt-get update && apt-get install -y \
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build-essential \
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ca-certificates \
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curl \
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gnupg \
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sudo \
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tzdata \
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unzip \
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rsync; \
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rm -rf /var/lib/apt/lists/*
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# Install docker
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RUN set -ex; \
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curl -fsSL https://download.docker.com/linux/debian/gpg | gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg; \
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echo \
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"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/debian \
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$(. /etc/os-release && echo "$VERSION_CODENAME") stable" | tee /etc/apt/sources.list.d/docker.list > /dev/null; \
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apt-get update -y; \
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apt-get install -y \
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docker-ce \
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docker-ce-cli \
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containerd.io \
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docker-buildx-plugin \
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docker-compose-plugin \
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gh; \
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rm -rf /var/lib/apt/lists/*
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# Copy zipped files to /
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COPY *.zip /
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# Set up non-root user
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ARG USERNAME=psxdev
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ARG USER_UID=1001
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ARG USER_GID=$USER_UID
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RUN set -ex; \
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groupadd --gid $USER_GID $USERNAME; \
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useradd --uid $USER_UID --gid $USER_GID -m $USERNAME; \
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usermod -aG docker $USERNAME; \
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echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME; \
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chmod 0440 /etc/sudoers.d/$USERNAME
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# unzip files, chown to psxdev
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RUN set -ex; \
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unzip '*.zip'; \
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rm *.zip; \
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chown -R $USERNAME:$USERNAME sdk-polyscopex-${SDK_VERSION}/ ursim-polyscopex-${URSIM_VERSION}/ /usr/local/lib/node_modules/
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USER $USERNAME
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RUN set -ex; \
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pushd /ursim-polyscopex-${URSIM_VERSION} > /dev/null; \
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npm run build-local --prefix artifacts/runtime; \
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popd > /dev/null
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RUN set -ex; \
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pushd /sdk-polyscopex-${SDK_VERSION}/urcap-generator > /dev/null; \
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npm install --no-update-notifier ; \
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npm link; \
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cp -f sh_newurcap ../newurcap.sh; \
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npm config set @universal-robots:registry https://pkgs.dev.azure.com/polyscopex/api/_packaging/polyscopex/npm/registry/; \
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npm config set strict-ssl false; \
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popd > /dev/null

.devcontainer/devcontainer.json

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{
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"name": "polyscopex-sdk-devcontainer",
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"build": {
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"dockerfile": "Dockerfile"
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},
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"mounts": [
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"source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind"
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],
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"appPort": [
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"4200:4200"
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],
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"forwardPorts": [
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4200
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],
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"onCreateCommand": "sudo chmod 666 /var/run/docker.sock",
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"postCreateCommand": {
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"ursim": "sudo chown psxdev:psxdev ${containerWorkspaceFolder} && sudo rm -f run-simulator && ln -s /ursim-polyscopex-0.10.147/run-simulator ${containerWorkspaceFolder}",
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"sdk": "sudo rsync -ac --info=progress2 --exclude=install.sh --exclude=readme.txt /sdk-polyscopex-5.1.45/ ${containerWorkspaceFolder}",
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},
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"postStartCommand": "sudo chmod 666 /var/run/docker.sock",
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"containerEnv": {
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"SHELL": "/bin/bash",
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"DEV_CONTAINER": "true",
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"containerWorkspaceFolder": "${containerWorkspaceFolder}"
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},
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"runArgs": [
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"--add-host=host.docker.internal:host-gateway",
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"--privileged"
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],
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"customizations": {
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"vscode": {
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"extensions": [
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"Angular.ng-template",
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"ZainChen.json",
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"ahern.urscript",
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"ecmel.vscode-html-css",
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"eriklynd.json-tools",
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"ms-azuretools.vscode-docker",
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"ms-python.python",
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"ms-vscode.vscode-typescript-next",
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"redhat.vscode-xml",
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"redhat.vscode-yaml",
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]
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}
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}
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}
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LICENSE.md

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# LICENSE TERMS FOR SDKS
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Version: 1.0 / release date: 2023-11-07
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These License Terms for SDKs (the “Terms”) govern your use of the software development kit(s), including the individual
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components hereof*, (the “SDK”) provided or made available to you by Universal Robots A/S (“Universal Robots”) for the
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purposes of creating, distributing, and/or using products or applications that are compatible with Universal Robots’
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products. The Terms constitute a binding agreement between you and Universal Robots. By accessing, downloading, storing,
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copying, sharing, opening, receiving, or otherwise using or disposing of the SDK, you acknowledge that you are bound by
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the Terms.
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1. PERMITTED USE OF THE SDK
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1.1. Subject to the terms and restrictions herein, Universal Robots hereby grants you a non-exclusive,
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non-transferrable, non-sublicensable, limited license to use the SDK for the purposes of creating, distributing, and/or
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using products or applications that are compatible with Universal Robots’ products, provided that your use does not
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constitute comparative advertising and is not otherwise unfair, disloyal, or disparaging to Universal Robots.
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1.1.1. You may only make copies of the SDK to the extent it is reasonably necessary for you to do so in order for you to
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engage in use permitted pursuant to this Section 1 and for backup purposes.
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1.1.2. Except as permitted by mandatory law, you shall not, under any circumstances, reverse engineer, decompile,
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disassemble, or otherwise attempt to discover, reconstruct, or identify the source code of the SDK or any user interface
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techniques, algorithms, logic, protocol, or specifications included, incorporated, or implemented herein. The foregoing
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shall not apply to non-compiled source code samples provided as part of the SDK.
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1.1.3. You may not in any way use the SDK to create, improve or advertise a product or application that is capable of
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competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future products
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without Universal Robots’ prior written permission.
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1.1.4. If you make any changes to the SDK in accordance with the Terms, you must cause such modifications to carry
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prominent notices stating that the software has been modified by you and the date of modification, and that Universal
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Robots A/S is not liable or responsible for the functioning of the modified software, including, without limitation, for
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its compatibility or interoperability with Universal Robots’ products.
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1.1.5. You may not under any circumstances use the SDK for planning, construction, maintenance, operation, or use,
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directly or indirectly, in nuclear power plants, missile technology, chemical or biological weapons applications or
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flight, navigation, or communication of aircraft or ground support equipment.
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1.1.6. You may not under any circumstances combine the SDK with software or other materials that are subject to licenses
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or restrictions (e.g., open-source software licenses) that would require you to disclose, license, distribute or
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otherwise make all or any parts of the SDK available to anyone (e.g., copyleft terms). For the avoidance of doubt, the
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license to the SDK granted to you by the Terms does not extend to such use of the SDK and it does not allow you to
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comply with such licenses or restrictions.
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1.1.7. You may distribute the SDK or any whole or partial copies thereof to a third party (i) if and to the extent it is
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reasonably necessary for you to do so in order for you to engage in use permitted pursuant to this Section 1, and (ii)
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you provide the recipient with a copy of the Terms. However, you may only make the SDK or any whole or partial copies
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thereof available to the public via download if it is part of a downloadable software package that includes a copy of
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the Terms. If you download a software package that includes the SDK, your use of the SDK will be subject to and governed
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by the latest version of the Terms, which can be found
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here: https://www.universal-robots.com/legal/terms-and-conditions/license_terms_for_sdks.txt, regardless of whether they
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are included in the software package or not.
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1.1.8. You are not allowed to alter, obscure, remove or replace any copyright or other legal notices, trademarks,
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business names and/or logos embedded in, superimposed on, affixed to, or otherwise included in, the SDK without
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Universal Robots’ prior written permission.
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1.1.9. You may show the SDK in whole or in part to a third party or the public in the course of you engaging in the use
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permitted pursuant to this Section 1, provided that you display any copyright notice already contained in the SDK, cf.
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also Section 1.1.8., or, if no such notice is contained therein, you must display the following copyright notice in
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connection with such use: “© 2023 Universal Robots A/S. Use hereof is subject to Universal Robots A/S’ License Terms for
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SDKs.”
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1.2. Any use of the SDK that is not expressly permitted pursuant to this Section 1 constitutes a material breach of the
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Terms.
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1.3. If your intended use of the SDK is not permitted pursuant to the Terms, you may contact Universal Robots via email
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at [email protected] and request a special permission to engage in your particular intended use. Universal
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Robots may, in its sole discretion, grant or deny such a request.
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2. INTELLECTUAL PROPERTY RIGHTS
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2.1. You acknowledge and agree that the SDK and all intellectual property rights contained and/or embodied therein,
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including, but not limited to, rights under the Danish Marketing Practices Act or under similar rules of law, patents,
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utility models, copyrights and related rights, software, trademarks, semiconductors, designs, know-how, rights in
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databases, trade secrets, and all applications or pending applications for such in all cases, whether or not registrable
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in any country, and all rights and forms of protection of a similar nature or having equivalent or similar effect
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anywhere in the world, shall be and remain the sole property of Universal Robots. Nothing in the Terms shall be
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construed as granting you any license to such rights, including, without limitation, any licenses to use Universal
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Robots’ trademarks, patents, or designs, except as is strictly necessary in order for you to engage in the use permitted
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pursuant to Section 1.
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2.2. If you create any derivative works based on the SDK, Universal Robots shall own the intellectual property rights in
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and to such derivative works. The foregoing notwithstanding, you may use such derivative works in connection with your
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use of the SDK in accordance with Section 1. For the avoidance of doubt, solutions, applications, and programs created
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using the SDK shall not constitute derivative works based on the SDK, except to the extent they constitute a
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modification of the SDK itself, and the mere fact that a solution, application, or program is interoperable or only
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interoperable with Universal Robots’ software does not in and of itself make it a derivative work based on the SDK.
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3. NO WARRANTIES, LIMITATIONS OF LIABILITY
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3.1. THE SDK IS PROVIDED ON AN “AS IS” BASIS AND UNIVERSAL ROBOTS MAKES NO WARRANTY OF ANY KIND WITH RESPECT TO THE SDK
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AND WE HEREBY EXPRESSLY EXCLUDE ANY WARRANTIES WITH RESPECT THERETO, WHETHER EXPRESS, IMPLIED, STATUTORY OR OTHERWISE,
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INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A PARTICULAR
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PURPOSE, TITLE, NONINFRINGEMENT, ACCURACY OR ANY OTHER WARRANTIES OR GUARANTEES THAT MAY ARISE FROM COURSE OF DEALING,
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USAGE, OR TRADE PRACTICE. NEITHER UNIVERSAL ROBOTS NOR ITS SUPPLIERS, INCLUDING – WITHOUT LIMITATION – ITS LICENSORS,
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MAKE ANY REPRESENTATION, WARRANTY, OR OTHER COMMITMENT REGARDING (1) THE USE OR INABILITY TO USE THE SDK; OR (2) ANY
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RESULTS OF SUCH USE IN TERMS OF CORRECTNESS, ACCURACY, OR RELIABILITY. YOU UNDERSTAND AND AGREE THAT YOU ASSUME THE
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ENTIRE RISK AS TO YOUR USE OF THE SDK.
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3.2. TO THE EXTENT PERMITTED BY LAW, IN NO EVENT WILL UNIVERSAL ROBOTS BE LIABLE FOR ANY LOSSES OR DAMAGES INCURRED BY
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YOU, WHETHER DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY OR CONSEQUENTIAL, INCLUDING LOSS OF ANTICIPATED PROFITS,
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SAVINGS, INTERRUPTION TO BUSINESS, LOSS OF BUSINESS OPPORTUNITIES, LOSS OF BUSINESS INFORMATION OR OTHER DATA, THE COST
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OF RECOVERING SUCH LOST INFORMATION OR DATA, THE COST OF SUBSTITUTE INTELLECTUAL PROPERTY OR ANY OTHER PECUNIARY LOSS
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ARISING FROM THE USE OF, OR THE INABILITY TO USE, THE SDK REGARDLESS OF WHETHER UNIVERSAL ROBOTS HAS BEEN ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGES. THE FOREGOING LIMITATIONS APPLY REGARDLESS OF THE CAUSE OR CIRCUMSTANCES GIVING RISE TO
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SUCH LOSS, DAMAGE OR LIABILITY, EVEN IF SUCH LOSS, DAMAGE OR LIABILITY IS BASED ON NEGLIGENCE OR OTHER TORTS OR BREACH
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OF CONTRACT.
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4. INDEMNIFICATION
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against all sums, claims, costs, duties, liabilities, losses, obligations, suits, actions, damages, penalties, awards,
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fines, interest, and other expenses (including investigation expenses and attorneys’ fees) that Universal Robots may
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incur or be obligated to pay as a result of your modification, whether authorized or unauthorized, of the SDK as well as
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of your unauthorized use, resale, transfer, shipment, or export of the SDK.
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5. MISCELLANEOUS
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5.1. Entire Agreement. Except as otherwise explicitly provided for herein, the Terms constitute the entire agreement and
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supersede all prior negotiations, promises, understandings, and agreements between the parties with respect to the
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subject matter hereof.
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5.2. Changes to the Terms. Universal Robots reserves the right, in its sole and absolute discretion, to cmodify the
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Terms by providing you with ninety (90) days’ notice.
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5.3. Obligations on Legal Successors. The parties undertake to impose the obligations under the Terms on their statutory
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or contractual legal successors, if any.
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5.4. Export Laws. You agree to comply with all applicable laws and regulations, including export laws of the United
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States and any other applicable country or jurisdiction. You agree that the SDK will not be shipped, transferred, or
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exported into any country or used in any manner prohibited by the United States Export Administration Act or any other
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country’s export laws, restrictions, or regulations (collectively the “Export Laws”). In addition, if the SDK are
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identified as export controlled items under the Export Laws, you represent and warrant that you are not a citizen, or
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otherwise located within, an embargoed nation and that you are not otherwise prohibited under the Export Laws from
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receiving the SDK.
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5.5. No Agency. The parties are independent contractors and nothing in the Terms shall be construed as to create an
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agency, joint venture, partnership, or other form of business association between the parties.
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expiration of the Terms, such provisions, including but not limited to provisions governing warranties and
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representations and the transfer of rights, title and interest to Universal Robots, shall to this extent remain in
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effect and be fully enforceable also after the termination or expiration of the Terms for whatever reason.
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6. TERM AND TERMINATION
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6.1. The Terms shall enter into force upon your receipt of, or you accessing, the SDK and continue to be in force until
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terminated in accordance with this Section 6. The Terms shall automatically expire at such time as you are no longer
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permitted to use the SDK in accordance with Section 1.
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6.2. You may terminate the Terms for convenience at any time by deleting all copies of the SDK in your possession.
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Universal Robots may terminate the Terms for convenience by providing you with ninety (90) days’ notice.
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6.3. Universal Robots may terminate the Terms for cause with immediate effect in case of your material breach of the
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Terms.
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7. EFFECTS OF TERMINATION
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7.1. Upon expiration or termination of the Terms, for whatever reason, you must immediately cease all use of the SDK and
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delete all copies of the SDK in your possession.
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8. GOVERNING LAW AND VENUE
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8.1. The Terms shall be governed by and construed in accordance with the laws of Denmark, without giving effect to
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conflict of law provisions thereof. The parties expressly disclaim the applicability of the United Nations Convention on
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Contracts for the International Sale of Goods.
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8.2. Any and all disputes arising out of or in connection with the Terms shall be submitted to the International Chamber
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of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1)
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arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The
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arbitration shall be conducted in the English language. The foregoing notwithstanding, Universal Robots may seek
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preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent
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jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent
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jurisdiction.
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*E.g., URsim, SDK base images, SDK documentation, sample program nodes and SDK APIs. Other “Software”, as defined in
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Universal Robots End User Software License Agreement, does not constitute “SDK” under these Terms and your use thereof
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is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License
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Agreement. “Graphical Documentation”, as defined in Universal Robots’ Terms and Conditions for Use of Graphical
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Documentation, does not constitute “SDK” under these Terms and your use thereof is, unless otherwise agreed with
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Universal Robots in writing, governed by Universal Robots’ Terms and Conditions for Use of Graphical Documentation.

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