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CHANGELOG.md

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@@ -497,7 +497,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
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### Changed
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* Allow str | int as joint type in `compas.robots.Joint` constructor.
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* Allow str or int as joint type in `compas.robots.Joint` constructor.
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* Moved json schemas to `compas.data`.
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* Nested json schemas.
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* `compas_ghpython.artists.FrameArtist.draw` now draws a Rhino Plane.

docs/api.rst

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Class names are written in "CamelCase".
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* :class:`~compas.datastructures.Mesh`,
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* :class:`~compas.datastructures.VolMesh`,
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* :class:`~compas.geometry.Point`,
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* :class:`~compas_rhino.artists.BoxArtist`,
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* :class:`~compas_blender.artists.LineArtist`,
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* :class:`compas.datastructures.Mesh`,
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* :class:`compas.datastructures.VolMesh`,
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* :class:`compas.geometry.Point`,
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* :class:`compas_rhino.artists.BoxArtist`,
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* :class:`compas_blender.artists.LineArtist`,
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* ...
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All other names use the "snake_case" naming convention.
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* - Alias
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- Full Type Information
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* - ``point``
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- ``[float, float, float]`` | :class:`~compas.geometry.Point`
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- ``[float, float, float]`` | :class:`compas.geometry.Point`
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* - ``vector``
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- ``[float, float, float]`` | :class:`~compas.geometry.Vector`
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- ``[float, float, float]`` | :class:`compas.geometry.Vector`
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* - ``quaternion``
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- ``[float, float, float, float]`` | :class:`~compas.geometry.Quaternion`
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- ``[float, float, float, float]`` | :class:`compas.geometry.Quaternion`
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Note the use of ``a | b`` instead of ``Union[a, b]``.
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Type aliases can also be nested to further improve legibility of more complex types.
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* - Alias
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- Full Type Information
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* - ``line``
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- ``[point, point]`` | :class:`~compas.geometry.Line`
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- ``[point, point]`` | :class:`compas.geometry.Line`
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* - ``plane``
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- ``[point, vector]`` | :class:`~compas.geometry.Plane`
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- ``[point, vector]`` | :class:`compas.geometry.Plane`
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* - ``frame``
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- ``[point, vector, vector]`` | :class:`~compas.geometry.Frame`
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- ``[point, vector, vector]`` | :class:`compas.geometry.Frame`
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* - ``circle``
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- ``[plane, float]``| :class:`~compas.geometry.Circle`
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- ``[plane, float]``| :class:`compas.geometry.Circle`
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* - ``ellipse``
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- ``[plane, float, float]`` | :class:`~compas.geometry.Ellipse`
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- ``[plane, float, float]`` | :class:`compas.geometry.Ellipse`
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* - ``polyline``
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- ``Sequence[point]`` | :class:`~compas.geometry.Polyline`
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- ``Sequence[point]`` | :class:`compas.geometry.Polyline`
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* - ``polygon``
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- ``Sequence[point]`` | :class:`~compas.geometry.Polygon`
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- ``Sequence[point]`` | :class:`compas.geometry.Polygon`

docs/tutorial/colors.rst

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@@ -12,7 +12,7 @@ In COMPAS colors are defined in RGB color space, with components in the range of
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The RGB Color Circle
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====================
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The color class (:class:`~compas.colors.Color`) provides constructor methods
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The color class (:class:`compas.colors.Color`) provides constructor methods
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for the primary, secondary, and tertiary colors of the RGB color wheel or color circle.
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**Primary**
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Lighter and Darker Colors
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=========================
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The color class (:class:`~compas.colors.Color`) provides methods to generate lighter and darker variations of a given color.
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The color class (:class:`compas.colors.Color`) provides methods to generate lighter and darker variations of a given color.
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The methods can be used to modify the colors in-place (:meth:`compas.colors.Color.lighten` and :meth:`compas.colors.Color.darken`),
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or to generate new colors (:meth:`compas.colors.Color.lightened` and :meth:`compas.colors.Color.darkened`).
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Color Maps
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==========
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Using :class:`~compas.colors.ColorMap`, color maps can be constructed from various color inputs.
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Using :class:`compas.colors.ColorMap`, color maps can be constructed from various color inputs.
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* :meth:`compas.colors.ColorMap.from_rgb`
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* :meth:`compas.colors.ColorMap.from_color`

docs/tutorial/data.rst

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.. rst-class:: lead
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The data package provides a base class (:class:`~compas.data.Data`) for all data objects in the COMPAS framework (see :ref:`Inheritance Diagrams`),
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The data package provides a base class (:class:`compas.data.Data`) for all data objects in the COMPAS framework (see :ref:`Inheritance Diagrams`),
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the mechanism for serialization of data to JSON format,
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and the base infrastructure for validation of the data of COMPAS objects in both the original Python and serialized JSON formats.
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docs/tutorial/networks.rst

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.. themseleves.
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.. Check out the docs for detailed information about the network and the available
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.. functionality: :class:`~compas.datastructures.Network`.
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.. functionality: :class:`compas.datastructures.Network`.

docs/tutorial/plotters.rst

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of COMPAS objects based on matplotlib.
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The package contains four types of plotters:
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:class:`~compas_plotters.GeometryPlotter`,
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:class:`~compas_plotters.NetworkPlotter`,
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:class:`~compas_plotters.MeshPlotter`, and ... :class:`~compas_plotters.Plotter`.
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The first three are deprecated in favour of :class:`~compas_plotters.Plotter`, which is therefore the only one that will be described in this tutorial.
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:class:`compas_plotters.GeometryPlotter`,
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:class:`compas_plotters.NetworkPlotter`,
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:class:`compas_plotters.MeshPlotter`, and ... :class:`compas_plotters.Plotter`.
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The first three are deprecated in favour of :class:`compas_plotters.Plotter`, which is therefore the only one that will be described in this tutorial.
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Example
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Basic Usage
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===========
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Using :class:`~compas_plotters.Plotter` is very simple.
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Using :class:`compas_plotters.Plotter` is very simple.
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1. Create a plotter instance.
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2. Add Objects.
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Most of the geometry primitives are supported
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and can be added to a plotter instance as described above:
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* :class:`~compas.geometry.Point`
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* :class:`~compas.geometry.Vector`
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* :class:`~compas.geometry.Line`
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* :class:`~compas.geometry.Circle`
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* :class:`~compas.geometry.Ellipse`
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* :class:`~compas.geometry.Polyline`
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* :class:`~compas.geometry.Polygon`
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* :class:`compas.geometry.Point`
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* :class:`compas.geometry.Vector`
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* :class:`compas.geometry.Line`
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* :class:`compas.geometry.Circle`
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* :class:`compas.geometry.Ellipse`
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* :class:`compas.geometry.Polyline`
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* :class:`compas.geometry.Polygon`
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Bezier curves and pointclouds are currently not available yet, but will be added as well.
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Note that in all cases, the ``z`` coordinates of the objects are simply ignored, and only a 2D representation is depicted.
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- Value
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- Default
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* - ``point``
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- :class:`~compas.geometry.Point`
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- :class:`compas.geometry.Point`
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- ``None``
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* - ``draw_point``
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- :obj:`bool`

docs/tutorial/robots.rst

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.. currentmodule:: compas.geometry
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One of the most basic concepts related to robotics that COMPAS provides are
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coordinate frames, which are described using the :class:`~compas.geometry.Frame` class.
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coordinate frames, which are described using the :class:`compas.geometry.Frame` class.
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In any robotic setup, there exist multiple coordinate frames, and each one is defined
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>>> f6 = Frame.from_quaternion([1, 0, 0, 0], point=[0, 0, 0])
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The relationship between coordinate frames is expressed as a
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:class:`~compas.geometry.Transformation` between the two, for example:
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:class:`compas.geometry.Transformation` between the two, for example:
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::
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Building robots models
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======================
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Robot models are represented by the :class:`~compas.robots.RobotModel` class.
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Robot models are represented by the :class:`compas.robots.RobotModel` class.
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There are various ways to construct a robot model. The following snippet
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shows how to construct one programmatically:
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This approach can end up being very verbose, so the methods ``add_link``
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and ``add_joint`` of :class:`~compas.robots.RobotModel` offer an alternative that
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and ``add_joint`` of :class:`compas.robots.RobotModel` offer an alternative that
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significantly reduces the amount of code required. Starting with an empty
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robot model, adding a link in the shape of a box is as easy as:
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This code snippet can be modified and run in a Rhino python editor
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to visualize Boxy. Throughout the rest of this tutorial, the code
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snippets will include the lines for visualization in Rhino, but be
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aware that the class :class:`~compas.robots.RobotModel` can be used,
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aware that the class :class:`compas.robots.RobotModel` can be used,
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and is useful, outside of a CAD environment.
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.. code-block:: python
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As can be seen, this has added a box of dimensions ``1`` x ``2`` x ``.5``
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whose geometric center and orientation coincides with the world XY frame.
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The ``visual_meshes`` argument can be given a list containing COMPAS
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primitives such as :class:`~compas.geometry.Box` or the more complex
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COMPAS meshes :class:`~compas.geometry.Mesh`. For simplicity,
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primitives such as :class:`compas.geometry.Box` or the more complex
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COMPAS meshes :class:`compas.geometry.Mesh`. For simplicity,
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this tutorial uses only primitives.
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To reposition the box relative to the link's

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