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Phase 3: Project structure (#132)
* Add common directory Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * New project structure Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * Fix pytest Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * Fixed Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * Move shell folder out of ctx Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * Delete folder src/lambkin/core/ctx/shell Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * Fix some docstrings problems Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * Add license Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * Fix params file Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> * Format Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com> --------- Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com>
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‎examples/__init__.py‎

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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""LAMBKIN: Localization And Mapping BenchmarKINg SDK."""
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from .lambkin_benchmarking import execute_background_process, wait_for_processes
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__all__ = [
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"execute_background_process",
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"wait_for_processes",
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]

src/lambkin/lambkin.py renamed to examples/lambkin_benchmarking.py

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#!/usr/bin/env python3
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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Lambkin library to execute and benchmark Localization and Mapping algorithms."""
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import shutil

‎lambkin_ros2/CMakeLists.txt‎

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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.16)
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project(lambkin_ros2)
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find_package(ament_cmake REQUIRED)

‎lambkin_ros2/launch/beluga.launch.py‎

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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Launch file for the Beluga AMCL benchmarking environment."""
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import os

‎pyproject.toml‎

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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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[build-system]
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requires = ["uv_build>=0.10.3,<0.11.0"]
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build-backend = "uv_build"
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[tool.pytest.ini_options]
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testpaths = ["test"]
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pythonpath = ["src"]
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pythonpath = [".",
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"examples"]

‎src/lambkin/__init__.py‎

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"""LAMBKIN: Localization And Mapping BenchmarKINg SDK."""
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from .lambkin import execute_background_process, wait_for_processes
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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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__all__ = [
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"execute_background_process",
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"wait_for_processes",
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]
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"""LAMBKIN: Localization And Mapping BenchmarKINg SDK."""

‎src/lambkin/common/__init__.py‎

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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Common utilities and primitives shared across the lambkin SDK.
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Exposes named_product and all base exceptions for convenience.
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"""

‎src/lambkin/common/exceptions.py‎

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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Base exceptions for the lambkin SDK.
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All errors raised by lambkin inherit from LambkinError, allowing callers to
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catch SDK-specific failures with a single except clause.
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"""

‎src/lambkin/common/named_product.py‎

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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Named product factory for lambkin benchmarks.
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Provides named_product(), a utility to generate combinatorial parameter sets.
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Used to define benchmark configurations in a readable and structured way.
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"""

‎src/lambkin/core/__init__.py‎

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# Copyright 2026 Ekumen, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Core internals of the lambkin SDK.
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Contains the benchmark execution engine: context lifecycle, process management,
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shell utilities, and decorators. Not intended to be imported directly by end
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users — use the top-level lambkin package instead.
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"""

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