├── .circleci └── config.yml ├── .github ├── FUNDING.yml ├── ISSUE_TEMPLATE │ └── bug_report.md ├── codeql │ └── codeql-config.yml ├── dependabot.yml ├── pull_request_template.md └── workflows │ ├── Linux_CI.yml │ ├── MacOS_CI.yml │ ├── Windows_CI.yml │ ├── circleci-artifacts-redirector.yml │ ├── codeql.yml │ └── gh-pages.yml ├── .gitignore ├── AerialNavigation ├── __init__.py ├── drone_3d_trajectory_following │ ├── Quadrotor.py │ ├── TrajectoryGenerator.py │ ├── __init__.py │ └── drone_3d_trajectory_following.py └── rocket_powered_landing │ └── rocket_powered_landing.py ├── ArmNavigation ├── __init__.py ├── arm_obstacle_navigation │ ├── arm_obstacle_navigation.py │ └── arm_obstacle_navigation_2.py ├── n_joint_arm_3d │ ├── NLinkArm3d.py │ ├── __init__.py │ ├── random_forward_kinematics.py │ └── random_inverse_kinematics.py ├── n_joint_arm_to_point_control │ ├── NLinkArm.py │ ├── __init__.py │ └── n_joint_arm_to_point_control.py ├── rrt_star_seven_joint_arm_control │ └── rrt_star_seven_joint_arm_control.py └── two_joint_arm_to_point_control │ └── two_joint_arm_to_point_control.py ├── Bipedal ├── __init__.py └── bipedal_planner │ ├── __init__.py │ └── bipedal_planner.py ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── InvertedPendulum ├── inverted_pendulum_lqr_control.py └── inverted_pendulum_mpc_control.py ├── LICENSE ├── Localization ├── __init__.py ├── cubature_kalman_filter │ └── cubature_kalman_filter.py ├── ensemble_kalman_filter │ └── ensemble_kalman_filter.py ├── extended_kalman_filter │ ├── ekf_with_velocity_correction.py │ └── extended_kalman_filter.py ├── histogram_filter │ └── histogram_filter.py ├── particle_filter │ └── particle_filter.py └── unscented_kalman_filter │ └── unscented_kalman_filter.py ├── Mapping ├── DistanceMap │ └── distance_map.py ├── __init__.py ├── circle_fitting │ └── circle_fitting.py ├── gaussian_grid_map │ └── gaussian_grid_map.py ├── grid_map_lib │ ├── __init__.py │ └── grid_map_lib.py ├── kmeans_clustering │ └── kmeans_clustering.py ├── lidar_to_grid_map │ ├── lidar01.csv │ └── lidar_to_grid_map.py ├── ndt_map │ └── ndt_map.py ├── normal_vector_estimation │ └── normal_vector_estimation.py ├── point_cloud_sampling │ └── point_cloud_sampling.py ├── ray_casting_grid_map │ └── ray_casting_grid_map.py └── rectangle_fitting │ ├── __init_.py │ ├── rectangle_fitting.py │ └── simulator.py ├── MissionPlanning ├── BehaviorTree │ ├── behavior_tree.py │ ├── robot_behavior_case.py │ └── robot_behavior_tree.xml └── StateMachine │ ├── robot_behavior_case.py │ └── state_machine.py ├── PathPlanning ├── AStar │ ├── a_star.py │ ├── a_star_searching_from_two_side.py │ └── a_star_variants.py ├── BSplinePath │ └── bspline_path.py ├── BatchInformedRRTStar │ └── batch_informed_rrt_star.py ├── BezierPath │ └── bezier_path.py ├── BidirectionalAStar │ └── bidirectional_a_star.py ├── BidirectionalBreadthFirstSearch │ └── bidirectional_breadth_first_search.py ├── BreadthFirstSearch │ └── breadth_first_search.py ├── BugPlanning │ └── bug.py ├── Catmull_RomSplinePath │ ├── blending_functions.py │ └── catmull_rom_spline_path.py ├── ClosedLoopRRTStar │ ├── closed_loop_rrt_star_car.py │ ├── pure_pursuit.py │ └── unicycle_model.py ├── ClothoidPath │ └── clothoid_path_planner.py ├── CubicSpline │ ├── __init__.py │ ├── cubic_spline_planner.py │ └── spline_continuity.py ├── DStar │ └── dstar.py ├── DStarLite │ └── d_star_lite.py ├── DepthFirstSearch │ └── depth_first_search.py ├── Dijkstra │ └── dijkstra.py ├── DubinsPath │ ├── __init__.py │ └── dubins_path_planner.py ├── DynamicMovementPrimitives │ └── dynamic_movement_primitives.py ├── DynamicWindowApproach │ └── dynamic_window_approach.py ├── ElasticBands │ ├── elastic_bands.py │ ├── obstacles.npy │ └── path.npy ├── Eta3SplinePath │ └── eta3_spline_path.py ├── Eta3SplineTrajectory │ └── eta3_spline_trajectory.py ├── FlowField │ └── flowfield.py ├── FrenetOptimalTrajectory │ ├── cartesian_frenet_converter.py │ └── frenet_optimal_trajectory.py ├── GreedyBestFirstSearch │ └── greedy_best_first_search.py ├── GridBasedSweepCPP │ └── grid_based_sweep_coverage_path_planner.py ├── HybridAStar │ ├── __init__.py │ ├── car.py │ ├── dynamic_programming_heuristic.py │ └── hybrid_a_star.py ├── InformedRRTStar │ └── informed_rrt_star.py ├── LQRPlanner │ └── lqr_planner.py ├── LQRRRTStar │ └── lqr_rrt_star.py ├── ModelPredictiveTrajectoryGenerator │ ├── __init__.py │ ├── lookup_table_generator.py │ ├── motion_model.py │ └── trajectory_generator.py ├── ParticleSwarmOptimization │ └── particle_swarm_optimization.py ├── PotentialFieldPlanning │ └── potential_field_planning.py ├── ProbabilisticRoadMap │ └── probabilistic_road_map.py ├── QuinticPolynomialsPlanner │ └── quintic_polynomials_planner.py ├── RRT │ ├── __init__.py │ ├── rrt.py │ ├── rrt_with_pathsmoothing.py │ ├── rrt_with_sobol_sampler.py │ └── sobol │ │ ├── __init__.py │ │ └── sobol.py ├── RRTDubins │ ├── __init__.py │ └── rrt_dubins.py ├── RRTStar │ ├── __init__.py │ └── rrt_star.py ├── RRTStarDubins │ └── rrt_star_dubins.py ├── RRTStarReedsShepp │ └── rrt_star_reeds_shepp.py ├── ReedsSheppPath │ └── reeds_shepp_path_planning.py ├── SpiralSpanningTreeCPP │ ├── map │ │ ├── test.png │ │ ├── test_2.png │ │ └── test_3.png │ └── spiral_spanning_tree_coverage_path_planner.py ├── StateLatticePlanner │ ├── __init__.py │ ├── lookup_table.csv │ └── state_lattice_planner.py ├── ThetaStar │ └── theta_star.py ├── TimeBasedPathPlanning │ ├── BaseClasses.py │ ├── GridWithDynamicObstacles.py │ ├── Node.py │ ├── Plotting.py │ ├── PriorityBasedPlanner.py │ ├── SafeInterval.py │ ├── SpaceTimeAStar.py │ └── __init__.py ├── VisibilityRoadMap │ ├── __init__.py │ ├── geometry.py │ └── visibility_road_map.py ├── VoronoiRoadMap │ ├── __init__.py │ ├── dijkstra_search.py │ └── voronoi_road_map.py ├── WavefrontCPP │ ├── map │ │ ├── test.png │ │ ├── test_2.png │ │ └── test_3.png │ └── wavefront_coverage_path_planner.py └── __init__.py ├── PathTracking ├── __init__.py ├── cgmres_nmpc │ └── cgmres_nmpc.py ├── lqr_speed_steer_control │ └── lqr_speed_steer_control.py ├── lqr_steer_control │ ├── __init__.py │ └── lqr_steer_control.py ├── model_predictive_speed_and_steer_control │ └── model_predictive_speed_and_steer_control.py ├── move_to_pose │ ├── __init__.py │ ├── move_to_pose.py │ └── move_to_pose_robot.py ├── pure_pursuit │ └── pure_pursuit.py ├── rear_wheel_feedback_control │ └── rear_wheel_feedback_control.py └── stanley_control │ └── stanley_control.py ├── README.md ├── SECURITY.md ├── SLAM ├── EKFSLAM │ └── ekf_slam.py ├── FastSLAM1 │ └── fast_slam1.py ├── FastSLAM2 │ └── fast_slam2.py ├── GraphBasedSLAM │ ├── data │ │ ├── README.rst │ │ └── input_INTEL.g2o │ ├── graph_based_slam.py │ └── graphslam │ │ ├── __init__.py │ │ ├── edge │ │ ├── __init__.py │ │ └── edge_odometry.py │ │ ├── graph.py │ │ ├── load.py │ │ ├── pose │ │ ├── __init__.py │ │ └── se2.py │ │ ├── util.py │ │ └── vertex.py ├── ICPMatching │ └── icp_matching.py └── __init__.py ├── __init__.py ├── _config.yml ├── appveyor.yml ├── docs ├── Makefile ├── README.md ├── _static │ ├── .gitkeep │ ├── custom.css │ └── img │ │ ├── doc_ci.png │ │ ├── source_link_1.png │ │ └── source_link_2.png ├── _templates │ └── layout.html ├── conf.py ├── doc_requirements.txt ├── index_main.rst ├── make.bat └── modules │ ├── 0_getting_started │ ├── 0_getting_started_main.rst │ ├── 1_what_is_python_robotics_main.rst │ ├── 2_how_to_run_sample_codes_main.rst │ ├── 3_how_to_contribute_main.rst │ └── 4_how_to_read_textbook_main.rst │ ├── 10_inverted_pendulum │ ├── inverted-pendulum.png │ └── inverted_pendulum_main.rst │ ├── 11_utils │ ├── plot │ │ ├── curvature_plot.png │ │ └── plot_main.rst │ └── utils_main.rst │ ├── 12_appendix │ ├── Kalmanfilter_basics_2_files │ │ └── Kalmanfilter_basics_2_5_0.png │ ├── Kalmanfilter_basics_2_main.rst │ ├── Kalmanfilter_basics_files │ │ ├── Kalmanfilter_basics_14_1.png │ │ ├── Kalmanfilter_basics_16_0.png │ │ ├── Kalmanfilter_basics_19_1.png │ │ ├── Kalmanfilter_basics_21_1.png │ │ ├── Kalmanfilter_basics_22_0.png │ │ └── Kalmanfilter_basics_28_1.png │ ├── Kalmanfilter_basics_main.rst │ ├── appendix_main.rst │ ├── external_sensors_main.rst │ ├── internal_sensors_main.rst │ ├── steering_motion_model │ │ ├── steering_model.png │ │ ├── turning_radius_calc1.png │ │ └── turning_radius_calc2.png │ └── steering_motion_model_main.rst │ ├── 13_mission_planning │ ├── behavior_tree │ │ ├── behavior_tree_main.rst │ │ └── robot_behavior_case.svg │ ├── mission_planning_main.rst │ └── state_machine │ │ ├── robot_behavior_case.png │ │ └── state_machine_main.rst │ ├── 1_introduction │ ├── 1_definition_of_robotics │ │ └── definition_of_robotics_main.rst │ ├── 2_python_for_robotics │ │ └── python_for_robotics_main.rst │ ├── 3_technologies_for_robotics │ │ └── technologies_for_robotics_main.rst │ └── introduction_main.rst │ ├── 2_localization │ ├── ensamble_kalman_filter_localization_files │ │ └── ensamble_kalman_filter_localization_main.rst │ ├── extended_kalman_filter_localization_files │ │ ├── ekf_with_velocity_correction_1_0.png │ │ ├── extended_kalman_filter_localization_1_0.png │ │ └── extended_kalman_filter_localization_main.rst │ ├── histogram_filter_localization │ │ ├── 1.png │ │ ├── 2.png │ │ ├── 3.png │ │ ├── 4.png │ │ └── histogram_filter_localization_main.rst │ ├── localization_main.rst │ ├── particle_filter_localization │ │ └── particle_filter_localization_main.rst │ └── unscented_kalman_filter_localization │ │ └── unscented_kalman_filter_localization_main.rst │ ├── 3_mapping │ ├── circle_fitting │ │ └── circle_fitting_main.rst │ ├── distance_map │ │ ├── distance_map.png │ │ └── distance_map_main.rst │ ├── gaussian_grid_map │ │ └── gaussian_grid_map_main.rst │ ├── k_means_object_clustering │ │ └── k_means_object_clustering_main.rst │ ├── lidar_to_grid_map_tutorial │ │ ├── grid_map_example.png │ │ ├── lidar_to_grid_map_tutorial_12_0.png │ │ ├── lidar_to_grid_map_tutorial_14_1.png │ │ ├── lidar_to_grid_map_tutorial_5_0.png │ │ ├── lidar_to_grid_map_tutorial_7_0.png │ │ ├── lidar_to_grid_map_tutorial_8_0.png │ │ └── lidar_to_grid_map_tutorial_main.rst │ ├── mapping_main.rst │ ├── ndt_map │ │ ├── grid_clustering.png │ │ ├── ndt_map1.png │ │ ├── ndt_map2.png │ │ ├── ndt_map_main.rst │ │ └── raw_observations.png │ ├── normal_vector_estimation │ │ ├── normal_vector_calc.png │ │ ├── normal_vector_estimation_main.rst │ │ └── ransac_normal_vector_estimation.png │ ├── point_cloud_sampling │ │ ├── farthest_point_sampling.png │ │ ├── point_cloud_sampling_main.rst │ │ ├── poisson_disk_sampling.png │ │ └── voxel_point_sampling.png │ ├── ray_casting_grid_map │ │ └── ray_casting_grid_map_main.rst │ └── rectangle_fitting │ │ └── rectangle_fitting_main.rst │ ├── 4_slam │ ├── FastSLAM1 │ │ ├── FastSLAM1_12_0.png │ │ ├── FastSLAM1_12_1.png │ │ ├── FastSLAM1_1_0.png │ │ └── FastSLAM1_main.rst │ ├── FastSLAM2 │ │ └── FastSLAM2_main.rst │ ├── ekf_slam │ │ ├── ekf_slam_1_0.png │ │ └── ekf_slam_main.rst │ ├── graph_slam │ │ ├── graphSLAM_SE2_example.rst │ │ ├── graphSLAM_SE2_example_files │ │ │ ├── graphSLAM_SE2_example_13_0.png │ │ │ ├── graphSLAM_SE2_example_15_0.png │ │ │ ├── graphSLAM_SE2_example_16_0.png │ │ │ ├── graphSLAM_SE2_example_4_0.png │ │ │ ├── graphSLAM_SE2_example_8_0.png │ │ │ └── graphSLAM_SE2_example_9_0.png │ │ ├── graphSLAM_doc.rst │ │ ├── graphSLAM_doc_files │ │ │ ├── graphSLAM_doc_11_1.png │ │ │ ├── graphSLAM_doc_11_2.png │ │ │ ├── graphSLAM_doc_2_0.png │ │ │ ├── graphSLAM_doc_2_2.png │ │ │ ├── graphSLAM_doc_4_0.png │ │ │ └── graphSLAM_doc_9_1.png │ │ ├── graphSLAM_formulation.rst │ │ └── graph_slam_main.rst │ ├── iterative_closest_point_matching │ │ └── iterative_closest_point_matching_main.rst │ └── slam_main.rst │ ├── 5_path_planning │ ├── bezier_path │ │ ├── Figure_1.png │ │ ├── Figure_2.png │ │ └── bezier_path_main.rst │ ├── bspline_path │ │ ├── approx_and_curvature.png │ │ ├── approximation1.png │ │ ├── basis_functions.png │ │ ├── bspline_path_main.rst │ │ ├── bspline_path_planning.png │ │ ├── interp_and_curvature.png │ │ └── interpolation1.png │ ├── bugplanner │ │ └── bugplanner_main.rst │ ├── catmull_rom_spline │ │ ├── blending_functions.png │ │ ├── catmull_rom_path_planning.png │ │ └── catmull_rom_spline_main.rst │ ├── clothoid_path │ │ └── clothoid_path_main.rst │ ├── coverage_path │ │ └── coverage_path_main.rst │ ├── cubic_spline │ │ ├── cubic_spline_1d.png │ │ ├── cubic_spline_2d_curvature.png │ │ ├── cubic_spline_2d_path.png │ │ ├── cubic_spline_2d_yaw.png │ │ ├── cubic_spline_main.rst │ │ ├── spline.png │ │ └── spline_continuity.png │ ├── dubins_path │ │ ├── RLR.jpg │ │ ├── RSR.jpg │ │ ├── dubins_path.jpg │ │ └── dubins_path_main.rst │ ├── dynamic_window_approach │ │ └── dynamic_window_approach_main.rst │ ├── elastic_bands │ │ └── elastic_bands_main.rst │ ├── eta3_spline │ │ └── eta3_spline_main.rst │ ├── frenet_frame_path │ │ └── frenet_frame_path_main.rst │ ├── grid_base_search │ │ └── grid_base_search_main.rst │ ├── hybridastar │ │ └── hybridastar_main.rst │ ├── lqr_path │ │ └── lqr_path_main.rst │ ├── model_predictive_trajectory_generator │ │ ├── lookup_table.png │ │ └── model_predictive_trajectory_generator_main.rst │ ├── particleSwarmOptimization │ │ └── particleSwarmOptimization_main.rst │ ├── path_planning_main.rst │ ├── prm_planner │ │ └── prm_planner_main.rst │ ├── quintic_polynomials_planner │ │ └── quintic_polynomials_planner_main.rst │ ├── reeds_shepp_path │ │ ├── LR_L.png │ │ ├── LR_LR.png │ │ ├── LSL.png │ │ ├── LSL90xR.png │ │ ├── LSR.png │ │ ├── LSR90_L.png │ │ ├── L_R90SL.png │ │ ├── L_R90SL90_R.png │ │ ├── L_R90SR.png │ │ ├── L_RL.png │ │ ├── L_RL_R.png │ │ ├── L_R_L.png │ │ └── reeds_shepp_path_main.rst │ ├── rrt │ │ ├── closed_loop_rrt_star_car │ │ │ ├── Figure_1.png │ │ │ ├── Figure_3.png │ │ │ ├── Figure_4.png │ │ │ └── Figure_5.png │ │ ├── figure_1.png │ │ ├── rrt_main.rst │ │ ├── rrt_star.rst │ │ ├── rrt_star │ │ │ └── rrt_star_1_0.png │ │ └── rrt_star_reeds_shepp │ │ │ └── figure_1.png │ ├── state_lattice_planner │ │ ├── Figure_1.png │ │ ├── Figure_2.png │ │ ├── Figure_3.png │ │ ├── Figure_4.png │ │ ├── Figure_5.png │ │ ├── Figure_6.png │ │ └── state_lattice_planner_main.rst │ ├── time_based_grid_search │ │ └── time_based_grid_search_main.rst │ ├── visibility_road_map_planner │ │ ├── step0.png │ │ ├── step1.png │ │ ├── step2.png │ │ ├── step3.png │ │ └── visibility_road_map_planner_main.rst │ └── vrm_planner │ │ └── vrm_planner_main.rst │ ├── 6_path_tracking │ ├── cgmres_nmpc │ │ ├── cgmres_nmpc_1_0.png │ │ ├── cgmres_nmpc_2_0.png │ │ ├── cgmres_nmpc_3_0.png │ │ ├── cgmres_nmpc_4_0.png │ │ └── cgmres_nmpc_main.rst │ ├── lqr_speed_and_steering_control │ │ ├── lqr_speed_and_steering_control_main.rst │ │ ├── lqr_steering_control_model.jpg │ │ ├── speed.png │ │ ├── x-y.png │ │ └── yaw.png │ ├── lqr_steering_control │ │ ├── lqr_steering_control_main.rst │ │ └── lqr_steering_control_model.jpg │ ├── model_predictive_speed_and_steering_control │ │ └── model_predictive_speed_and_steering_control_main.rst │ ├── move_to_a_pose │ │ └── move_to_a_pose_main.rst │ ├── path_tracking_main.rst │ ├── pure_pursuit_tracking │ │ └── pure_pursuit_tracking_main.rst │ ├── rear_wheel_feedback_control │ │ └── rear_wheel_feedback_control_main.rst │ └── stanley_control │ │ └── stanley_control_main.rst │ ├── 7_arm_navigation │ ├── Planar_Two_Link_IK_files │ │ ├── Planar_Two_Link_IK_12_0.png │ │ ├── Planar_Two_Link_IK_5_0.png │ │ ├── Planar_Two_Link_IK_7_0.png │ │ └── Planar_Two_Link_IK_9_0.png │ ├── arm_navigation_main.rst │ ├── n_joint_arm_to_point_control_main.rst │ ├── obstacle_avoidance_arm_navigation_main.rst │ └── planar_two_link_ik_main.rst │ ├── 8_aerial_navigation │ ├── aerial_navigation_main.rst │ ├── drone_3d_trajectory_following │ │ └── drone_3d_trajectory_following_main.rst │ └── rocket_powered_landing │ │ └── rocket_powered_landing_main.rst │ └── 9_bipedal │ ├── bipedal_main.rst │ └── bipedal_planner │ └── bipedal_planner_main.rst ├── icon.png ├── mypy.ini ├── requirements ├── environment.yml └── requirements.txt ├── ruff.toml ├── runtests.sh ├── tests ├── __init__.py ├── conftest.py ├── test_LQR_planner.py ├── test_a_star.py ├── test_a_star_searching_two_side.py ├── test_a_star_variants.py ├── test_batch_informed_rrt_star.py ├── test_behavior_tree.py ├── test_bezier_path.py ├── test_bipedal_planner.py ├── test_breadth_first_search.py ├── test_bspline_path.py ├── test_bug.py ├── test_catmull_rom_spline.py ├── test_cgmres_nmpc.py ├── test_circle_fitting.py ├── test_closed_loop_rrt_star_car.py ├── test_clothoidal_paths.py ├── test_codestyle.py ├── test_cubature_kalman_filter.py ├── test_d_star_lite.py ├── test_depth_first_search.py ├── test_dijkstra.py ├── test_distance_map.py ├── test_drone_3d_trajectory_following.py ├── test_dstar.py ├── test_dubins_path_planning.py ├── test_dynamic_movement_primitives.py ├── test_dynamic_window_approach.py ├── test_ekf_slam.py ├── test_elastic_bands.py ├── test_eta3_spline_path.py ├── test_extended_kalman_filter.py ├── test_fast_slam1.py ├── test_fast_slam2.py ├── test_flow_field.py ├── test_frenet_optimal_trajectory.py ├── test_gaussian_grid_map.py ├── test_graph_based_slam.py ├── test_greedy_best_first_search.py ├── test_grid_based_sweep_coverage_path_planner.py ├── test_grid_map_lib.py ├── test_histogram_filter.py ├── test_hybrid_a_star.py ├── test_informed_rrt_star.py ├── test_inverted_pendulum_lqr_control.py ├── test_inverted_pendulum_mpc_control.py ├── test_iterative_closest_point.py ├── test_kmeans_clustering.py ├── test_lqr_rrt_star.py ├── test_lqr_speed_steer_control.py ├── test_lqr_steer_control.py ├── test_model_predictive_speed_and_steer_control.py ├── test_move_to_pose.py ├── test_move_to_pose_robot.py ├── test_mypy_type_check.py ├── test_n_joint_arm_to_point_control.py ├── test_normal_vector_estimation.py ├── test_particle_filter.py ├── test_particle_swarm_optimization.py ├── test_point_cloud_sampling.py ├── test_potential_field_planning.py ├── test_priority_based_planner.py ├── test_probabilistic_road_map.py ├── test_pure_pursuit.py ├── test_quintic_polynomials_planner.py ├── test_ray_casting_grid_map.py ├── test_rear_wheel_feedback.py ├── test_rectangle_fitting.py ├── test_reeds_shepp_path_planning.py ├── test_rocket_powered_landing.py ├── test_rrt.py ├── test_rrt_dubins.py ├── test_rrt_star.py ├── test_rrt_star_dubins.py ├── test_rrt_star_reeds_shepp.py ├── test_rrt_star_seven_joint_arm.py ├── test_rrt_with_pathsmoothing_radius.py ├── test_rrt_with_sobol_sampler.py ├── test_safe_interval_path_planner.py ├── test_space_time_astar.py ├── test_spiral_spanning_tree_coverage_path_planner.py ├── test_stanley_controller.py ├── test_state_lattice_planner.py ├── test_state_machine.py ├── test_theta_star.py ├── test_two_joint_arm_to_point_control.py ├── test_unscented_kalman_filter.py ├── test_utils.py ├── test_visibility_road_map_planner.py ├── 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