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Add transpiler for Python 3.10 (#41)
* Add type stripping utility that preserves Any Added script to strip type annotations from Python source files while replacing them with `Any` instead of removing them entirely. This approach maintains dataclass compatibility and proper generic class behavior. Key features: - Replace type annotations with `Any` instead of removing them - Preserve `ClassVar` and `jdc.Static` wrappers (replace inner types) - Add `__class_getitem__` methods to generic classes for subscriptability - Handle PEP 695 type parameters - Remove overloaded function definitions - Process TYPE_CHECKING blocks correctly 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Update strip_types.py to remove comments and docstrings - Add functionality to remove all comments from Python files - Remove function/class/module docstrings - Remove dataclass field documentation strings - Preserve Any imports and handle imports correctly - All types still replaced with Any as required for dataclasses 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Refactor and rename to transpile_py310.py - Clean up and refactor code for better maintainability - Rename from strip_types.py to transpile_py310.py to better reflect purpose - Organize code into logical sections with clear separation of concerns - Remove debug comments and improve documentation - Maintain all functionality: type stripping, comment removal, docstring removal - Add comprehensive error handling and better function naming 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Fix type errors in transpile_py310.py - Fix return type incompatibility for leave_Call method - Initialize new_body variable to avoid unbound variable errors - Handle SimpleStatementSuite body conversion properly - Remove assert_never special handling to fix type issues - All pyright type errors now resolved 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Enhance comment removal in transpiler - Add leave_Comment method to remove standalone comments - Add leave_EmptyLine method to remove empty lines with comments - Ensure trailing comments are removed from SimpleStatementLine - Now removes all types of comments: trailing, standalone, and on empty lines - Tested and working correctly 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Add Python 3.10 support via transpilation Implements automatic transpilation to support Python 3.10 while maintaining modern type annotations in the source code: - Update required Python version to >=3.10 - Add transpile_py310.py script that replaces type annotations with Any - Create _py310 directory with transpiled code for older Python versions - Add conditional imports in __init__.py based on Python version - Add pytest tests for core functionality - Add GitHub Actions CI for Python 3.10, 3.11, and 3.12 - Configure pyright to exclude transpiled files 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Add Python version compatibility matrix to README Clearly documents which Python versions are supported and how: - Python 3.12-3.13: Fully supported and recommended - Python 3.10-3.11: Supported via transpiled compatibility layer - Python <3.10: Not supported 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Add Python 3.13 to CI test matrix 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Exclude _py310 directory from ruff checks Prevents ruff from checking/formatting transpiled code 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Update pytest workflow with SuiteSparse dependencies - Add libsuitesparse-dev installation for CHOLMOD support - Install both dev and examples extras for complete test coverage 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Add workflow to verify transpiled code is up to date Ensures that the _py310 directory contains the latest transpiled version of the source code. Fails CI if transpilation would produce different output than what's committed. 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Fix transpilation check workflow - Combined libcst and ruff install into single pip command - Added cleanup of test directory before running transpiler - Improved diff comparison with better flags and output - Exclude __pycache__ from comparison - Added always() condition to cleanup step 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Add libcst to dev dependencies Required for running the transpile_py310.py script 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Simplify transpiler script and workflow - Remove command-line arguments from transpile_py310.py - Use hardcoded paths for source and output directories - Update workflow to use git diff for checking changes - Simplify workflow by removing temporary directories 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> * Apply ruff formatting to transpiler 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com> --------- Co-authored-by: Claude <noreply@anthropic.com>
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‎.github/workflows/check_transpile.yml

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name: Check Transpilation
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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jobs:
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check-transpilation:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- name: Set up Python 3.12
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uses: actions/setup-python@v4
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with:
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python-version: "3.12"
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- name: Install dependencies
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run: |
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pip install uv
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uv pip install --system -e ".[dev]"
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- name: Run transpiler
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run: |
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python transpile_py310.py
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- name: Check for changes
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run: |
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# Check if there are any changes to the transpiled files
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if ! git diff --quiet src/jaxls/_py310/; then
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echo "Error: Transpiled code is out of date!"
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echo "Changes detected:"
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git diff --stat src/jaxls/_py310/
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echo ""
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echo "Differences:"
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git diff src/jaxls/_py310/
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echo ""
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echo "Please run: python transpile_py310.py"
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exit 1
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fi
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echo "Transpiled code is up to date!"

‎.github/workflows/pytest.yml

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name: pytest
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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jobs:
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build:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.10", "3.11", "3.12", "3.13"]
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steps:
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- uses: actions/checkout@v2
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v4
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install dependencies
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run: |
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sudo apt update
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sudo apt install -y libsuitesparse-dev
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pip install uv
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uv pip install --system -e ".[dev,examples]"
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- name: Test with pytest
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run: |
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pytest

‎README.md

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**`jaxls`** is a library for solving sparse [NLLS](https://en.wikipedia.org/wiki/Non-linear_least_squares) and [IRLS](https://en.wikipedia.org/wiki/Iteratively_reweighted_least_squares) problems in JAX.
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These are common in classical robotics and computer vision.
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To install on Python 3.12+:
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To install:
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```bash
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pip install "git+https://github.com/brentyi/jaxls.git[examples]"
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```
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### Python Version Compatibility
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| Python Version | Support Status | Notes |
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|---------------|---------------|--------|
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| 3.13 | ✅ Supported | Recommended |
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| 3.12 | ✅ Supported | Recommended |
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| 3.11 | ⚠️ Supported | Transpiled compatibility layer |
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| 3.10 | ⚠️ Supported | Transpiled compatibility layer |
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| <3.10 | ❌ Not supported | |
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### Overviews
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We provide a factor graph interface for specifying and solving least squares

‎pyproject.toml

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description = "Nonlinear least squares with JAX"
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readme = "README.md"
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license = { text="MIT" }
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requires-python = ">=3.12"
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requires-python = ">=3.10"
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classifiers = [
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"Programming Language :: Python :: 3.10",
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"Programming Language :: Python :: 3.11",
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"Programming Language :: Python :: 3.12",
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"License :: OSI Approved :: MIT License",
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"Operating System :: OS Independent"
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[project.optional-dependencies]
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dev = [
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"pyright>=1.1.308",
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"pytest",
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"ruff",
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"libcst",
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]
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examples = [
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"tyro",
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[project.urls]
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"GitHub" = "https://github.com/brentyi/jaxls"
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[tool.ruff]
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exclude = ["_py310"]
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[tool.ruff.lint]
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ignore = ["E731"] # Ignore lambda assignment warnings
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[tool.pyright]
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exclude = ["transpile_py310.py", "**/_py310/**"]

‎src/jaxls/__init__.py

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import sys
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from typing import TYPE_CHECKING
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from . import utils as utils
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from ._core import AnalyzedLeastSquaresProblem as AnalyzedLeastSquaresProblem
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from ._core import Cost as Cost
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from ._core import LeastSquaresProblem as LeastSquaresProblem
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from ._lie_group_variables import SE2Var as SE2Var
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from ._lie_group_variables import SE3Var as SE3Var
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from ._lie_group_variables import SO2Var as SO2Var
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from ._lie_group_variables import SO3Var as SO3Var
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from ._solvers import ConjugateGradientConfig as ConjugateGradientConfig
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from ._solvers import SolveSummary as SolveSummary
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from ._solvers import TerminationConfig as TerminationConfig
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from ._solvers import TrustRegionConfig as TrustRegionConfig
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from ._variables import Var as Var
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from ._variables import VarValues as VarValues
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if TYPE_CHECKING or sys.version_info >= (3, 12):
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from . import utils as utils
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from ._core import AnalyzedLeastSquaresProblem as AnalyzedLeastSquaresProblem
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from ._core import Cost as Cost
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from ._core import LeastSquaresProblem as LeastSquaresProblem
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from ._lie_group_variables import SE2Var as SE2Var
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from ._lie_group_variables import SE3Var as SE3Var
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from ._lie_group_variables import SO2Var as SO2Var
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from ._lie_group_variables import SO3Var as SO3Var
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from ._solvers import ConjugateGradientConfig as ConjugateGradientConfig
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from ._solvers import SolveSummary as SolveSummary
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from ._solvers import TerminationConfig as TerminationConfig
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from ._solvers import TrustRegionConfig as TrustRegionConfig
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from ._variables import Var as Var
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from ._variables import VarValues as VarValues
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elif sys.version_info >= (3, 10):
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from ._py310 import utils as utils
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from ._py310._core import AnalyzedLeastSquaresProblem as AnalyzedLeastSquaresProblem
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from ._py310._core import Cost as Cost
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from ._py310._core import LeastSquaresProblem as LeastSquaresProblem
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from ._py310._lie_group_variables import SE2Var as SE2Var
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from ._py310._lie_group_variables import SE3Var as SE3Var
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from ._py310._lie_group_variables import SO2Var as SO2Var
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from ._py310._lie_group_variables import SO3Var as SO3Var
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from ._py310._solvers import ConjugateGradientConfig as ConjugateGradientConfig
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from ._py310._solvers import SolveSummary as SolveSummary
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from ._py310._solvers import TerminationConfig as TerminationConfig
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from ._py310._solvers import TrustRegionConfig as TrustRegionConfig
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from ._py310._variables import Var as Var
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from ._py310._variables import VarValues as VarValues
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else:
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assert False
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__version__ = "0.0.0"
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‎src/jaxls/_py310/__init__.py

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