v4.0.0b1

.github/workflows: Build on v4 tags.
.github/workflows: Convert python to npm semver style.
2026-09-12 01:24:17 +00:00 · 2026-05-29 21:15:09 +02:00 · 2026-05-29 21:15:03 +02:00 · 2026-05-29 21:06:31 +02:00 · 2026-05-29 20:57:04 +02:00 · 2026-05-29 20:38:37 +02:00
67 changed files with 800 additions and 10638 deletions
@@ -5,10 +5,6 @@ on:
    tags:
    - 'v4.*'

-permissions:
-  id-token: write
-  contents: read
-
 jobs:
  publish_ide_docs:
    runs-on: ubuntu-22.04
@@ -19,7 +15,6 @@ jobs:
        NPM_VERSION=$(echo "$VERSION" | sed 's/\([0-9]\)a\([0-9]\)/\1-alpha.\2/;s/\([0-9]\)b\([0-9]\)/\1-beta.\2/;s/\([0-9]\)rc\([0-9]\)/\1-rc.\2/')
        echo "VERSION=$VERSION" >> $GITHUB_ENV
        echo "NPM_VERSION=$NPM_VERSION" >> $GITHUB_ENV
-        echo "NPM_TAG=$(echo "$NPM_VERSION" | grep -q '-' && echo 'next' || echo 'latest')" >> $GITHUB_ENV
    - name: Ubuntu packages
      run: |
        sudo apt-get update
@@ -39,11 +34,13 @@ jobs:
        poetry install --only=doc
    - uses: actions/setup-node@v4
      with:
-        node-version: '24'
+        node-version: '22.x'
        registry-url: 'https://registry.npmjs.org'
    - run: npm version --no-git-tag-version "$NPM_VERSION"
      working-directory: npm/ide-docs
    - run: yarn build
      working-directory: npm/ide-docs
-    - run: npm publish --tag "$NPM_TAG"
+    - run: yarn publish
      working-directory: npm/ide-docs
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}
@@ -5,10 +5,6 @@ on:
    tags:
    - 'v4.*'

-permissions:
-  id-token: write
-  contents: read
-
 jobs:
  publish_jedi:
    runs-on: ubuntu-22.04
@@ -20,7 +16,6 @@ jobs:
        NPM_VERSION=$(echo "$VERSION" | sed 's/\([0-9]\)a\([0-9]\)/\1-alpha.\2/;s/\([0-9]\)b\([0-9]\)/\1-beta.\2/;s/\([0-9]\)rc\([0-9]\)/\1-rc.\2/')
        echo "VERSION=$VERSION" >> $GITHUB_ENV
        echo "NPM_VERSION=$NPM_VERSION" >> $GITHUB_ENV
-        echo "NPM_TAG=$(echo "$NPM_VERSION" | grep -q '-' && echo 'next' || echo 'latest')" >> $GITHUB_ENV
    - name: Set up Python
      uses: actions/setup-python@v5
      with:
@@ -30,14 +25,13 @@ jobs:
    - name: Set pybricks-jedi version
      run: poetry version "$VERSION"
      working-directory: jedi
-    - name: Set pybricks version and update jedi dependency pin
-      run: |
-        poetry version "$VERSION"
-        sed -i "s/^pybricks = \".*\"/pybricks = \"$VERSION\"/" jedi/pyproject.toml
    - uses: actions/setup-node@v4
      with:
-        node-version: '24'
+        node-version: '22.x'
        registry-url: 'https://registry.npmjs.org'
-    - run: python jedi/build.py "$NPM_VERSION"
-    - run: npm publish --tag "$NPM_TAG"
-      working-directory: jedi/npm-build
+    - run: ./build.py "$NPM_VERSION"
+      working-directory: npm/jedi
+    - run: yarn publish
+      working-directory: npm/jedi/build
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}
@@ -25,7 +25,6 @@
 build/
 build-*/
 _build/
-npm-build/

 # Tests
 ######################
@@ -1,5 +1,314 @@
 # Changelog

-See [pybricks-micropython/CHANGELOG.md][changelog] for the changes in each release.
+<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->

-[changelog]: https://github.com/pybricks/pybricks-micropython/blob/master/CHANGELOG.md
+## Unreleased
+
+## 4.0.0b1 - 2026-05-29
+
+### Changed
+
+- Updated API for firmware 4.0.0bx. See upstream changelog for details.
+- Updated release pipeline to publish rtd, npm/docs and npm/jedi on tag.
+
+### Fixed
+
+- Fixed `DriveBase.angle` reporting an incorrect return type.
+
+## 3.6.1 - 2025-05-01
+
+### Fixed
+
+- Fixed missing `hub.system.info` method on some hubs.
+
+## 3.6.0 - 2025-03-11
+
+### Changed
+
+- Update API for firmware 3.6.0. See upstream changelog for details.
+
+## 3.6.0b5 - 2025-02-26
+
+### Changed
+
+- Update API for firmware 3.6.0b5. See upstream changelog for details.
+
+## 3.5.0 - 2024-04-11
+
+### Changed
+- Bump version to 3.5.0 without additional changes.
+
+## 3.5.0b2 - 2024-04-05
+
+### Added
+
+- Added `pybricks.pupdevices.Remote.disconnect` method.
+- Added blocks for `up`, `ready` and `stationary` for IMUs.
+- Added `last` and `chr` parameters to `read_input_byte` and add blocks.
+- Added block for the `in` operation.
+- Add double ternary block.
+
+## 3.5.0b1 - 2024-03-11
+
+### Added
+
+- Added `XboxController.rumble` method.
+- Added block icons for `hub.system.set_stop_button` and `hub.system.shutdown`.
+- Added program stop block (`raise SystemExit`).
+
+## 3.4.1 - 2024-03-11
+
+### Fixed
+
+- Fixed Read The Docs virtual environment workflow.
+
+## 3.4.0 - 2024-03-11
+
+### Changed
+
+- Update list block screenshots to match implementation.
+
+## 3.4.0b5 - 2024-03-05
+
+### Changed
+
+- Updates for v3.4.0b3 firmware (out of sync with docs).
+- Changed `hub.button` to `hub.buttons` on single button hubs. Access via
+ `hub.button` will keep working in the firmware for backwards compatibility.
+
+## 3.4.0b4 - 2024-02-14
+
+### Added
+
+- Added `pybricks.iodevices.XboxController` class.
+
+### Changed
+
+- Changed `buttons.pressed` return type to set.
+
+## 3.4.0b3 - 2024-01-30
+
+### Added
+
+- Added `pybricks.robotics.Car` class.
+
+### Changed
+
+- Changed `pybricks.robotics.DriveBase` icon to two wheels instead of steering
+  wheel, which will be used for the new car class.
+
+## 3.4.0b2 - 2023-11-28
+
+### Changed
+- Include first batch of block coding images.
+
+## 3.3.0 - 2023-11-24
+
+### Changed
+- Bump beta version to release version with no further changes.
+
+## 3.3.0c1 - 2023-11-20
+
+### Added
+- Enabled tilt and orientation config for `MoveHub()`.
+- Documented `Motor.close()`
+
+## Fixed
+- Fixed missing awaitable for `Remote.light` and LWP3 writes.
+
+## 3.3.0b9 - 2023-10-26
+
+### Changed
+- Changed the beta feature for using the hub's gyro. Gyro control can now be
+  toggled using `use_gyro` instead of using a separate `GyroDriveBase` class.
+- Documentation updates to match firmware 3.3.0b5--3.3.0b9 updates.
+
+### Added
+- Added `set` to `ubuiltins` module.
+- Basic multitasking docs.
+- Awaitable keyword for awaitable methods and functions.
+
+## 3.3.0b5 - 2023-05-16
+
+### Added
+- Documented new `hub.ble` methods.
+
+## 3.3.0b4 - 2023-04-21
+
+### Added
+- Documented `integral_deadzone` in `Control.pid()`.
+- Documented `Motor.model`. This can be used to view the estimated motor
+  state and change its settings.
+- Added `rotation`, `orientation`, `ready`, `stationary` and `settings` methods
+  to `IMU` class.
+- Added `GyroDriveBase` class to `pybricks.robotics`.
+
+### Changed
+- Change implementation status of `IMU.heading` and `IMU.reset_heading`. They
+  are now implemented, with some limitations as noted in a note box.
+- Moved `Matrix` and `vector` from `pybricks.geometry` to `pybricks.tools`.
+- Moved `Axis` from `pybricks.geometry` to `pybricks.parameters`.
+
+### Removed
+- Removed `pybricks.geometry` module.
+
+## 3.2.0 - 2022-12-20
+
+### Changed
+- Changed module TOC headings to make it easier to find things.
+
+## 3.2.0c1 - 2022-12-09
+
+### Changed
+- Updated "front" side of the Technic Hub to be consistent with
+  the Prime Hub.
+
+## 3.2.0b6 - 2022-12-02
+
+### Added
+- Documented ``Stop.NONE`` and ``Stop.COAST_SMART``.
+- Documented ``ujson`` module.
+- Added `done` and `stalled` methods for `DriveBase`.
+
+### Changed
+- Changed `PrimeHub.display.image()` to `PrimeHub.display.icon()` and renamed
+  its kwarg from `image` to `icon`.
+- Improved presentation and docstrings of the ``ubuiltins`` and other
+  MicroPython modules
+- Moved the random numbers example for Move Hub to the Move Hub page.
+- Moved `done()`, `stalled()`, `load()` from `Control` to `Motor` object.
+
+## 3.2.0b5 - 2022-11-11
+
+### Fixed
+- Fixed Jedi code completion for `Color` and `Icon` classes in `pybricks.parameters`.
+
+## 3.2.0b4 - 2022-10-21
+
+### Added
+- Code auto-completion for `EssentialHub`.
+- Added `System.storage` method.
+
+### Fixed
+- Fixed some type hints in `parameters` submodule.
+
+## 3.2.0b1-r3 - 2022-06-26
+
+### Fixed
+- Fixed more type hints and improved compatibility with jedi.
+
+## 3.2.0b1-r2 - 2022-06-24
+
+### Changed
+- Moved remaining type hints from `.pyi` files to the python stub modules, and
+  fixed numerous errors in the type hints throughout.
+
+## 3.2.0b1-r1 - 2022-06-09
+
+### Added
+- Added `__init__.py` to `pybricks` package.
+
+## 3.2.0b1 - 2022-06-02
+
+### Added
+- Code auto-completion for `hub.charger`, `hub.imu` and `hub.system`.
+- Moved typing from several `.pyi` files to the actual python modules.
+
+### Fixed
+- Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
+- Fixed missing `DCMotor` type in `ev3devices`.
+- Fixed type hint for `Motor.reset_angle()` in `pupdevices`.
+
+### Changed
+- Setter for acceleration can now also be used to set acceleration and
+  deceleration to different values, using a two-valued tuple.
+
+## 3.1.0 - 2021-12-16
+
+### Added
+- Added maximum voltage setter for `DCMotor` and `Motor`.
+- Documented `DriveBase.curve()` method.
+
+### Changed
+- Removed `duty` setting from `Control.limits` method.
+- Removed `integral_range` setting from `Control.pid` method.
+
+### Fixed
+- Fixed link to Color Light Matrix page.
+- Fixed link to Inventor Hub page.
+
+## 3.1.0rc1 - 2021-11-19
+
+### Added
+- Added `ColorLightMatrix` class.
+- Added `LWP3Device` class.
+
+**NOTE: version number after this point were from JavaScript package and do
+not correspond to Pybricks firmware version numbers.**
+
+## 1.6.0 - 2021-08-30
+
+### Added
+- MicroPython module documentation.
+- Examples for hub system functions including stop button and shutdown.
+
+### Changed
+- Build IDE docs as main docs with minor changes, instead of a completely
+  separate build.
+- Moved motor control documentation to the motor page.
+
+## 1.5.0 - 2021-07-01
+
+### Added
+- Documentation for Powered Up Remote Control.
+
+## 1.4.0 - 2021-06-23
+
+### Added
+- Enabled beta content that was hidden for the 3.0 release.
+- Added notice about using the latest beta version.
+
+## 1.3.3 - 2021-05-21
+
+### Changed
+- Match example snippet styling to IDE.
+- Add more examples.
+
+## 1.3.2 - 2021-04-26
+
+### Changed
+- Theme style fixes.
+- Example code fixes
+- Match doc version to firmware version.
+
+## 1.3.1 - 2021-04-12
+
+### Changed
+- Upgrade sphinx and rtd-theme to fix style issues.
+
+## 1.3.0 - 2021-04-12
+
+### Removed
+- Removed features which not be in the official 3.0 release. These features
+  are still in beta. They'll come back in future releases once tested.
+
+## 1.2.0 - 2021-04-09
+
+### Changed
+- Moved installation guide to external site.
+
+## 1.1.1 - 2021-02-14
+
+### Added
+- Added installation guide.
+- Various documentation fixes.
+
+## 1.1.0 - 2021-01-28
+
+### Added
+- Scrollbar styling.
+
+## 1.0.0 - 2021-01-25
+
+### Added
+- Sphinx build output.
@@ -168,18 +168,6 @@ Building all release artifacts (docs, jedi, npm packages):
    # Linux/macOS only
    ./build-all.sh

-** version notes **
-
-This repository is frequently updated to stay in sync with the firmware
-implementation.
-
-Major and minor versions are synchronized with `pybricks-micropython`, which
-leads. Patch versions and prerelease version numbers may differ, as they may
-be bumped for every small change or typo in the docs.
-
-The version for this repository is also used for the `@pybricks/jedi` and
-`@pybricks/ide-docs` npm packages.
-
 [vscode]: https://code.visualstudio.com/
 [git]: https://git-scm.com/
 [python]: https://www.python.org/
@@ -19,15 +19,20 @@ cd "$REPO_ROOT"
 flake8
 doc8

-# pybricks-jedi tests
+# pybricks-jedi wheel (from local source)
 echo "==> Testing pybricks-jedi"
 cd "$REPO_ROOT/jedi"
 poetry run pytest -vv

+echo "==> Building pybricks-jedi wheel"
+cd "$REPO_ROOT/jedi"
+rm -rf dist/
+poetry build --format=wheel
+
 # @pybricks/jedi npm package
 echo "==> Building @pybricks/jedi"
-cd "$REPO_ROOT/jedi"
-python3 build.py "$NPM_VERSION"
+cd "$REPO_ROOT"
+python3 npm/jedi/build.py "$NPM_VERSION"

 # @pybricks/ide-docs npm package
 echo "==> Building @pybricks/ide-docs"
@@ -38,5 +43,5 @@ yarn build

 echo ""
 echo "Build complete."
-echo "  jedi npm package : jedi/npm-build/"
+echo "  jedi npm package : npm/jedi/build/"
 echo "  ide-docs         : npm/ide-docs/html/"
@@ -364,35 +364,9 @@ def on_missing_reference(
            return nodes.Text(f"{ret_type}: {ret_unit}")


-def on_build_finished(app: Sphinx, exception):
-    if exception or app.builder.name != "html":
-        return
-    import json
-    from sphinx.ext.intersphinx import InventoryFile
-
-    inv_path = os.path.join(app.outdir, "objects.inv")
-    if not os.path.exists(inv_path):
-        return
-
-    with open(inv_path, "rb") as f:
-        inv = InventoryFile.load(f, "", lambda base, uri: base + uri)
-
-    index = {}
-    for type_key, entries in inv.items():
-        if not type_key.startswith("py:"):
-            continue
-        for name, (project, version, url, display) in entries.items():
-            index[name] = url
-
-    out_path = os.path.join(app.outdir, "namespace_index.json")
-    with open(out_path, "w") as f:
-        json.dump(index, f, indent=2, sort_keys=True)
-
-
 def setup(app: Sphinx):
    app.add_directive("availability", AvailabilityDirective)
    app.connect("missing-reference", on_missing_reference)
-    app.connect("build-finished", on_build_finished)


 # -- Python domain hacks ---------------------------------------------------
@@ -1,994 +0,0 @@
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@@ -1,5 +1,5 @@
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+<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 162.1359375 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="162.1359375" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
 }
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern770586695409901)
+fill: url(#blocklyDisabledPattern9387213926908944)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,9 +949,15 @@ input[type=number] {
 }


-.blocklyMultilineText {
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+  .controlsIconStyle {
+    opacity: 0.2;
+  }
+  .controlsIconStyle:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyle:active {
+    opacity: 0.6;
+  }
  

 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -966,29 +972,4 @@ input[type=number] {
  opacity: .6;
 }

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-  .controlsIconStyleLightTheme:active {
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-  }
-  
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+</style><g transform="translate(1, 5)"><g data-id="AGU@JJxqaZ900CU1q4O~" class="blocklyDraggable"><path class="blocklyPath" stroke="#3971bf" fill="#4c97ff" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 117.13593750000001 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -117.13593750000001  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="*" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8Zz4KPHJlY3QgdHJhbnNmb3JtPSJzY2FsZSgtMSkiIHg9Ii0yMS40NDIiIHk9Ii0yNC45IiB3aWR0aD0iMTcuOCIgaGVpZ2h0PSIyNC44IiByeD0iMCIgcnk9IjAiIGZpbGw9IiNmZmYiIHN0cm9rZT0iIzFiMjkzMyIgc3Ryb2tlLWxpbmVjYXA9InNxdWFyZSIgc3Ryb2tlLXdpZHRoPSIuMiIvPgo8cmVjdCB0cmFuc2Zvcm09InNjYWxlKC0xKSIgeD0iLTEzLjg3OCIgeT0iLTI0LjgyMiIgd2lkdGg9IjIuNjcwMyIgaGVpZ2h0PSI0LjI0MjQiIGZpbGw9IiM4MzliZmYiLz4KPHJlY3QgdHJhbnNmb3JtPSJzY2FsZSgtMSkiIHg9Ii0xNS4yOTIiIHk9Ii0xOS4zODUiIHdpZHRoPSI1LjUiIGhlaWdodD0iNS41IiByeD0iLjQwNDI0IiByeT0iLjQwNDI0IiBmaWxsPSIjMDBiZTBhIi8+CjwvZz4KICA8L2c+Cjwvc3ZnPg=="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="*" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,6.9)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="30.2" width="77.3359375" class="blocklyFieldRect" stroke="#3971bf" style="display: block; fill: rgb(65, 128, 217);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="15.1">city hub</text></g><g transform="translate(140.1359375,6.5)"><image height="30px" width="12px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAxMiAzMCIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8cGF0aCBkPSJtMi40NzM4IDUuNzk2OCA3LjUwOTYgOS40MDI3LTcuNTA5NiA5LjQwMjciIGZpbGw9Im5vbmUiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLWxpbmVjYXA9InJvdW5kIiBzdHJva2UtbGluZWpvaW49InJvdW5kIiBzdHJva2Utd2lkdGg9IjQiLz4KICA8L2c+Cjwvc3ZnPg==" style="cursor: pointer;"/></g></g></g></svg>
@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 203.05 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="203.05" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern770586695409901)
+fill: url(#blocklyDisabledPattern8106945446883995)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,9 +949,15 @@ input[type=number] {
 }


-.blocklyMultilineText {
-    fill: #fff !important;
-}
+  .controlsIconStyle {
+    opacity: 0.2;
+  }
+  .controlsIconStyle:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyle:active {
+    opacity: 0.6;
+  }
  

 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -966,29 +972,4 @@ input[type=number] {
  opacity: .6;
 }

-
-  .controlsIconStyleLightTheme {
-    opacity: 0.2;
-  }
-  .controlsIconStyleLightTheme:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyleLightTheme:active {
-    opacity: 0.6;
-  }
-  
-
-  .controlsIconStyleDarkTheme {
-    opacity: 0.4;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:hover {
-    opacity: 0.6;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:active {
-    opacity: 0.8;
-    filter: invert(1);
-  }
-  
-</style><g transform="translate(1, 5)"><g data-id="%NMD$cHdMIS^c1w|gyTX" class="blocklyDraggable"><path class="blocklyPath" stroke="#3971bf" fill="#4c97ff" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 158.05 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -158.05  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8Zz4KPHJlY3QgeD0iMS42Mjg2IiB5PSIzLjc0NiIgd2lkdGg9IjIxLjgiIGhlaWdodD0iMTYuNzUyIiByeD0iMS45NzY0IiByeT0iMS45NzY0IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJzcXVhcmUiIHN0cm9rZS13aWR0aD0iLjIiLz4KPHJlY3QgeD0iMTAuMzI0IiB5PSI5Ljk1ODciIHdpZHRoPSI0LjQwODgiIGhlaWdodD0iNC40MTE1IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgc3Ryb2tlLXdpZHRoPSIuMTY3Ii8+CjxyZWN0IHg9IjExLjE4MyIgeT0iMTYuMDc4IiB3aWR0aD0iMi42OTA3IiBoZWlnaHQ9IjQuNDExNSIgZmlsbD0iIzgzOWJmZiIvPgo8L2c+CiAgPC9nPgo8L3N2Zz4="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,7.4)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="118.25" class="blocklyFieldRect" stroke="#3971bf" style="display: block; fill: rgb(65, 128, 217);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="14.6">essential hub</text></g><g transform="translate(181.05,6.5)"><image height="30px" width="12px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAxMiAzMCIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8cGF0aCBkPSJtMi40NzM4IDUuNzk2OCA3LjUwOTYgOS40MDI3LTcuNTA5NiA5LjQwMjciIGZpbGw9Im5vbmUiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLWxpbmVjYXA9InJvdW5kIiBzdHJva2UtbGluZWpvaW49InJvdW5kIiBzdHJva2Utd2lkdGg9IjQiLz4KICA8L2c+Cjwvc3ZnPg==" style="cursor: pointer;"/></g></g></g></svg>
+</style><g transform="translate(1, 5)"><g data-id="{Jrf7Nz~mk-.f{~B||f-" class="blocklyDraggable"><path class="blocklyPath" stroke="#3971bf" fill="#4c97ff" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 158.05 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -158.05  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="*" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8Zz4KPHJlY3QgeD0iMS42Mjg2IiB5PSIzLjc0NiIgd2lkdGg9IjIxLjgiIGhlaWdodD0iMTYuNzUyIiByeD0iMS45NzY0IiByeT0iMS45NzY0IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJzcXVhcmUiIHN0cm9rZS13aWR0aD0iLjIiLz4KPHJlY3QgeD0iMTAuMzI0IiB5PSI5Ljk1ODciIHdpZHRoPSI0LjQwODgiIGhlaWdodD0iNC40MTE1IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgc3Ryb2tlLXdpZHRoPSIuMTY3Ii8+CjxyZWN0IHg9IjExLjE4MyIgeT0iMTYuMDc4IiB3aWR0aD0iMi42OTA3IiBoZWlnaHQ9IjQuNDExNSIgZmlsbD0iIzgzOWJmZiIvPgo8L2c+CiAgPC9nPgo8L3N2Zz4="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="*" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,7.4)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="118.25" class="blocklyFieldRect" stroke="#3971bf" style="display: block; fill: rgb(65, 128, 217);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="14.6">essential hub</text></g><g transform="translate(181.05,6.5)"><image height="30px" width="12px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAxMiAzMCIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8cGF0aCBkPSJtMi40NzM4IDUuNzk2OCA3LjUwOTYgOS40MDI3LTcuNTA5NiA5LjQwMjciIGZpbGw9Im5vbmUiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLWxpbmVjYXA9InJvdW5kIiBzdHJva2UtbGluZWpvaW49InJvdW5kIiBzdHJva2Utd2lkdGg9IjQiLz4KICA8L2c+Cjwvc3ZnPg==" style="cursor: pointer;"/></g></g></g></svg>
@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 197.6828125 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="197.6828125" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern770586695409901)
+fill: url(#blocklyDisabledPattern8106945446883995)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,9 +949,15 @@ input[type=number] {
 }


-.blocklyMultilineText {
-    fill: #fff !important;
-}
+  .controlsIconStyle {
+    opacity: 0.2;
+  }
+  .controlsIconStyle:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyle:active {
+    opacity: 0.6;
+  }
  

 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -966,29 +972,4 @@ input[type=number] {
  opacity: .6;
 }

-
-  .controlsIconStyleLightTheme {
-    opacity: 0.2;
-  }
-  .controlsIconStyleLightTheme:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyleLightTheme:active {
-    opacity: 0.6;
-  }
-  
-
-  .controlsIconStyleDarkTheme {
-    opacity: 0.4;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:hover {
-    opacity: 0.6;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:active {
-    opacity: 0.8;
-    filter: invert(1);
-  }
-  
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@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 176.3625 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="176.3625" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern770586695409901)
+fill: url(#blocklyDisabledPattern8106945446883995)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,9 +949,15 @@ input[type=number] {
 }


-.blocklyMultilineText {
-    fill: #fff !important;
-}
+  .controlsIconStyle {
+    opacity: 0.2;
+  }
+  .controlsIconStyle:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyle:active {
+    opacity: 0.6;
+  }
  

 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -966,29 +972,4 @@ input[type=number] {
  opacity: .6;
 }

-
-  .controlsIconStyleLightTheme {
-    opacity: 0.2;
-  }
-  .controlsIconStyleLightTheme:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyleLightTheme:active {
-    opacity: 0.6;
-  }
-  
-
-  .controlsIconStyleDarkTheme {
-    opacity: 0.4;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:hover {
-    opacity: 0.6;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:active {
-    opacity: 0.8;
-    filter: invert(1);
-  }
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@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 178.1359375 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="178.1359375" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern770586695409901)
+fill: url(#blocklyDisabledPattern8106945446883995)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,9 +949,15 @@ input[type=number] {
 }


-.blocklyMultilineText {
-    fill: #fff !important;
-}
+  .controlsIconStyle {
+    opacity: 0.2;
+  }
+  .controlsIconStyle:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyle:active {
+    opacity: 0.6;
+  }
  

 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -966,29 +972,4 @@ input[type=number] {
  opacity: .6;
 }

-
-  .controlsIconStyleLightTheme {
-    opacity: 0.2;
-  }
-  .controlsIconStyleLightTheme:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyleLightTheme:active {
-    opacity: 0.6;
-  }
-  
-
-  .controlsIconStyleDarkTheme {
-    opacity: 0.4;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:hover {
-    opacity: 0.6;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:active {
-    opacity: 0.8;
-    filter: invert(1);
-  }
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@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 190.58125 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="190.58125" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern770586695409901)
+fill: url(#blocklyDisabledPattern8106945446883995)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,9 +949,15 @@ input[type=number] {
 }


-.blocklyMultilineText {
-    fill: #fff !important;
-}
+  .controlsIconStyle {
+    opacity: 0.2;
+  }
+  .controlsIconStyle:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyle:active {
+    opacity: 0.6;
+  }
  

 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -966,29 +972,4 @@ input[type=number] {
  opacity: .6;
 }

-
-  .controlsIconStyleLightTheme {
-    opacity: 0.2;
-  }
-  .controlsIconStyleLightTheme:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyleLightTheme:active {
-    opacity: 0.6;
-  }
-  
-
-  .controlsIconStyleDarkTheme {
-    opacity: 0.4;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:hover {
-    opacity: 0.6;
-    filter: invert(1);
-  }
-  .controlsIconStyleDarkTheme:active {
-    opacity: 0.8;
-    filter: invert(1);
-  }
-  
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+</style><g transform="translate(1, 5)"><g data-id="3CD}BAMY1jnM,4Xoo;QM" class="blocklyDraggable"><path class="blocklyPath" stroke="#3971bf" fill="#4c97ff" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 145.58125 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -145.58125  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="*" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8Zz4KPHJlY3QgdHJhbnNmb3JtPSJzY2FsZSgtMSkiIHg9Ii0yMy40NDIiIHk9Ii04LjQiIHdpZHRoPSIyMS44IiBoZWlnaHQ9IjguMyIgcng9IjEuMjgwNiIgcnk9IjEuMjgwNiIgZmlsbD0iIzc3NyIgc3Ryb2tlPSIjMWIyOTMzIiBzdHJva2UtbGluZWNhcD0ic3F1YXJlIiBzdHJva2Utd2lkdGg9Ii4yIi8+CjxyZWN0IHRyYW5zZm9ybT0ic2NhbGUoLTEpIiB4PSItMjMuNDQyIiB5PSItMjQuOSIgd2lkdGg9IjIxLjgiIGhlaWdodD0iOC4zIiByeD0iMS4yODA2IiByeT0iMS4yODA2IiBmaWxsPSIjNzc3IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJzcXVhcmUiIHN0cm9rZS13aWR0aD0iLjIiLz4KPHJlY3QgdHJhbnNmb3JtPSJzY2FsZSgtMSkiIHg9Ii0yMS40NDIiIHk9Ii0yNC45IiB3aWR0aD0iMTcuOCIgaGVpZ2h0PSIyNC44IiByeD0iMCIgcnk9IjAiIGZpbGw9IiNjOWM5YzkiIHN0cm9rZT0iIzFiMjkzMyIgc3Ryb2tlLWxpbmVjYXA9InNxdWFyZSIgc3Ryb2tlLXdpZHRoPSIuMiIvPgo8cmVjdCB0cmFuc2Zvcm09InNjYWxlKC0xKSIgeD0iLTEzLjg3OCIgeT0iLTI0LjgyMiIgd2lkdGg9IjIuNjcwMyIgaGVpZ2h0PSI0LjI0MjQiIGZpbGw9IiM4MzliZmYiLz4KPHJlY3QgdHJhbnNmb3JtPSJzY2FsZSgtMSkiIHg9Ii0xNS4yOTIiIHk9Ii0xOS4zODUiIHdpZHRoPSI1LjUiIGhlaWdodD0iNS41IiByeD0iLjQwNDI0IiByeT0iLjQwNDI0IiBmaWxsPSIjMDBiZTBhIi8+CjwvZz4KICA8L2c+Cjwvc3ZnPg=="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="*" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,7.4)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="105.78125" class="blocklyFieldRect" stroke="#3971bf" style="display: block; fill: rgb(65, 128, 217);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="14.6">technic hub</text></g><g transform="translate(168.58125,6.5)"><image height="30px" width="12px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAxMiAzMCIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8cGF0aCBkPSJtMi40NzM4IDUuNzk2OCA3LjUwOTYgOS40MDI3LTcuNTA5NiA5LjQwMjciIGZpbGw9Im5vbmUiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLWxpbmVjYXA9InJvdW5kIiBzdHJva2UtbGluZWpvaW49InJvdW5kIiBzdHJva2Utd2lkdGg9IjQiLz4KICA8L2c+Cjwvc3ZnPg==" style="cursor: pointer;"/></g></g></g></svg>
@@ -0,0 +1,148 @@
+.. pybricks-requirements::
+
+Other blocks
+=====================================================
+
+Most blocks correspond directly to one of the documented Python commands. This
+page lists the remaining blocks.
+
+This page will be expanded with more details in the next release.
+
+Math
+------------------------
+
+See also :mod:`umath` for other math operations.
+
+.. blockimg:: pybricks_blockMathFormula
+
+.. blockimg:: pybricks_blockMathOp_modulo
+
+.. blockimg:: pybricks_blockMathArithmetic_add
+
+.. blockimg:: pybricks_blockMathArithmetic_minus
+
+.. blockimg:: pybricks_blockMathArithmetic_multiply
+
+.. blockimg:: pybricks_blockMathArithmetic_divide
+
+.. blockimg:: pybricks_blockMathArithmetic_power
+
+Logic
+--------------------------
+
+.. blockimg:: pybricks_blockLogicCompareDouble
+
+.. blockimg:: pybricks_blockLogicCompare_eq
+
+.. blockimg:: pybricks_blockLogicCompare_gte
+
+.. blockimg:: pybricks_blockLogicCompare_gt
+
+.. blockimg:: pybricks_blockLogicCompare_lte
+
+.. blockimg:: pybricks_blockLogicCompare_lt
+
+.. blockimg:: pybricks_blockLogicCompare_neq
+
+.. blockimg:: pybricks_blockLogicIsNone_is_none
+
+.. blockimg:: pybricks_blockLogicIsNone_is_not_none
+
+.. blockimg:: pybricks_blockLogicIsNone_not
+
+.. blockimg:: pybricks_blockLogicOperation_and
+
+.. blockimg:: pybricks_blockLogicOperation_or
+
+.. blockimg:: pybricks_blockLogicTernary
+
+.. blockimg:: pybricks_blockLogicTernaryDouble
+
+.. blockimg:: pybricks_blockIsIn
+
+Flow
+--------------------------
+
+.. blockimg:: pybricks_blockFlowBreakContinue_break
+
+.. blockimg:: pybricks_blockFlowBreakContinue_continue
+
+.. blockimg:: pybricks_blockFlowForEach_loop_for
+
+.. blockimg:: pybricks_blockFlowForEach_loop_for_list
+
+.. blockimg:: pybricks_blockFlowForEach_loop_for_range
+
+.. blockimg:: pybricks_blockFlowRepeat
+
+.. blockimg:: pybricks_blockFlowWhile_until
+
+.. blockimg:: pybricks_blockFlowWhile_while
+
+
+.. blockimg:: pybricks_blockIfElse_if_else
+
+.. blockimg:: pybricks_blockIfElse_if_else_else
+
+.. blockimg:: pybricks_blockIfElse_if_only
+
+
+Device and system setup
+--------------------------
+
+.. blockimg:: pybricks_blockGlobalSetup
+
+Waiting
+------------------------
+
+.. blockimg:: pybricks_blockWaitTime
+
+.. blockimg:: pybricks_blockWaitUntil
+
+.. blockimg:: pybricks_blockWaitForever
+
+
+
+Variables
+--------------------------
+
+.. blockimg:: pybricks_variables_setup_any
+
+.. blockimg:: pybricks_blockVariableGetValue
+
+.. blockimg:: pybricks_blockVariableSetValue
+
+Multitasking
+--------------------------
+
+.. blockimg:: pybricks_blockGlobalStart
+
+.. blockimg:: pybricks_blockMultiTask
+
+Your own tasks
+--------------------------
+
+.. blockimg:: pybricks_variables_setup_function_basic
+
+.. blockimg:: pybricks_variables_setup_function_with_args
+
+.. blockimg:: pybricks_blockTaskReturn
+
+External tasks
+--------------------------
+
+.. blockimg:: pybricks_variables_setup_imported_function
+
+.. blockimg:: pybricks_blockImportTaskCallStatement
+
+.. blockimg:: pybricks_blockImportTaskCallValue
+
+Comments
+--------------------------
+
+.. blockimg:: pybricks_blockComment
+
+Stopping programs
+--------------------------
+
+.. blockimg:: pybricks_blockProgramStop
@@ -64,13 +64,13 @@ Motors

    .. rubric:: Control settings

-    .. automethod:: pybricks.ev3devices::Motor.control.limits
+    .. automethod:: pybricks.ev3devices.Motor.control.limits

-    .. automethod:: pybricks.ev3devices::Motor.control.pid
+    .. automethod:: pybricks.ev3devices.Motor.control.pid

-    .. automethod:: pybricks.ev3devices::Motor.control.target_tolerances
+    .. automethod:: pybricks.ev3devices.Motor.control.target_tolerances

-    .. automethod:: pybricks.ev3devices::Motor.control.stall_tolerances
+    .. automethod:: pybricks.ev3devices.Motor.control.stall_tolerances

    .. attribute:: control.scale

@@ -7,6 +7,8 @@ City Hub

 .. blockimg:: pybricks_variables_set_city_hub_option0

+.. blockimg:: pybricks_variables_set_city_hub_option3
+
 .. autoclass:: pybricks.hubs.CityHub
    :no-members:

@@ -8,7 +8,7 @@ Essential Hub

 .. blockimg:: pybricks_variables_set_essential_hub_option0

-.. blockimg:: pybricks_variables_set_essential_hub_option1
+.. blockimg:: pybricks_variables_set_essential_hub_option4

 .. autoclass:: pybricks.hubs.EssentialHub
    :no-members:
@@ -10,7 +10,7 @@ Move Hub

 .. blockimg:: pybricks_variables_set_move_hub_option0

-.. blockimg:: pybricks_variables_set_move_hub_option1
+.. blockimg:: pybricks_variables_set_move_hub_option4

 .. autoclass:: pybricks.hubs.MoveHub
    :no-members:
@@ -8,9 +8,7 @@ Prime Hub / Inventor Hub

 .. blockimg:: pybricks_variables_set_inventor_hub_option0

-.. blockimg:: pybricks_variables_set_inventor_hub_option1
-
-.. currentmodule:: pybricks.hubs
+.. blockimg:: pybricks_variables_set_inventor_hub_option4

 .. class:: InventorHub

@@ -21,7 +19,7 @@ Prime Hub / Inventor Hub

 .. blockimg:: pybricks_variables_set_prime_hub_option0

-.. blockimg:: pybricks_variables_set_prime_hub_option1
+.. blockimg:: pybricks_variables_set_prime_hub_option4

 .. autoclass:: pybricks.hubs.PrimeHub
    :no-members:
@@ -8,7 +8,7 @@ Technic Hub

 .. blockimg:: pybricks_variables_set_technic_hub_option0

-.. blockimg:: pybricks_variables_set_technic_hub_option1
+.. blockimg:: pybricks_variables_set_technic_hub_option4

 .. autoclass:: pybricks.hubs.TechnicHub
    :no-members:
@@ -1,24 +1,19 @@
-Pybricks Reference Manual
+Pybricks Documentation
 ==================================================================

-.. only:: ide
+`Pybricks <https://pybricks.com/>`_ is Python coding for smart LEGO® hubs.
+Run MicroPython scripts
+directly on the hub, and get full control of your motors and sensors.

-   This documentation details all available functions and classes in Pybricks.
-   For example, you can find the meaning of specific function parameters like
-   motor speed.
+Pybricks runs on LEGO® BOOST, City, Technic, MINDSTORMS®, and SPIKE®. You
+can code using Windows, Mac, Linux, Chromebook, and Android.

-   If you are new to Pybricks, we recommend starting with the `Pybricks learn`_
-   guide instead.
+Click on any device below to see its documentation. Use the menu on the left
+to find documentation for additional modules. You may need to click the ☰ icon
+above to reveal this menu.

 .. only:: main

-   `Pybricks <https://pybricks.com/>`_ is Python coding for smart LEGO® hubs.
-   Run MicroPython scripts
-   directly on the hub, and get full control of your motors and sensors.
-
-   Pybricks runs on LEGO® BOOST, City, Technic, MINDSTORMS®, and SPIKE®. You
-   can code using Windows, Mac, Linux, Chromebook, and Android.
-
   .. note:: You are viewing the stand-alone version of the documentation. To
             learn more about Pybricks and to start coding, visit
             the `Pybricks website`_
@@ -26,13 +21,8 @@ Pybricks Reference Manual
   .. note:: Are you using LEGO MINDSTORMS EV3? Check out the
            `EV3 documentation`_ instead.

-Click on any device below to see its documentation. Use the menu on the left
-to find documentation for additional modules. You may need to click the ☰ icon
-above to reveal this menu.
-
 .. _EV3 documentation: https://pybricks.com/ev3-micropython/
 .. _Pybricks website: https://pybricks.com/
-.. _Pybricks learn: https://pybricks.com/learn/

 .. rubric:: Programmable hubs

@@ -73,6 +63,13 @@ above to reveal this menu.
   messaging/index
   signaltypes

+.. toctree::
+   :maxdepth: 1
+   :caption: Code with blocks
+   :hidden:
+
+   blocks/index
+
 .. toctree::
   :maxdepth: 1
   :caption: MicroPython modules
@@ -14,12 +14,14 @@ automatically detect the motor and use the correct and safe settings.
   :width: 40 %

 .. autoclass:: pybricks.iodevices.DCMotor
+    :noindex:
    :no-members:

    .. automethod:: pybricks.iodevices.DCMotor.dc
+        :noindex:

    .. automethod:: pybricks.iodevices.DCMotor.brake
+        :noindex:

    .. automethod:: pybricks.iodevices.DCMotor.stop
-
-    .. automethod:: pybricks.iodevices.DCMotor.settings
+        :noindex:
@@ -6,40 +6,22 @@

 .. pybricks-requirements:: pup

-.. blockimg:: pybricks_variables_set_ble_radio
-
 .. autoclass:: pybricks.messaging.BLERadio
    :no-members:

-    .. blockimg:: pybricks_blockBleBroadcast2
-
    .. automethod:: pybricks.messaging.BLERadio.broadcast

-    .. blockimg:: pybricks_blockBleObserve2
-
    .. automethod:: pybricks.messaging.BLERadio.observe

    .. automethod:: pybricks.messaging.BLERadio.signal_strength

    .. automethod:: pybricks.messaging.BLERadio.version

-    .. blockimg:: pybricks_variables_set_app_data_app_data_color_tracker
-
-    .. blockimg:: pybricks_variables_set_app_data_app_data_teachable_machine
-
-    .. blockimg:: pybricks_variables_set_app_data_app_data_object_detection
-
-    .. blockimg:: pybricks_variables_set_app_data_app_data_line_follower
-
-    .. blockimg:: pybricks_variables_set_app_data_app_data_custom
-
 .. autoclass:: pybricks.messaging.AppData
    :no-members:

    .. automethod:: pybricks.messaging.AppData.get_bytes

-    .. blockimg:: pybricks_blockAppDataGetValues
-
    .. automethod:: pybricks.messaging.AppData.write_bytes

    .. automethod:: pybricks.messaging.AppData.configure
@@ -54,6 +54,7 @@ This section lists all available exceptions in alphabetical order.
 .. _OSError:

 .. autoclass:: ubuiltins.OSError
+    :noindex:

 .. autoclass:: ubuiltins.OverflowError
    :no-members:
@@ -6,14 +6,5 @@ Axis
 .. autoclass:: pybricks.parameters.Axis
    :no-members:

-    .. autoattribute:: pybricks.parameters.Axis.X
-        :annotation: = vector(1, 0, 0)
-
-    .. autoattribute:: pybricks.parameters.Axis.Y
-        :annotation: = vector(0, 1, 0)
-
-    .. autoattribute:: pybricks.parameters.Axis.Z
-        :annotation: = vector(0, 0, 1)
-
 On Move Hub, doing math with these vectors is not supported. The axes can still
 be used to set up the hub orientation.
@@ -3,8 +3,6 @@
 Button
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-.. currentmodule:: pybricks.parameters
-
 .. class:: Button

    .. rubric:: Remote and hub buttons
@@ -3,8 +3,6 @@
 Direction
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-.. currentmodule:: pybricks.parameters
-
 .. class:: Direction

    Rotational direction for positive speed or angle values.
@@ -3,8 +3,6 @@
 Port
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-.. currentmodule:: pybricks.parameters
-
 .. class:: Port

    Input and output ports:
@@ -3,8 +3,6 @@
 Side
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-.. currentmodule:: pybricks.parameters
-
 .. class:: Side

    Side of a hub or a sensor. These devices are
@@ -3,8 +3,6 @@
 Stop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

-.. currentmodule:: pybricks.parameters
-
 .. class:: Stop

    Action after the motor stops.
@@ -21,16 +21,20 @@ Motors without rotation sensors
    .. blockimg:: pybricks_blockMotorDuty_DCMotor

    .. automethod:: pybricks.pupdevices.DCMotor.dc
+        :noindex:

    .. blockimg:: pybricks_blockMotorStop_DCMotor_coast

    .. automethod:: pybricks.pupdevices.DCMotor.stop
+        :noindex:

    .. blockimg:: pybricks_blockMotorStop_DCMotor_brake

    .. automethod:: pybricks.pupdevices.DCMotor.brake
+        :noindex:

    .. automethod:: pybricks.pupdevices.DCMotor.settings
+        :noindex:

 Examples
 -------------------
@@ -108,21 +108,21 @@ Motors with rotation sensors

    .. blockimg:: pybricks_blockMotorConfigure_motor_max_torque

-    .. automethod:: pybricks.pupdevices::Motor.control.limits
+    .. automethod:: pybricks.pupdevices.Motor.control.limits

    .. pybricks-requirements:: pybricks-common-control

-    .. automethod:: pybricks.pupdevices::Motor.control.pid
+    .. automethod:: pybricks.pupdevices.Motor.control.pid

    .. pybricks-requirements:: pybricks-common-control

    .. blockimg:: pybricks_blockMotorConfigure_motor_target_tolerances

-    .. automethod:: pybricks.pupdevices::Motor.control.target_tolerances
+    .. automethod:: pybricks.pupdevices.Motor.control.target_tolerances

    .. pybricks-requirements:: pybricks-common-control

-    .. automethod:: pybricks.pupdevices::Motor.control.stall_tolerances
+    .. automethod:: pybricks.pupdevices.Motor.control.stall_tolerances

    .. pybricks-requirements:: pybricks-common-control

@@ -139,11 +139,11 @@ Motors with rotation sensors

    .. pybricks-requirements:: pybricks-common-control

-    .. automethod:: pybricks.pupdevices::Motor.model.state
+    .. automethod:: pybricks.pupdevices.Motor.model.state

    .. pybricks-requirements:: pybricks-common-control

-    .. automethod:: pybricks.pupdevices::Motor.model.settings
+    .. automethod:: pybricks.pupdevices.Motor.model.settings

 Initialization examples
 -----------------------
@@ -21,19 +21,23 @@ and ambient conditions.
 .. blockimg:: pybricks_variables_set_pf_motor

 .. autoclass:: pybricks.pupdevices.PFMotor
+    :noindex:
    :no-members:

    .. blockimg:: pybricks_blockMotorDuty_PFMotor

    .. automethod:: pybricks.pupdevices.PFMotor.dc
+        :noindex:

    .. blockimg:: pybricks_blockMotorStop_PFMotor_coast

    .. automethod:: pybricks.pupdevices.PFMotor.stop
+        :noindex:

    .. blockimg:: pybricks_blockMotorStop_PFMotor_brake

    .. automethod:: pybricks.pupdevices.PFMotor.brake
+        :noindex:

 Examples
 -------------------
@@ -19,26 +19,22 @@
    This is measured using the internal rotation sensors. Because wheels may
    slip while moving, the traveled distance and angle are only estimates.

-    .. blockimg:: pybricks_blockDriveBaseMove_drivebase_move_straight
+    .. blockimg:: pybricks_blockDriveBaseDrive_drivebase_drive_straight

    .. automethod:: pybricks.robotics.DriveBase.straight

-    .. blockimg:: pybricks_blockDriveBaseMove_drivebase_move_turn_by
-
-    .. blockimg:: pybricks_blockDriveBaseMove_drivebase_move_turn_to
+    .. blockimg:: pybricks_blockDriveBaseDrive_drivebase_drive_turn

    .. automethod:: pybricks.robotics.DriveBase.turn

-    .. blockimg:: pybricks_blockDriveBaseMove_drivebase_move_arc_deg
+    .. blockimg:: pybricks_blockDriveBaseDrive2_drivebase_drive_arc_angle

-    .. blockimg:: pybricks_blockDriveBaseMove_drivebase_move_arc_mm
+    .. blockimg:: pybricks_blockDriveBaseDrive2_drivebase_drive_arc_distance

    .. automethod:: pybricks.robotics.DriveBase.arc

    .. pybricks-requirements:: stm32-float

-    .. blockimg:: pybricks_blockDriveBaseMove_drivebase_move_coordinates
-
    .. automethod:: pybricks.robotics.DriveBase.move_by

    .. blockimg:: pybricks_blockDriveBaseConfigure_drivebase_straight_speed
@@ -61,7 +57,7 @@
    using :meth:`.drive` again. For example, you can drive until a
    sensor is triggered and then stop or turn around.

-    .. blockimg:: pybricks_blockDriveBaseStart
+    .. blockimg:: pybricks_blockDriveBaseDrive_drivebase_drive_forever

    .. automethod:: pybricks.robotics.DriveBase.drive

@@ -132,7 +128,7 @@
    ``then=Stop.COAST`` in your last
    :meth:`straight <pybricks.robotics.DriveBase.straight>`,
    :meth:`turn <pybricks.robotics.DriveBase.turn>`, or
-    :meth:`arc <pybricks.robotics.DriveBase.arc>` command.
+    :meth:`curve <pybricks.robotics.DriveBase.arc>` command.

    .. _measuring:

@@ -291,5 +291,5 @@ though the *hub* accelerates backward.
   How to configure the ``top_side`` and ``front_side`` settings for three
   different robot designs. The same technique can be applied to other hubs
   and other creations, by noting which way the top and
-   front :class:`Side <pybricks.parameters.Side>` of the hub are pointing. The example
+   front :class:`Side <Side>` of the hub are pointing. The example
   on the left is the default configuration.
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 2.2.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.

 [[package]]
 name = "black"
@@ -6,7 +6,6 @@ version = "22.12.0"
 description = "The uncompromising code formatter."
 optional = false
 python-versions = ">=3.7"
-groups = ["dev"]
 files = [
    {file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
    {file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
@@ -41,7 +40,6 @@ version = "8.1.8"
 description = "Composable command line interface toolkit"
 optional = false
 python-versions = ">=3.7"
-groups = ["dev"]
 files = [
    {file = "click-8.1.8-py3-none-any.whl", hash = "sha256:63c132bbbed01578a06712a2d1f497bb62d9c1c0d329b7903a866228027263b2"},
    {file = "click-8.1.8.tar.gz", hash = "sha256:ed53c9d8990d83c2a27deae68e4ee337473f6330c040a31d4225c9574d16096a"},
@@ -56,8 +54,6 @@ version = "0.4.6"
 description = "Cross-platform colored terminal text."
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
-groups = ["dev"]
-markers = "sys_platform == \"win32\" or platform_system == \"Windows\""
 files = [
    {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
    {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
@@ -69,7 +65,6 @@ version = "0.14.1"
 description = "Parse Python docstrings in reST, Google and Numpydoc format"
 optional = false
 python-versions = ">=3.6,<4.0"
-groups = ["main"]
 files = [
    {file = "docstring_parser-0.14.1-py3-none-any.whl", hash = "sha256:14ac6ec1f1ba6905c4d8cb90fd0bc55394f5678183752c90e44812bf28d7a515"},
    {file = "docstring_parser-0.14.1.tar.gz", hash = "sha256:2c77522e31b7c88b1ab457a1f3c9ae38947ad719732260ba77ee8a3deb58622a"},
@@ -81,8 +76,6 @@ version = "1.2.2"
 description = "Backport of PEP 654 (exception groups)"
 optional = false
 python-versions = ">=3.7"
-groups = ["dev"]
-markers = "python_version == \"3.10\""
 files = [
    {file = "exceptiongroup-1.2.2-py3-none-any.whl", hash = "sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b"},
    {file = "exceptiongroup-1.2.2.tar.gz", hash = "sha256:47c2edf7c6738fafb49fd34290706d1a1a2f4d1c6df275526b62cbb4aa5393cc"},
@@ -97,7 +90,6 @@ version = "4.0.1"
 description = "the modular source code checker: pep8 pyflakes and co"
 optional = false
 python-versions = ">=3.6"
-groups = ["dev"]
 files = [
    {file = "flake8-4.0.1-py2.py3-none-any.whl", hash = "sha256:479b1304f72536a55948cb40a32dce8bb0ffe3501e26eaf292c7e60eb5e0428d"},
    {file = "flake8-4.0.1.tar.gz", hash = "sha256:806e034dda44114815e23c16ef92f95c91e4c71100ff52813adf7132a6ad870d"},
@@ -114,7 +106,6 @@ version = "2.0.0"
 description = "brain-dead simple config-ini parsing"
 optional = false
 python-versions = ">=3.7"
-groups = ["dev"]
 files = [
    {file = "iniconfig-2.0.0-py3-none-any.whl", hash = "sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374"},
    {file = "iniconfig-2.0.0.tar.gz", hash = "sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3"},
@@ -126,7 +117,6 @@ version = "0.18.1"
 description = "An autocompletion tool for Python that can be used for text editors."
 optional = false
 python-versions = ">=3.6"
-groups = ["main"]
 files = [
    {file = "jedi-0.18.1-py2.py3-none-any.whl", hash = "sha256:637c9635fcf47945ceb91cd7f320234a7be540ded6f3e99a50cb6febdfd1ba8d"},
    {file = "jedi-0.18.1.tar.gz", hash = "sha256:74137626a64a99c8eb6ae5832d99b3bdd7d29a3850fe2aa80a4126b2a7d949ab"},
@@ -145,7 +135,6 @@ version = "0.6.1"
 description = "McCabe checker, plugin for flake8"
 optional = false
 python-versions = "*"
-groups = ["dev"]
 files = [
    {file = "mccabe-0.6.1-py2.py3-none-any.whl", hash = "sha256:ab8a6258860da4b6677da4bd2fe5dc2c659cff31b3ee4f7f5d64e79735b80d42"},
    {file = "mccabe-0.6.1.tar.gz", hash = "sha256:dd8d182285a0fe56bace7f45b5e7d1a6ebcbf524e8f3bd87eb0f125271b8831f"},
@@ -157,7 +146,6 @@ version = "1.0.0"
 description = "Type system extensions for programs checked with the mypy type checker."
 optional = false
 python-versions = ">=3.5"
-groups = ["dev"]
 files = [
    {file = "mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d"},
    {file = "mypy_extensions-1.0.0.tar.gz", hash = "sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782"},
@@ -169,7 +157,6 @@ version = "24.2"
 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.8"
-groups = ["dev"]
 files = [
    {file = "packaging-24.2-py3-none-any.whl", hash = "sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759"},
    {file = "packaging-24.2.tar.gz", hash = "sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f"},
@@ -181,7 +168,6 @@ version = "0.8.4"
 description = "A Python Parser"
 optional = false
 python-versions = ">=3.6"
-groups = ["main"]
 files = [
    {file = "parso-0.8.4-py2.py3-none-any.whl", hash = "sha256:a418670a20291dacd2dddc80c377c5c3791378ee1e8d12bffc35420643d43f18"},
    {file = "parso-0.8.4.tar.gz", hash = "sha256:eb3a7b58240fb99099a345571deecc0f9540ea5f4dd2fe14c2a99d6b281ab92d"},
@@ -197,7 +183,6 @@ version = "0.12.1"
 description = "Utility library for gitignore style pattern matching of file paths."
 optional = false
 python-versions = ">=3.8"
-groups = ["dev"]
 files = [
    {file = "pathspec-0.12.1-py3-none-any.whl", hash = "sha256:a0d503e138a4c123b27490a4f7beda6a01c6f288df0e4a8b79c7eb0dc7b4cc08"},
    {file = "pathspec-0.12.1.tar.gz", hash = "sha256:a482d51503a1ab33b1c67a6c3813a26953dbdc71c31dacaef9a838c4e29f5712"},
@@ -209,7 +194,6 @@ version = "4.3.6"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
-groups = ["dev"]
 files = [
    {file = "platformdirs-4.3.6-py3-none-any.whl", hash = "sha256:73e575e1408ab8103900836b97580d5307456908a03e92031bab39e4554cc3fb"},
    {file = "platformdirs-4.3.6.tar.gz", hash = "sha256:357fb2acbc885b0419afd3ce3ed34564c13c9b95c89360cd9563f73aa5e2b907"},
@@ -226,7 +210,6 @@ version = "1.5.0"
 description = "plugin and hook calling mechanisms for python"
 optional = false
 python-versions = ">=3.8"
-groups = ["dev"]
 files = [
    {file = "pluggy-1.5.0-py3-none-any.whl", hash = "sha256:44e1ad92c8ca002de6377e165f3e0f1be63266ab4d554740532335b9d75ea669"},
    {file = "pluggy-1.5.0.tar.gz", hash = "sha256:2cffa88e94fdc978c4c574f15f9e59b7f4201d439195c3715ca9e2486f1d0cf1"},
@@ -238,11 +221,10 @@ testing = ["pytest", "pytest-benchmark"]

 [[package]]
 name = "pybricks"
-version = "4.0.0b10"
+version = "3.6.0b5"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 optional = false
 python-versions = "^3.8"
-groups = ["main", "dev"]
 files = []
 develop = true

@@ -256,7 +238,6 @@ version = "2.8.0"
 description = "Python style guide checker"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-groups = ["dev"]
 files = [
    {file = "pycodestyle-2.8.0-py2.py3-none-any.whl", hash = "sha256:720f8b39dde8b293825e7ff02c475f3077124006db4f440dcbc9a20b76548a20"},
    {file = "pycodestyle-2.8.0.tar.gz", hash = "sha256:eddd5847ef438ea1c7870ca7eb78a9d47ce0cdb4851a5523949f2601d0cbbe7f"},
@@ -268,7 +249,6 @@ version = "2.4.0"
 description = "passive checker of Python programs"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-groups = ["dev"]
 files = [
    {file = "pyflakes-2.4.0-py2.py3-none-any.whl", hash = "sha256:3bb3a3f256f4b7968c9c788781e4ff07dce46bdf12339dcda61053375426ee2e"},
    {file = "pyflakes-2.4.0.tar.gz", hash = "sha256:05a85c2872edf37a4ed30b0cce2f6093e1d0581f8c19d7393122da7e25b2b24c"},
@@ -280,7 +260,6 @@ version = "7.4.4"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.7"
-groups = ["dev"]
 files = [
    {file = "pytest-7.4.4-py3-none-any.whl", hash = "sha256:b090cdf5ed60bf4c45261be03239c2c1c22df034fbffe691abe93cd80cea01d8"},
    {file = "pytest-7.4.4.tar.gz", hash = "sha256:2cf0005922c6ace4a3e2ec8b4080eb0d9753fdc93107415332f50ce9e7994280"},
@@ -303,8 +282,6 @@ version = "2.2.1"
 description = "A lil' TOML parser"
 optional = false
 python-versions = ">=3.8"
-groups = ["dev"]
-markers = "python_full_version < \"3.11.0a7\""
 files = [
    {file = "tomli-2.2.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:678e4fa69e4575eb77d103de3df8a895e1591b48e740211bd1067378c69e8249"},
    {file = "tomli-2.2.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:023aa114dd824ade0100497eb2318602af309e5a55595f76b626d6d9f3b7b0a6"},
@@ -346,13 +323,12 @@ version = "4.2.0"
 description = "Backported and Experimental Type Hints for Python 3.7+"
 optional = false
 python-versions = ">=3.7"
-groups = ["main"]
 files = [
    {file = "typing_extensions-4.2.0-py3-none-any.whl", hash = "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708"},
    {file = "typing_extensions-4.2.0.tar.gz", hash = "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"},
 ]

 [metadata]
-lock-version = "2.1"
+lock-version = "2.0"
 python-versions = ">= 3.10, < 3.12"
-content-hash = "6efcdeb3ce02cdd64b69d4d58466e0c7241681aa7f71432bf1a1d53764f305c0"
+content-hash = "0a796ac6867c41e8cf0ce289beca1cebb4066b622c2c538c11589413dcb579af"
@@ -8,13 +8,12 @@ license = "MIT"

 [tool.poetry.dependencies]
 python = ">= 3.10, < 3.12"
-# Version is set automatically at build time from the root pyproject.toml. Do not edit.
-pybricks = "*"
+pybricks = "3.6.0b5"
 jedi = "0.18.1"
 typing-extensions = "4.2.0"
 docstring-parser = "0.14.1"

-[tool.poetry.group.dev.dependencies]
+[tool.poetry.dev-dependencies]
 pytest = "^7.1.2"
 black = "^22.3.0"
 flake8 = "^4.0.1"
@@ -984,13 +984,12 @@ METHOD_PARAMS = [
    pytest.param(
        "pybricks.robotics",
        "DriveBase",
-        "arc",
+        "curve",
        [
            (
                [
                    "radius: Number",
-                    "angle: Number=None",
-                    "distance: Number=None",
+                    "angle: Number",
                    "then: Stop=Stop.HOLD",
                    "wait: bool=True",
                ],
@@ -4,7 +4,7 @@
  "description": "Special build of Pybricks API docs for embedding in an IDE.",
  "repository": {
    "type": "git",
-    "url": "git+https://github.com/pybricks/pybricks-api.git",
+    "url": "https://github.com/pybricks/pybricks-api",
    "directory": "npm/ide-docs"
  },
  "publishConfig": {
@@ -13,10 +13,6 @@
  },
  "author": "The Pybricks Authors",
  "license": "MIT",
-  "exports": {
-    "./package.json": "./package.json",
-    "./html/namespace_index.json": "./html/namespace_index.json"
-  },
  "files": [
    "html"
  ],
@@ -18,7 +18,7 @@ package_json = {
    "license": "MIT",
    "repository": {
        "type": "git",
-        "url": "git+https://github.com/pybricks/pybricks-api.git",
+        "url": "https://github.com/pybricks/pybricks-api",
        "directory": "npm/images",
    },
    "publishConfig": {"registry": "https://registry.npmjs.org", "access": "public"},
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# Builds the @pybricks/jedi npm package into npm-build/.

 import email.parser
 import json
@@ -9,11 +8,6 @@ import subprocess
 import sys
 import zipfile

-try:
-    import tomllib
-except ImportError:
-    import tomli as tomllib  # type: ignore[no-redef]
-
 if len(sys.argv) != 2:
    print(f"Usage: {sys.argv[0]} <version>", file=sys.stderr)
    sys.exit(1)
@@ -21,8 +15,8 @@ if len(sys.argv) != 2:
 VERSION = sys.argv[1]

 ROOT_DIR = pathlib.Path(__file__).parent.resolve()
-REPO_ROOT_DIR = (ROOT_DIR / "..").resolve()
-BUILD_DIR = ROOT_DIR / "npm-build"
+JEDI_SRC_DIR = (ROOT_DIR / ".." / ".." / "jedi").resolve()
+BUILD_DIR = (ROOT_DIR / "build").resolve()

 package_json = {
    "name": "@pybricks/jedi",
@@ -30,8 +24,8 @@ package_json = {
    "description": "Binary distribution of pybricks-jedi Python package and dependencies for use with Pyodide.",
    "repository": {
        "type": "git",
-        "url": "git+https://github.com/pybricks/pybricks-api.git",
-        "directory": "jedi",
+        "url": "https://github.com/pybricks/pybricks-api",
+        "directory": "npm/jedi",
    },
    "publishConfig": {"registry": "https://registry.npmjs.org", "access": "public"},
 }
@@ -44,28 +38,24 @@ whl_map: dict[str, str] = {}
 shutil.rmtree(BUILD_DIR, True)
 BUILD_DIR.mkdir()

-# build pybricks api wheel from local source so pip uses it instead of fetching from PyPI
-subprocess.check_call(["poetry", "build", "--format=wheel"], cwd=REPO_ROOT_DIR)
-
-# copy locally built pybricks wheel to build dir
-for whl in (REPO_ROOT_DIR / "dist").glob("pybricks-*.whl"):
-    shutil.copy(whl, BUILD_DIR)
-
 # build pybricks-jedi wheel from local source
-subprocess.check_call(["poetry", "build", "--format=wheel"], cwd=ROOT_DIR)
+subprocess.check_call(["poetry", "build", "--format=wheel"], cwd=JEDI_SRC_DIR)

 # copy locally built wheel to build dir
-for whl in (ROOT_DIR / "dist").glob("pybricks_jedi-*.whl"):
+for whl in (JEDI_SRC_DIR / "dist").glob("pybricks_jedi-*.whl"):
    shutil.copy(whl, BUILD_DIR)

-# download transitive dependencies using versions pinned in poetry.lock
-transitive_packages = ["jedi", "parso", "docstring-parser", "typing-extensions"]
-with open(ROOT_DIR / "poetry.lock", "rb") as f:
-    lock = tomllib.load(f)
-lock_versions = {pkg["name"]: pkg["version"] for pkg in lock["package"]}
-transitive = [f"{pkg}=={lock_versions[pkg]}" for pkg in transitive_packages]
+# download transitive dependencies from PyPI, using the local wheel to satisfy pybricks-jedi itself
 subprocess.check_call(
-    [sys.executable, "-m", "pip", "download", "--only-binary=any"] + transitive,
+    [
+        sys.executable,
+        "-m",
+        "pip",
+        "download",
+        "--only-binary=any",
+        f"--find-links={BUILD_DIR}",
+        "pybricks-jedi",
+    ],
    cwd=BUILD_DIR,
 )

@@ -106,7 +96,7 @@ for whl in BUILD_DIR.glob("*.whl"):
            license_identifiers.add(license)

        if whl.name.startswith("pybricks_jedi-"):
-            with open(ROOT_DIR / "LICENSE") as lf:
+            with open(JEDI_SRC_DIR / "LICENSE") as lf:
                license_text[whl.name] = lf.read()
        else:
            try:
@@ -147,4 +137,5 @@ with open(BUILD_DIR / "LICENSE", "w") as f:

 # copy additional files

-shutil.copy(ROOT_DIR / "README.md", BUILD_DIR / "README.md")
+for file in ("README.md",):
+    shutil.copy(ROOT_DIR / file, BUILD_DIR / file)
@@ -1,12 +1,12 @@
-# This file is automatically @generated by Poetry 2.2.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry and should not be changed by hand.

 [[package]]
 name = "alabaster"
 version = "0.7.13"
 description = "A configurable sidebar-enabled Sphinx theme"
+category = "dev"
 optional = false
 python-versions = ">=3.6"
-groups = ["doc"]
 files = [
    {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"},
    {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
@@ -16,9 +16,9 @@ files = [
 name = "babel"
 version = "2.13.0"
 description = "Internationalization utilities"
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["doc"]
 files = [
    {file = "Babel-2.13.0-py3-none-any.whl", hash = "sha256:fbfcae1575ff78e26c7449136f1abbefc3c13ce542eeb13d43d50d8b047216ec"},
    {file = "Babel-2.13.0.tar.gz", hash = "sha256:04c3e2d28d2b7681644508f836be388ae49e0cfe91465095340395b60d00f210"},
@@ -34,9 +34,9 @@ dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
 name = "black"
 version = "22.12.0"
 description = "The uncompromising code formatter."
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["lint"]
 files = [
    {file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
    {file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
@@ -70,9 +70,9 @@ uvloop = ["uvloop (>=0.15.2)"]
 name = "certifi"
 version = "2023.7.22"
 description = "Python package for providing Mozilla's CA Bundle."
+category = "dev"
 optional = false
 python-versions = ">=3.6"
-groups = ["doc"]
 files = [
    {file = "certifi-2023.7.22-py3-none-any.whl", hash = "sha256:92d6037539857d8206b8f6ae472e8b77db8058fec5937a1ef3f54304089edbb9"},
    {file = "certifi-2023.7.22.tar.gz", hash = "sha256:539cc1d13202e33ca466e88b2807e29f4c13049d6d87031a3c110744495cb082"},
@@ -82,9 +82,9 @@ files = [
 name = "chardet"
 version = "5.2.0"
 description = "Universal encoding detector for Python 3"
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["lint"]
 files = [
    {file = "chardet-5.2.0-py3-none-any.whl", hash = "sha256:e1cf59446890a00105fe7b7912492ea04b6e6f06d4b742b2c788469e34c82970"},
    {file = "chardet-5.2.0.tar.gz", hash = "sha256:1b3b6ff479a8c414bc3fa2c0852995695c4a026dcd6d0633b2dd092ca39c1cf7"},
@@ -94,9 +94,9 @@ files = [
 name = "charset-normalizer"
 version = "3.3.1"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
+category = "dev"
 optional = false
 python-versions = ">=3.7.0"
-groups = ["doc"]
 files = [
    {file = "charset-normalizer-3.3.1.tar.gz", hash = "sha256:d9137a876020661972ca6eec0766d81aef8a5627df628b664b234b73396e727e"},
    {file = "charset_normalizer-3.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:8aee051c89e13565c6bd366813c386939f8e928af93c29fda4af86d25b73d8f8"},
@@ -194,9 +194,9 @@ files = [
 name = "click"
 version = "8.1.7"
 description = "Composable command line interface toolkit"
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["lint"]
 files = [
    {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"},
    {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"},
@@ -209,22 +209,21 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 name = "colorama"
 version = "0.4.6"
 description = "Cross-platform colored terminal text."
+category = "dev"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
-groups = ["doc", "lint"]
 files = [
    {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
    {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
-markers = {doc = "sys_platform == \"win32\"", lint = "platform_system == \"Windows\""}

 [[package]]
 name = "doc8"
 version = "0.8.1"
 description = "Style checker for Sphinx (or other) RST documentation"
+category = "dev"
 optional = false
 python-versions = "*"
-groups = ["lint"]
 files = [
    {file = "doc8-0.8.1-py2.py3-none-any.whl", hash = "sha256:4d58a5c8c56cedd2b2c9d6e3153be5d956cf72f6051128f0f2255c66227df721"},
    {file = "doc8-0.8.1.tar.gz", hash = "sha256:4d1df12598807cf08ffa9a1d5ef42d229ee0de42519da01b768ff27211082c12"},
@@ -242,9 +241,9 @@ stevedore = "*"
 name = "docutils"
 version = "0.18.1"
 description = "Docutils -- Python Documentation Utilities"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-groups = ["doc", "lint"]
 files = [
    {file = "docutils-0.18.1-py2.py3-none-any.whl", hash = "sha256:23010f129180089fbcd3bc08cfefccb3b890b0050e1ca00c867036e9d161b98c"},
    {file = "docutils-0.18.1.tar.gz", hash = "sha256:679987caf361a7539d76e584cbeddc311e3aee937877c87346f31debc63e9d06"},
@@ -254,9 +253,9 @@ files = [
 name = "flake8"
 version = "4.0.1"
 description = "the modular source code checker: pep8 pyflakes and co"
+category = "dev"
 optional = false
 python-versions = ">=3.6"
-groups = ["lint"]
 files = [
    {file = "flake8-4.0.1-py2.py3-none-any.whl", hash = "sha256:479b1304f72536a55948cb40a32dce8bb0ffe3501e26eaf292c7e60eb5e0428d"},
    {file = "flake8-4.0.1.tar.gz", hash = "sha256:806e034dda44114815e23c16ef92f95c91e4c71100ff52813adf7132a6ad870d"},
@@ -271,9 +270,9 @@ pyflakes = ">=2.4.0,<2.5.0"
 name = "idna"
 version = "3.4"
 description = "Internationalized Domain Names in Applications (IDNA)"
+category = "dev"
 optional = false
 python-versions = ">=3.5"
-groups = ["doc"]
 files = [
    {file = "idna-3.4-py3-none-any.whl", hash = "sha256:90b77e79eaa3eba6de819a0c442c0b4ceefc341a7a2ab77d7562bf49f425c5c2"},
    {file = "idna-3.4.tar.gz", hash = "sha256:814f528e8dead7d329833b91c5faa87d60bf71824cd12a7530b5526063d02cb4"},
@@ -283,9 +282,9 @@ files = [
 name = "imagesize"
 version = "1.4.1"
 description = "Getting image size from png/jpeg/jpeg2000/gif file"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-groups = ["doc"]
 files = [
    {file = "imagesize-1.4.1-py2.py3-none-any.whl", hash = "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b"},
    {file = "imagesize-1.4.1.tar.gz", hash = "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a"},
@@ -295,10 +294,9 @@ files = [
 name = "importlib-metadata"
 version = "6.8.0"
 description = "Read metadata from Python packages"
+category = "dev"
 optional = false
 python-versions = ">=3.8"
-groups = ["doc"]
-markers = "python_version < \"3.10\""
 files = [
    {file = "importlib_metadata-6.8.0-py3-none-any.whl", hash = "sha256:3ebb78df84a805d7698245025b975d9d67053cd94c79245ba4b3eb694abe68bb"},
    {file = "importlib_metadata-6.8.0.tar.gz", hash = "sha256:dbace7892d8c0c4ac1ad096662232f831d4e64f4c4545bd53016a3e9d4654743"},
@@ -310,15 +308,15 @@ zipp = ">=0.5"
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 perf = ["ipython"]
-testing = ["flufl.flake8", "importlib-resources (>=1.3) ; python_version < \"3.9\"", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7) ; platform_python_implementation != \"PyPy\"", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1) ; platform_python_implementation != \"PyPy\"", "pytest-perf (>=0.9.2)", "pytest-ruff"]
+testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)", "pytest-ruff"]

 [[package]]
 name = "jinja2"
 version = "3.1.2"
 description = "A very fast and expressive template engine."
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["doc"]
 files = [
    {file = "Jinja2-3.1.2-py3-none-any.whl", hash = "sha256:6088930bfe239f0e6710546ab9c19c9ef35e29792895fed6e6e31a023a182a61"},
    {file = "Jinja2-3.1.2.tar.gz", hash = "sha256:31351a702a408a9e7595a8fc6150fc3f43bb6bf7e319770cbc0db9df9437e852"},
@@ -334,9 +332,9 @@ i18n = ["Babel (>=2.7)"]
 name = "markupsafe"
 version = "2.1.3"
 description = "Safely add untrusted strings to HTML/XML markup."
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["doc"]
 files = [
    {file = "MarkupSafe-2.1.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:cd0f502fe016460680cd20aaa5a76d241d6f35a1c3350c474bac1273803893fa"},
    {file = "MarkupSafe-2.1.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e09031c87a1e51556fdcb46e5bd4f59dfb743061cf93c4d6831bf894f125eb57"},
@@ -358,16 +356,6 @@ files = [
    {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5bbe06f8eeafd38e5d0a4894ffec89378b6c6a625ff57e3028921f8ff59318ac"},
    {file = "MarkupSafe-2.1.3-cp311-cp311-win32.whl", hash = "sha256:dd15ff04ffd7e05ffcb7fe79f1b98041b8ea30ae9234aed2a9168b5797c3effb"},
    {file = "MarkupSafe-2.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:134da1eca9ec0ae528110ccc9e48041e0828d79f24121a1a146161103c76e686"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:f698de3fd0c4e6972b92290a45bd9b1536bffe8c6759c62471efaa8acb4c37bc"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:aa57bd9cf8ae831a362185ee444e15a93ecb2e344c8e52e4d721ea3ab6ef1823"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ffcc3f7c66b5f5b7931a5aa68fc9cecc51e685ef90282f4a82f0f5e9b704ad11"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47d4f1c5f80fc62fdd7777d0d40a2e9dda0a05883ab11374334f6c4de38adffd"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1f67c7038d560d92149c060157d623c542173016c4babc0c1913cca0564b9939"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:9aad3c1755095ce347e26488214ef77e0485a3c34a50c5a5e2471dff60b9dd9c"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:14ff806850827afd6b07a5f32bd917fb7f45b046ba40c57abdb636674a8b559c"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8f9293864fe09b8149f0cc42ce56e3f0e54de883a9de90cd427f191c346eb2e1"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-win32.whl", hash = "sha256:715d3562f79d540f251b99ebd6d8baa547118974341db04f5ad06d5ea3eb8007"},
-    {file = "MarkupSafe-2.1.3-cp312-cp312-win_amd64.whl", hash = "sha256:1b8dd8c3fd14349433c79fa8abeb573a55fc0fdd769133baac1f5e07abf54aeb"},
    {file = "MarkupSafe-2.1.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8e254ae696c88d98da6555f5ace2279cf7cd5b3f52be2b5cf97feafe883b58d2"},
    {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb0932dc158471523c9637e807d9bfb93e06a95cbf010f1a38b98623b929ef2b"},
    {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9402b03f1a1b4dc4c19845e5c749e3ab82d5078d16a2a4c2cd2df62d57bb0707"},
@@ -404,9 +392,9 @@ files = [
 name = "mccabe"
 version = "0.6.1"
 description = "McCabe checker, plugin for flake8"
+category = "dev"
 optional = false
 python-versions = "*"
-groups = ["lint"]
 files = [
    {file = "mccabe-0.6.1-py2.py3-none-any.whl", hash = "sha256:ab8a6258860da4b6677da4bd2fe5dc2c659cff31b3ee4f7f5d64e79735b80d42"},
    {file = "mccabe-0.6.1.tar.gz", hash = "sha256:dd8d182285a0fe56bace7f45b5e7d1a6ebcbf524e8f3bd87eb0f125271b8831f"},
@@ -416,9 +404,9 @@ files = [
 name = "mypy-extensions"
 version = "1.0.0"
 description = "Type system extensions for programs checked with the mypy type checker."
+category = "dev"
 optional = false
 python-versions = ">=3.5"
-groups = ["lint"]
 files = [
    {file = "mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d"},
    {file = "mypy_extensions-1.0.0.tar.gz", hash = "sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782"},
@@ -428,9 +416,9 @@ files = [
 name = "packaging"
 version = "23.2"
 description = "Core utilities for Python packages"
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["doc"]
 files = [
    {file = "packaging-23.2-py3-none-any.whl", hash = "sha256:8c491190033a9af7e1d931d0b5dacc2ef47509b34dd0de67ed209b5203fc88c7"},
    {file = "packaging-23.2.tar.gz", hash = "sha256:048fb0e9405036518eaaf48a55953c750c11e1a1b68e0dd1a9d62ed0c092cfc5"},
@@ -440,9 +428,9 @@ files = [
 name = "pathspec"
 version = "0.11.2"
 description = "Utility library for gitignore style pattern matching of file paths."
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["lint"]
 files = [
    {file = "pathspec-0.11.2-py3-none-any.whl", hash = "sha256:1d6ed233af05e679efb96b1851550ea95bbb64b7c490b0f5aa52996c11e92a20"},
    {file = "pathspec-0.11.2.tar.gz", hash = "sha256:e0d8d0ac2f12da61956eb2306b69f9469b42f4deb0f3cb6ed47b9cce9996ced3"},
@@ -452,9 +440,9 @@ files = [
 name = "pbr"
 version = "5.11.1"
 description = "Python Build Reasonableness"
+category = "dev"
 optional = false
 python-versions = ">=2.6"
-groups = ["lint"]
 files = [
    {file = "pbr-5.11.1-py2.py3-none-any.whl", hash = "sha256:567f09558bae2b3ab53cb3c1e2e33e726ff3338e7bae3db5dc954b3a44eef12b"},
    {file = "pbr-5.11.1.tar.gz", hash = "sha256:aefc51675b0b533d56bb5fd1c8c6c0522fe31896679882e1c4c63d5e4a0fccb3"},
@@ -464,9 +452,9 @@ files = [
 name = "platformdirs"
 version = "3.11.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["lint"]
 files = [
    {file = "platformdirs-3.11.0-py3-none-any.whl", hash = "sha256:e9d171d00af68be50e9202731309c4e658fd8bc76f55c11c7dd760d023bda68e"},
    {file = "platformdirs-3.11.0.tar.gz", hash = "sha256:cf8ee52a3afdb965072dcc652433e0c7e3e40cf5ea1477cd4b3b1d2eb75495b3"},
@@ -480,9 +468,9 @@ test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4)", "pytest-co
 name = "pycodestyle"
 version = "2.8.0"
 description = "Python style guide checker"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-groups = ["lint"]
 files = [
    {file = "pycodestyle-2.8.0-py2.py3-none-any.whl", hash = "sha256:720f8b39dde8b293825e7ff02c475f3077124006db4f440dcbc9a20b76548a20"},
    {file = "pycodestyle-2.8.0.tar.gz", hash = "sha256:eddd5847ef438ea1c7870ca7eb78a9d47ce0cdb4851a5523949f2601d0cbbe7f"},
@@ -492,9 +480,9 @@ files = [
 name = "pyflakes"
 version = "2.4.0"
 description = "passive checker of Python programs"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-groups = ["lint"]
 files = [
    {file = "pyflakes-2.4.0-py2.py3-none-any.whl", hash = "sha256:3bb3a3f256f4b7968c9c788781e4ff07dce46bdf12339dcda61053375426ee2e"},
    {file = "pyflakes-2.4.0.tar.gz", hash = "sha256:05a85c2872edf37a4ed30b0cce2f6093e1d0581f8c19d7393122da7e25b2b24c"},
@@ -504,25 +492,24 @@ files = [
 name = "pygments"
 version = "2.16.1"
 description = "Pygments is a syntax highlighting package written in Python."
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["doc", "lint"]
 files = [
    {file = "Pygments-2.16.1-py3-none-any.whl", hash = "sha256:13fc09fa63bc8d8671a6d247e1eb303c4b343eaee81d861f3404db2935653692"},
    {file = "Pygments-2.16.1.tar.gz", hash = "sha256:1daff0494820c69bc8941e407aa20f577374ee88364ee10a98fdbe0aece96e29"},
 ]

 [package.extras]
-plugins = ["importlib-metadata ; python_version < \"3.8\""]
+plugins = ["importlib-metadata"]

 [[package]]
 name = "pytz"
 version = "2023.3.post1"
 description = "World timezone definitions, modern and historical"
+category = "dev"
 optional = false
 python-versions = "*"
-groups = ["doc"]
-markers = "python_version == \"3.8\""
 files = [
    {file = "pytz-2023.3.post1-py2.py3-none-any.whl", hash = "sha256:ce42d816b81b68506614c11e8937d3aa9e41007ceb50bfdcb0749b921bf646c7"},
    {file = "pytz-2023.3.post1.tar.gz", hash = "sha256:7b4fddbeb94a1eba4b557da24f19fdf9db575192544270a9101d8509f9f43d7b"},
@@ -532,9 +519,9 @@ files = [
 name = "requests"
 version = "2.31.0"
 description = "Python HTTP for Humans."
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["doc"]
 files = [
    {file = "requests-2.31.0-py3-none-any.whl", hash = "sha256:58cd2187c01e70e6e26505bca751777aa9f2ee0b7f4300988b709f44e013003f"},
    {file = "requests-2.31.0.tar.gz", hash = "sha256:942c5a758f98d790eaed1a29cb6eefc7ffb0d1cf7af05c3d2791656dbd6ad1e1"},
@@ -554,9 +541,9 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 name = "restructuredtext-lint"
 version = "1.4.0"
 description = "reStructuredText linter"
+category = "dev"
 optional = false
 python-versions = "*"
-groups = ["lint"]
 files = [
    {file = "restructuredtext_lint-1.4.0.tar.gz", hash = "sha256:1b235c0c922341ab6c530390892eb9e92f90b9b75046063e047cacfb0f050c45"},
 ]
@@ -568,9 +555,9 @@ docutils = ">=0.11,<1.0"
 name = "six"
 version = "1.16.0"
 description = "Python 2 and 3 compatibility utilities"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
-groups = ["lint"]
 files = [
    {file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
    {file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
@@ -580,9 +567,9 @@ files = [
 name = "snowballstemmer"
 version = "2.2.0"
 description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
+category = "dev"
 optional = false
 python-versions = "*"
-groups = ["doc"]
 files = [
    {file = "snowballstemmer-2.2.0-py2.py3-none-any.whl", hash = "sha256:c8e1716e83cc398ae16824e5572ae04e0d9fc2c6b985fb0f900f5f0c96ecba1a"},
    {file = "snowballstemmer-2.2.0.tar.gz", hash = "sha256:09b16deb8547d3412ad7b590689584cd0fe25ec8db3be37788be3810cbf19cb1"},
@@ -592,9 +579,9 @@ files = [
 name = "Sphinx"
 version = "5.1.0.dev20231023"
 description = "Python documentation generator"
+category = "dev"
 optional = false
 python-versions = ">=3.6"
-groups = ["doc"]
 files = []
 develop = false

@@ -632,9 +619,9 @@ resolved_reference = "cd277d098ea2df9c79f0a4cbce28a426ec4120bc"
 name = "sphinx-rtd-theme"
 version = "1.3.0"
 description = "Read the Docs theme for Sphinx"
+category = "dev"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
-groups = ["doc"]
 files = [
    {file = "sphinx_rtd_theme-1.3.0-py2.py3-none-any.whl", hash = "sha256:46ddef89cc2416a81ecfbeaceab1881948c014b1b6e4450b815311a89fb977b0"},
    {file = "sphinx_rtd_theme-1.3.0.tar.gz", hash = "sha256:590b030c7abb9cf038ec053b95e5380b5c70d61591eb0b552063fbe7c41f0931"},
@@ -652,9 +639,9 @@ dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 name = "sphinxcontrib-applehelp"
 version = "1.0.4"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
+category = "dev"
 optional = false
 python-versions = ">=3.8"
-groups = ["doc"]
 files = [
    {file = "sphinxcontrib-applehelp-1.0.4.tar.gz", hash = "sha256:828f867945bbe39817c210a1abfd1bc4895c8b73fcaade56d45357a348a07d7e"},
    {file = "sphinxcontrib_applehelp-1.0.4-py3-none-any.whl", hash = "sha256:29d341f67fb0f6f586b23ad80e072c8e6ad0b48417db2bde114a4c9746feb228"},
@@ -668,9 +655,9 @@ test = ["pytest"]
 name = "sphinxcontrib-devhelp"
 version = "1.0.2"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
+category = "dev"
 optional = false
 python-versions = ">=3.5"
-groups = ["doc"]
 files = [
    {file = "sphinxcontrib-devhelp-1.0.2.tar.gz", hash = "sha256:ff7f1afa7b9642e7060379360a67e9c41e8f3121f2ce9164266f61b9f4b338e4"},
    {file = "sphinxcontrib_devhelp-1.0.2-py2.py3-none-any.whl", hash = "sha256:8165223f9a335cc1af7ffe1ed31d2871f325254c0423bc0c4c7cd1c1e4734a2e"},
@@ -684,9 +671,9 @@ test = ["pytest"]
 name = "sphinxcontrib-htmlhelp"
 version = "2.0.1"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
+category = "dev"
 optional = false
 python-versions = ">=3.8"
-groups = ["doc"]
 files = [
    {file = "sphinxcontrib-htmlhelp-2.0.1.tar.gz", hash = "sha256:0cbdd302815330058422b98a113195c9249825d681e18f11e8b1f78a2f11efff"},
    {file = "sphinxcontrib_htmlhelp-2.0.1-py3-none-any.whl", hash = "sha256:c38cb46dccf316c79de6e5515e1770414b797162b23cd3d06e67020e1d2a6903"},
@@ -700,9 +687,9 @@ test = ["html5lib", "pytest"]
 name = "sphinxcontrib-jquery"
 version = "4.1"
 description = "Extension to include jQuery on newer Sphinx releases"
+category = "dev"
 optional = false
 python-versions = ">=2.7"
-groups = ["doc"]
 files = [
    {file = "sphinxcontrib-jquery-4.1.tar.gz", hash = "sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a"},
    {file = "sphinxcontrib_jquery-4.1-py2.py3-none-any.whl", hash = "sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae"},
@@ -715,9 +702,9 @@ Sphinx = ">=1.8"
 name = "sphinxcontrib-jsmath"
 version = "1.0.1"
 description = "A sphinx extension which renders display math in HTML via JavaScript"
+category = "dev"
 optional = false
 python-versions = ">=3.5"
-groups = ["doc"]
 files = [
    {file = "sphinxcontrib-jsmath-1.0.1.tar.gz", hash = "sha256:a9925e4a4587247ed2191a22df5f6970656cb8ca2bd6284309578f2153e0c4b8"},
    {file = "sphinxcontrib_jsmath-1.0.1-py2.py3-none-any.whl", hash = "sha256:2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178"},
@@ -730,9 +717,9 @@ test = ["flake8", "mypy", "pytest"]
 name = "sphinxcontrib-qthelp"
 version = "1.0.3"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
+category = "dev"
 optional = false
 python-versions = ">=3.5"
-groups = ["doc"]
 files = [
    {file = "sphinxcontrib-qthelp-1.0.3.tar.gz", hash = "sha256:4c33767ee058b70dba89a6fc5c1892c0d57a54be67ddd3e7875a18d14cba5a72"},
    {file = "sphinxcontrib_qthelp-1.0.3-py2.py3-none-any.whl", hash = "sha256:bd9fc24bcb748a8d51fd4ecaade681350aa63009a347a8c14e637895444dfab6"},
@@ -746,9 +733,9 @@ test = ["pytest"]
 name = "sphinxcontrib-serializinghtml"
 version = "1.1.5"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
+category = "dev"
 optional = false
 python-versions = ">=3.5"
-groups = ["doc"]
 files = [
    {file = "sphinxcontrib-serializinghtml-1.1.5.tar.gz", hash = "sha256:aa5f6de5dfdf809ef505c4895e51ef5c9eac17d0f287933eb49ec495280b6952"},
    {file = "sphinxcontrib_serializinghtml-1.1.5-py2.py3-none-any.whl", hash = "sha256:352a9a00ae864471d3a7ead8d7d79f5fc0b57e8b3f95e9867eb9eb28999b92fd"},
@@ -762,9 +749,9 @@ test = ["pytest"]
 name = "stevedore"
 version = "5.1.0"
 description = "Manage dynamic plugins for Python applications"
+category = "dev"
 optional = false
 python-versions = ">=3.8"
-groups = ["lint"]
 files = [
    {file = "stevedore-5.1.0-py3-none-any.whl", hash = "sha256:8cc040628f3cea5d7128f2e76cf486b2251a4e543c7b938f58d9a377f6694a2d"},
    {file = "stevedore-5.1.0.tar.gz", hash = "sha256:a54534acf9b89bc7ed264807013b505bf07f74dbe4bcfa37d32bd063870b087c"},
@@ -777,9 +764,9 @@ pbr = ">=2.0.0,<2.1.0 || >2.1.0"
 name = "toml"
 version = "0.10.2"
 description = "Python Library for Tom's Obvious, Minimal Language"
+category = "dev"
 optional = false
 python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
-groups = ["doc"]
 files = [
    {file = "toml-0.10.2-py2.py3-none-any.whl", hash = "sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b"},
    {file = "toml-0.10.2.tar.gz", hash = "sha256:b3bda1d108d5dd99f4a20d24d9c348e91c4db7ab1b749200bded2f839ccbe68f"},
@@ -789,10 +776,9 @@ files = [
 name = "tomli"
 version = "2.0.1"
 description = "A lil' TOML parser"
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["lint"]
-markers = "python_full_version < \"3.11.0a7\""
 files = [
    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
@@ -802,10 +788,9 @@ files = [
 name = "typing-extensions"
 version = "4.8.0"
 description = "Backported and Experimental Type Hints for Python 3.8+"
+category = "dev"
 optional = false
 python-versions = ">=3.8"
-groups = ["lint"]
-markers = "python_version < \"3.10\""
 files = [
    {file = "typing_extensions-4.8.0-py3-none-any.whl", hash = "sha256:8f92fc8806f9a6b641eaa5318da32b44d401efaac0f6678c9bc448ba3605faa0"},
    {file = "typing_extensions-4.8.0.tar.gz", hash = "sha256:df8e4339e9cb77357558cbdbceca33c303714cf861d1eef15e1070055ae8b7ef"},
@@ -815,16 +800,16 @@ files = [
 name = "urllib3"
 version = "2.0.7"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
+category = "dev"
 optional = false
 python-versions = ">=3.7"
-groups = ["doc"]
 files = [
    {file = "urllib3-2.0.7-py3-none-any.whl", hash = "sha256:fdb6d215c776278489906c2f8916e6e7d4f5a9b602ccbcfdf7f016fc8da0596e"},
    {file = "urllib3-2.0.7.tar.gz", hash = "sha256:c97dfde1f7bd43a71c8d2a58e369e9b2bf692d1334ea9f9cae55add7d0dd0f84"},
 ]

 [package.extras]
-brotli = ["brotli (>=1.0.9) ; platform_python_implementation == \"CPython\"", "brotlicffi (>=0.8.0) ; platform_python_implementation != \"CPython\""]
+brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
 secure = ["certifi", "cryptography (>=1.9)", "idna (>=2.0.0)", "pyopenssl (>=17.1.0)", "urllib3-secure-extra"]
 socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
 zstd = ["zstandard (>=0.18.0)"]
@@ -833,10 +818,9 @@ zstd = ["zstandard (>=0.18.0)"]
 name = "zipp"
 version = "3.17.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
+category = "dev"
 optional = false
 python-versions = ">=3.8"
-groups = ["doc"]
-markers = "python_version < \"3.10\""
 files = [
    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
    {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
@@ -844,9 +828,9 @@ files = [

 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7) ; platform_python_implementation != \"PyPy\"", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1) ; platform_python_implementation != \"PyPy\"", "pytest-ruff"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]

 [metadata]
-lock-version = "2.1"
+lock-version = "2.0"
 python-versions = "^3.8"
 content-hash = "c3ac22f3861c372d4572b51aa6263a693a8c42a7fa77ff5e735fea3be0e3f15b"
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "4.0.0b12"
+version = "4.0.0b1"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 authors = ["The Pybricks Authors <team@pybricks.com>"]
 maintainers = ["Laurens Valk <laurens@pybricks.com>", "David Lechner <david@pybricks.com>" ]
@@ -58,12 +58,16 @@ class _PybricksEnum(Enum, metaclass=_PybricksEnumMeta):


 class Axis:
-    """Unit axes of a coordinate system."""
+    """Unit axes of a coordinate system.
+
+    .. data:: X = vector(1, 0, 0)
+    .. data:: Y = vector(0, 1, 0)
+    .. data:: Z = vector(0, 0, 1)
+
+    """

    X: _Matrix = _vector(1, 0, 0)
-
    Y: _Matrix = _vector(0, 1, 0)
-
    Z: _Matrix = _vector(0, 0, 1)


@@ -265,6 +265,21 @@ class DriveBase:
                radius cannot be zero. Use :meth:`.turn` for in-place turns.
        """

+    def curve(
+        self, radius: Number, angle: Number, then: Stop = Stop.HOLD, wait: bool = True
+    ) -> MaybeAwaitable:
+        """curve(radius, angle, then=Stop.HOLD, wait=True)
+
+        Drives an arc along a circle of a given radius, by a given angle.
+
+        Arguments:
+            radius (Number, mm): Radius of the circle.
+            angle (Number, deg): Angle along the circle.
+            then (Stop): What to do after coming to a standstill.
+            wait (bool): Wait for the maneuver to complete before continuing
+                         with the rest of the program.
+        """
+
    def done(self) -> bool:
        """done() -> bool
Author	SHA1	Message	Date
Laurens Valk	d5f6a1ad00	v4.0.0b1	2026-05-29 21:15:09 +02:00
Laurens Valk	5bef252078	.github/workflows: Build on v4 tags.	2026-05-29 21:15:03 +02:00
Laurens Valk	f12a6a26ac	.github/workflows: Convert python to npm semver style.	2026-05-29 21:06:31 +02:00
Laurens Valk	4e78de9d2a	.github/workflows: Update actions.	2026-05-29 20:57:04 +02:00
Laurens Valk	95b168355e	npm: Simplify release pipeline. Releasing API updates is quite a long and error prone process, so the point that it was limiting our ability to push frequent updates in practice. There were 5 tag, commit, wait, and proceed steps and you'd have to start over or force push if a mistake was made. This keeps all the npm packages as they were, but versions everything from a single source of truth, which is this project's main version. Everything builds on a tag on the main repo, much like we did for a regular IDE docs RTD release. It also skips the PyPI for jedi as an intermediate step, which isn't really needed and required us to have this strict order of publication steps.	2026-05-29 20:38:37 +02:00