| #!/usr/bin/env python3 | |
| """Check every declared revolute joint limit in the RB-Y1 description against | |
| the link geometry that joint moves. | |
| A joint limit that reaches past the angle at which the two links either side of | |
| it physically interfere is invisible to everything downstream. Links that share | |
| a joint are filtered from collision checking in *any* collision checker -- | |
| correctly, since they are in contact at the bearing in every configuration -- so | |
| the joint limit is the only thing that can keep them apart. A wrong limit | |
| therefore propagates straight through IK, sampling-based planning, trajectory |
| """Time the real PathConstraint from KinematicTrajectoryOptimization. | |
| Obtains the actual internal PathConstraint (anonymous namespace, not directly | |
| constructible) via the public AddPathPositionConstraint() API, then times its | |
| double-scalar Eval(). The measured call is identical before and after the | |
| commit -- a plain float64 array in, a plain float64 array out -- so the pydrake | |
| marshalling cost is the same in both builds and cancels in the comparison. | |
| """ | |
| import os, sys, time | |
| import numpy as np |
Code for a chronophotography-style still: a mobile dual-arm robot carrying a cardboard box horizontally across a table, composited from a single fixed-camera video. Dense semi-transparent ghosts of the arms, a handful of box positions, no overlaid path graphics.
RB-Y1 design notes.md covers why it looks this way, what was measured, and which
approaches were tried and rejected — including a few that failed and why.
| #!/bin/bash | |
| # Configuration | |
| mkdir -p processed | |
| mkdir -p to_delete | |
| PROCESSED_ROOT=$(realpath processed) | |
| TO_DELETE_ROOT=$(realpath to_delete) | |
| # Iterate through each clip folder | |
| for clip_dir in clips/*/; do |
| import numpy as np | |
| from pydrake.all import ( | |
| AddMultibodyPlantSceneGraph, | |
| DiagramBuilder, | |
| Parser, | |
| MathematicalProgram, | |
| Solve, | |
| RigidTransform, | |
| JacobianWrtVariable, | |
| log, |
| # Vibecoded with ChatGPT | |
| import jax | |
| import jax.numpy as jnp | |
| def scalar_curvature_projector(f, x0, n, k, rtol=1e-8): | |
| """ | |
| Compute the scalar curvature of M = {x : f(x) = 0} at x0, | |
| using the projector formula (basis-free Gauss equation). |
| import subprocess | |
| import datetime | |
| from collections import defaultdict | |
| import matplotlib.pyplot as plt | |
| import matplotlib.dates as mdates | |
| import os | |
| import sys | |
| import mplcursors | |
| import re |
| "LD_* scout runtime" information: | |
| { | |
| "steam-runtime-system-info" : { | |
| "version" : "0.20250408.0+srt1", | |
| "path" : "/home/tommy/.steam/debian-installation/ubuntu12_32/steam-runtime/amd64/usr/bin/steam-runtime-system-info" | |
| }, | |
| "can-write-uinput" : true, | |
| "steam-installation" : { | |
| "path" : "/home/tommy/.steam/debian-installation", | |
| "data_path" : "/home/tommy/.steam/debian-installation", |
| ====================== | |
| Proton: 1748966679 experimental-10.0-20250603b | |
| SteamGameId: 218230 | |
| Command: ['/mnt/9e35f787-a028-48b8-8f0e-9eda11669830/SteamLibrary/steamapps/common/PlanetSide 2/LaunchPad.exe', 'Updates:enable=0', 'Updates:PatchSelf=1', 'campaignID=1063272', 'promoID=146', 'launchPoint=steam', 'launchArgs=STEAM_ENABLED=1'] | |
| Options: {'forcelgadd'} | |
| depot: 3.0.20250408.124536 | |
| pressure-vessel: 0.20250408.0 scout | |
| scripts: 0.20250408.0 | |
| sniper: 3.0.20250408.124536 sniper 3.0.20250408.124536 |
| import csv | |
| # File paths (change these if needed) | |
| parties_file = 'parties.csv' | |
| guests_file = 'guests.csv' | |
| output_file = 'yes_rsvp_emails.txt' | |
| # Step 1: Collect RSVP IDs for guests who RSVPed yes | |
| yes_rsvp_ids = set() |