EricCousineau-TRI

from enum import Enum
import io
import pickle

import numpy as np
import torch
import yaml

from pydrake.common.yaml import yaml_dump

EricCousineau-TRI

Starting local Bazel server and connecting to it...
INFO: Invocation ID: bff3ef78-f166-4f3a-a430-a904678ac100
Loading: 0 packages loaded
    currently loading:  ... (5 packages)
Loading: 2 packages loaded
    currently loading:  ... (3 packages)
INFO: Repository ros2 instantiated at:
  /home/eacousineau/proj/tri/repo/externals/drake-ros/ros2_example_bazel_installed/WORKSPACE:67:22: in <toplevel>
Repository rule ros2_local_repository defined at:
  /mnt/data/eacousineau/cache/bazel/_bazel_eacousineau/c5b966ec842e9995a3ffda6de4f0a3d4/external/bazel_ros2_rules/ros2/defs.bzl:230:40: in <toplevel>

EricCousineau-TRI

#include <pybind11/pybind11.h>
#include <spdlog/sinks/base_sink.h>

#include "drake/common/drake_throw.h"
#include "drake/common/text_logging.h"

namespace py = pybind11;

namespace anzu {
namespace {

EricCousineau-TRI

$ bazel run //examples/instability:py/plant_hidden_state_test
...
[ good 0 ]
Setup(discrete_plant=False, add_contact_viz=True, add_zoh=True, add_latch=True, clean_plant_state=False)

Initialize: 0
  t: 0.0
  x_a: [0.125 0.   ]
  u: [-0.125]
Initialize: 1

EricCousineau-TRI

import os

from rmw_isolation import generate_isolated_rmw_env


def make_unique_ros_isolation_env(
    *,
    unique_identifier=None,
    scratch_directory=None,
    environ=os.environ,

EricCousineau-TRI

# NVLIBLIST.CONF
# This configuration file determines which NVIDIA libraries to search for on 
# the host system when the --nv option is invoked.  You can edit it if you have
# different libraries on your host system.  You can also add binaries and they
# will be mounted into the container when the --nv option is passed.

# put binaries here
# In shared environments you should ensure that permissions on these files 
# exclude writing by non-privileged users.  
nvidia-smi

EricCousineau-TRI

# https://wiki.debian.org/Packaging/SourcePackage

apt-cache policy python3-pyassimp
# Focal
vim /etc/apt/sources.list
# Uncomment line: deb-src http://archive.ubuntu.com/ubuntu/ focal universe
apt update

apt-cache showsrc python3-pyassimp
# See "Vcs-Git"

EricCousineau-TRI

from pydrake.all import (
    ExternallyAppliedSpatialForce,
    LeafSystem,
    List,
    Value,
)


def aggregate_force(force_a, force_b):
    """

EricCousineau-TRI

/venv/

EricCousineau-TRI

#!/bin/bash
#
# Generates initial `~/.bazelrc` (for use in any Bazel project (e.g. Drake,
# Anzu, etc.)

set -euo pipefail

dotfile=~/.bazelrc
dotfile_user=
echo "Check if ${dotfile} exists."