Arul Selvam SelvamArul

Ubuntu VM on macOS with QEMU

For work I have an Intel Core i5 MacBook. With the Docker Desktop license changes I looked into minikube and Multipass but both failed when I got on our VPN with Cisco AnyConnect due to bridged networking in hyperkit (see links at bottom).

I realized I would be happy SSHing into a local Linux VM but passed on VirtualBox to avoid depending on legacy system extensions. I landed on libvirt for the VM, then realized I could remove libvirt from the equation to finally end up at this quick, simple setup for an Ubuntu VM on macOS with QEMU.

First, install QEMU (see https://wiki.qemu.org/Hosts/Mac for other o

Braking

Standard Braking Distance

DE: (Geschwindigkeit / 10) * (Geschwindigkeit / 10)
EN: (Speed / 10) * (Speed / 10)

Evasive (Emergency) Braking Distance

DE: ((Geschwindigkeit / 10) * (Geschwindigkeit / 10)) / 2
EN: ((Speed / 10) * (Speed / 10)) / 2

Enable TCP port 2375 for external connection to Docker

See this issue.
Docker best practise to Control and configure Docker with systemd.

Create daemon.json file in /etc/docker:

 {"hosts": ["tcp://0.0.0.0:2375", "unix:///var/run/docker.sock"]}

Typing vagrant from the command line will display a list of all available commands.

Be sure that you are in the same directory as the Vagrantfile when running these commands!

Creating a VM

vagrant init -- Initialize Vagrant with a Vagrantfile and ./.vagrant directory, using no specified base image. Before you can do vagrant up, you'll need to specify a base image in the Vagrantfile.
vagrant init <boxpath> -- Initialize Vagrant with a specific box. To find a box, go to the public Vagrant box catalog. When you find one you like, just replace it's name with boxpath. For example, vagrant init ubuntu/trusty64.

Starting a VM

vagrant up -- starts vagrant environment (also provisions only on the FIRST vagrant up)

	import math
	import torch

	"""
	Differentiable dual quaternion distance metric in PyTorch.

	Acknowledgements:
	- Function q_mul(): https://github.com/facebookresearch/QuaterNet/blob/main/common/quaternion.py
	- Other functions related to quaternions: re-implementations based on pip package "pyquaternion"
	- Functions related to dual quaternions: re-implementations based on pip package "dual_quaternions"

	"""
	Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.

	NVIDIA CORPORATION and its licensors retain all intellectual property
	and proprietary rights in and to this software, related documentation
	and any modifications thereto. Any use, reproduction, disclosure or
	distribution of this software and related documentation without an express
	license agreement from NVIDIA CORPORATION is strictly prohibited.

	### This script wraps all executables in the anaconda bin folder so that they can be used without adding Anaconda
	### to the path which would break some functionality of ROS (Robot Operating System)
	###
	### The commands e.g. jupyter notebook will cause the script to add anaconda to the path, start jupyter notebook
	### and after jupyter notebook terminated remove anaconda from the path again
	###
	### Notable commands:
	### * release-the-snake Adds conda to the path and removes all aliases defined by this script
	### Conda will stay in the PATH until the end of the session (terminal is closed) or
	### until "cage-the-snake" is called

	""" Trains an agent with (stochastic) Policy Gradients on Pong. Uses OpenAI Gym. """
	import numpy as np
	import cPickle as pickle
	import gym

	# hyperparameters
	H = 200 # number of hidden layer neurons
	batch_size = 10 # every how many episodes to do a param update?
	learning_rate = 1e-4
	gamma = 0.99 # discount factor for reward

	# Customize BASH PS1 prompt to show current GIT repository and branch.
	# by Mike Stewart - http://MediaDoneRight.com

	# SETUP CONSTANTS
	# Bunch-o-predefined colors. Makes reading code easier than escape sequences.
	# I don't remember where I found this. o_O

	# Reset
	Color_Off="\[\033[0m\]" # Text Reset