| #!/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 |
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.
| """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 |
| #!/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 |