vyeevani

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vyeevani / cybergear.rs

Last active August 15, 2025 19:21

Single file implementation of cyber gear comms. Tested on 6dof arm.

	use std::{f32::consts::PI, marker::PhantomData};
	use serial::prelude::*;

	pub enum Register {
	MechOffset = 0x2005,
	MechPositionInit = 0x2006,
	CanId = 0x200A,
	EncoderRaw = 0x3004,
	NumRotations = 0x3014,
	MechanicalPosition = 0x3016,

vyeevani / modern_robotics.rs

Created May 4, 2024 17:30

A rust single file implementation of the core functions from modern robotics. The only dependency is nalgebra :)

	use nalgebra::{Matrix3, Matrix4, Matrix6, Vector3, Vector4, Vector6, DMatrix, DVector};

	fn near_zero(val: f64) -> bool {
	val.abs() < 1e-6
	}

	fn matrix_exp3(so3mat: &Matrix3<f64>) -> Matrix3<f64> {
	let omega_theta = so3_to_vec(so3mat);
	if near_zero(omega_theta.norm()) {
	Matrix3::identity()

vyeevani / bridge_dataset.py

Last active August 22, 2023 23:01

A torch dataset for the scripted bridge dataset. This has only been (poorly) tested on the scripted bridge dataset so far. Feel free to modify with whatever params you'd like to extract.

	# Interaction imports
	import math
	import copy
	import os
	from dataclasses import dataclass
	from typing import List
	from tqdm import tqdm

	# Dataset imports
	from PIL import Image

vyeevani / equinox_lazy_downloading.py

Last active May 23, 2023 15:47

Demonstrating how to run an equinox model with lazy download/data-loading through webdatasets + pytorch multiprocessed dataloader

	import sys
	import datetime
	import importlib
	import signal

	import numpy
	import datasets
	import webdataset
	import tensorflow
	import torch

vyeevani / kinetics_webdataset_jax.py

Last active May 23, 2023 02:53

Kinetics Jax dataloader

	# https://s3.amazonaws.com/kinetics/400/train/part_0.tar.gz
	# https://s3.amazonaws.com/kinetics/400/train/part_241.tar.gz

	import webdataset as wds
	import pandas as pd
	import jax

	def key_to_filename(sample):
	dotslash_filename_shard_count = sample["__key__"]
	# the key is something like "./v_ApplyEyeMakeup_00001_00010"

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